Crate ph_qmi8658 

Async #![no_std] driver for the QMI8658C 6-axis IMU (accelerometer + gyroscope + temperature) from QST Corporation.

This crate provides a lightweight, embedded-hal-async based driver for the QMI8658 6-axis IMU. It intentionally avoids any core-ports dependencies so it can be reused in adapter or BSP layers.

Quick start (I2C)

use ph_qmi8658::{Config, I2cConfig, Qmi8658Address, Qmi8658I2c};
let config = Config::new();
let i2c_config = I2cConfig::new(Qmi8658Address::Primary.addr());
let mut imu: Qmi8658I2c<I2C> =
    Qmi8658I2c::with_i2c_config(i2c, None, None, config, i2c_config);
imu.init(delay).await?;

FIFO

FIFO parsing helpers are available for burst-mode reads. See FifoFrameIterator.

CTRL9 handshake

By default CTRL8.bit7 = 0 and CmdDone is routed to INT1/STATUS1.bit0. Set InterruptConfig::with_ctrl9_handshake_statusint(true) to route CmdDone to STATUSINT.bit7. The driver polls the correct source automatically.

Sync sample locking

Enable with set_sync_sample(true); use read_sync_sample(delay) to follow the STATUSINT data-lock flow and data-read delay. For I2C/I3C, disable AHB clock gating via set_ahb_clock_gating_with_delay(delay, false) while sync sample is active.

Not yet supported

• External magnetometer integration (mag raw types and FIFO mag frame parsing are included for future support).
• AttitudeEngine configuration and Motion-on-Demand.
• Motion detection engines (tap/any/no/sig motion, pedometer) — these are QMI8658A-only and are not applicable to the QMI8658C.

Scaling helpers

Use accel_lsb_per_g, gyro_lsb_per_dps, and temperature_lsb_per_celsius (or the milli-unit ratios accel_mg_per_lsb / gyro_mdps_per_lsb) to convert raw counts to physical units without floating-point math.

Fixed-point conversions

Enable the fixed feature to access fixed-point helpers that convert raw readings into g, dps, and degrees C using I32F32 integer math.

Macros

qmi8658_init_sequence

Initialize a QMI8658 instance with a common configuration sequence.

Structs

AccelConfig

Combined accelerometer configuration (range + ODR).

AccelFixed

Fixed-point accelerometer sample in g.

AccelRaw

Raw accelerometer sample.

Config

QMI8658 configuration settings.

FifoConfig

FIFO configuration (watermark + mode + size).

FifoFrame

One decoded FIFO frame.

FifoFrameFormat

FIFO frame format derived from enabled sensors.

FifoFrameIterator

Iterator over FIFO frames.

FifoReadout

Result of a FIFO readout.

FifoStatus

FIFO status decoded from FIFO_STATUS and FIFO_SMPL_CNT.

GyroConfig

Combined gyroscope configuration (range + ODR).

GyroFixed

Fixed-point gyroscope sample in dps.

GyroRaw

Raw gyroscope sample.

I2cConfig

I2C interface configuration (address + serial settings).

I2cInterface

I2C register interface.

InterruptConfig

Interrupt routing and feature enable configuration (CTRL8).

InterruptStatus

Decoded interrupt and status flags.

MagRaw

Raw magnetometer sample.

Qmi8658

QMI8658 6-axis IMU driver.

RawBlock

Raw block of sensor data sampled at a single timestamp.

Sample

Timestamped sample wrapper.

ScaleFactor

Ratio representing a scale factor without floating-point math.

SelfTestAxis

Self-test axis readings.

SelfTestReport

Self-test report with raw data and pass/fail evaluation.

SpiConfig

SPI interface configuration (experimental).

SpiInterface

SPI register interface (experimental).

TemperatureFixed

Fixed-point temperature sample in deg C.

TemperatureRaw

Raw temperature sample.

Timestamp

Sample timestamp (24-bit counter).

WomConfig

Wake on Motion configuration.

Enums

AccelOutputDataRate

Accelerometer output data rate selection.

AccelRange

Accelerometer full-scale range selection.

Error

Error type for QMI8658 operations.

FifoMode

FIFO operating mode.

FifoSize

FIFO size selection (samples per enabled sensor).

GyroOutputDataRate

Gyroscope output data rate selection.

GyroRange

Gyroscope full-scale range selection.

InterruptPin

Interrupt pin selection (device pins).

InterruptWaitError

Error returned when waiting on an interrupt pin.

LowPassFilterMode

Low-pass filter bandwidth selection (percent of ODR).

OperatingMode

Operating modes from Table 34 / Figure 11 of the datasheet.

Qmi8658Address

QMI8658 I2C addresses.

SelfTestError

Self-test error wrapper (driver errors + interrupt wait errors).

WomInterruptLevel

Initial interrupt level for Wake on Motion.

Functions

accel_lsb_per_g

Returns the accelerometer sensitivity in LSB/g.

accel_mg_per_lsb

Returns the accelerometer scale in milli-g per LSB as a ratio.

accel_sample_to_g

Converts a timestamped accelerometer sample to g.

accel_to_g

Converts accelerometer raw counts to g.

gyro_lsb_per_dps

Returns the gyroscope sensitivity in LSB/dps.

gyro_mdps_per_lsb

Returns the gyroscope scale in milli-deg/s per LSB as a ratio.

gyro_sample_to_dps

Converts a timestamped gyroscope sample to dps.

gyro_to_dps

Converts gyroscope raw counts to dps.

temperature_celsius

Converts temperature raw counts to degrees Celsius.

temperature_lsb_per_celsius

Returns the temperature sensitivity in LSB per degree Celsius.

temperature_mdegc_per_lsb

Returns the temperature scale in milli-deg C per LSB as a ratio.

temperature_sample_celsius

Converts a timestamped temperature sample to degrees Celsius.

Type Aliases

Fixed

Fixed-point number type used for sensor conversions (I32F32).

Qmi8658I2c

I2C type alias for the QMI8658 driver.

Qmi8658Spi

SPI type alias for the QMI8658 driver (experimental).