Crate icm20948 

A platform agnostic Rust driver for the TDK ICM20948, based on the embedded-hal traits.

The Device

The device is a MEMS based 9 degree of freedom ICM The IC contains 3 axis accelerometers, gyroscopes and manometers The IC can comunicate over a SPI or I2C bus

The Library

Contains both I2C and SPI implemntations both sharing common code

Very basic example

this might work on a pi or something similar

extern crate icm20948;
extern crate linux_embedded_hal as hal;

use hal::spidev::{self, SpidevOptions};
use hal::{Pin, Spidev};
use hal::sysfs_gpio::Direction;
use hal::Delay;

const ICM_CS_PIN: u64 = 8;

fn main(){

    let mut spi = Spidev::open("/dev/spidev0.0").unwrap();
    let options = SpidevOptions::new()
        .bits_per_word(8)
        .max_speed_hz(20_000)
        .build();
    spi.configure(&options).unwrap();

    let mut cs = Pin::new(ICM_CS_PIN);
    cs.export().unwrap();
    cs.set_direction(Direction::Out).unwrap();

    let mut icm = icm20948::ICMSPI::new(
        &mut spi, &mut cs)
        .expect("Failed to communicate with icm module!");

    icm.init(&mut spi, &mut cs, &mut Delay);

    let (xa, ya, za, xg, yg, zg) =
           icm_obj.scale_raw_accel_gyro(icm_obj.get_values_accel_gyro(&mut spi, &mut cs).unwrap());
    //println!("Sensed, {:?}, {:?}, {:?}, {:?}, {:?}, {:?}", xa, ya, za, xg, yg, zg);
}

Structs

ICMCommon

This struct holds and implements the functions that are bus independent for the ICM20948

ICMI2C

Prototype implementation for I2C

ICMI2COwned

Prototype implementation for I2C

ICMSPI

Pre-Prototype implementation for SPI

Enums

AccelRangeOptions

Enum describing possible ranges of the Accelerometers

GyroRangeOptions

Enum describing possible ranges of the Gyros

ICMError

Enum used to report errors when using the ICM

Constants

ICM20948_CHIP_ADR

Default ICM20948 device address

ICM20948_CHIP_ADR_ALT

Alternative ICM20948 device address