Crate icm20948_driver

Device agnostic driver for the icm-20948 IMU (inertial measurement unit). The driver depends on embedded-hal, so as long as the HAL you use implements those traits, then this driver will be compatible.

The driver is split into two parts: an I2C part and an SPI part. All functions are implemented for both bus types.

You can instantiate multiple objects if you have multiple IMUs. The driver assumes control of the bus and thus it is recommended to use shared-bus if you have multiple device drivers that need control of the bus.

Currently, there is no support for the magnetometer, temperature sensor, the sensor acting like an I2C master, the FIFO, the FSYNC, or the DMP. I am hoping to add support for the FIFO, magnetometer, and temperature sensor soon. See the change log in the repo for recent changes.

Examples

Examples can be found here.

Features

This crate has implemented defmt for the IcmError type. This can be enabled as a feature of this crate. This implementation assumes that the SPI/I2C error type also implements defmt. The HAL that you are using may have a feature you need to enable for this.

Data Sheet

The data sheet for this device can be found here.

Repository

The github repo can be found here.

Modules

icm20948

Main module that holds the SPI and I2C sub modules. Also holds many enums and constants shared between SPI and I2C