LSM9DS0

A platform-agnostic Rust driver for the ST LSM9DS0 9-axis IMU (3D accelerometer, 3D gyroscope, 3D magnetometer).

Built on embedded-hal-async traits for I2C and SPI communication.

Features

• I2C and SPI interface support
• Configurable sensor ranges and data rates
• Temperature sensor
• FIFO support
• Interrupt configuration
• no_std compatible

Usage

Add the dependency to your Cargo.toml:

[dependencies]
lsm9ds0 = "0.1"

I2C

use lsm9ds0::{
    AccelDataRate, GyroDataRate, I2cInterface, Lsm9ds0, Lsm9ds0Config, MagMode,
};
use embassy_time::Delay;

let interface = I2cInterface::init(i2c);

let config = Lsm9ds0Config::new()
    .with_gyro_enabled(true)
    .with_gyro_data_rate(GyroDataRate::Hz95)
    .with_accel_data_rate(AccelDataRate::Hz100)
    .with_mag_mode(MagMode::ContinuousConversion)
    .with_temperature_enabled(true)
    .with_auto_calibration(lsm9ds0::Orientation::ZUp);

let mut imu = Lsm9ds0::new_with_config(interface, config);
imu.init(&mut Delay).await?;

let (gx, gy, gz) = imu.read_gyro().await?;   // DegreesPerSecond
let (ax, ay, az) = imu.read_accel().await?;  // GForce
let (mx, my, mz) = imu.read_mag().await?;    // Gauss
let temp = imu.read_temp().await?;           // Celsius

SPI

The LSM9DS0 has separate chip selects for the gyroscope and accelerometer/magnetometer. Provide two SpiDevice instances:

use lsm9ds0::{Lsm9ds0, SpiInterface};
use embassy_time::Delay;

let interface = SpiInterface::init(gyro_spi, accel_mag_spi);
let mut imu = Lsm9ds0::new(interface);
imu.init(&mut Delay).await?;

Configuration

Sensor parameters can be set at initialization or changed at runtime:

use lsm9ds0::{GyroScale, AccelScale, MagScale, GyroDataRate};
use embassy_time::Delay;

// At initialization
let config = Lsm9ds0Config::new()
    .with_gyro_scale(GyroScale::Dps500)
    .with_accel_scale(AccelScale::G4)
    .with_mag_scale(MagScale::Gauss8);

// At runtime
imu.set_gyro_scale(GyroScale::Dps2000).await?;
imu.set_accel_data_rate(AccelDataRate::Hz400).await?;

// Calibrate the gyroscope and accelerometer during runtime
imu.calibrate_gyro(&mut Delay).await?;
imu.calibrate_accel(&mut Delay).await?;

Default Configuration

The driver's default configuration matches the device's power-on-reset register values from the datasheet, with two exceptions where the actual hardware defaults differ from the documented values:

Examples

See the examples/ directory for platform-specific examples, including RP2040.

References

• LSM9DS0 Datasheet

License

MIT