LSM6DSOX Rust Driver

This is a platform agnostic Rust driver to retrieve accelerometer + gyroscope data from the LSM6DSOX 6-axis IMU based on the embedded-hal traits.

Tested on the STM32F411E Discovery Board.

Status

• I2C Support
  • Basic sensor readings
  • Configuration selection
• SPI Support
• Documentation

Installation

Ensure the line shown below is added to the Cargo.toml file

[dependencies]

    ...

lsm6dsox_driver = {git = "https://github.com/KavinTheG/LSM6DSOX-Embedded-Rust-Driver.git"} \

Usage

Shown below is a sample code to retrieve acceloremeter data

...

use lsm6dsox_driver::Lsm6dsox;

...

fn main() -> ! {

    let dp = pac::Peripherals::take().unwrap();
    let cp = cortex_m::Peripherals::take().unwrap();

    let rcc = dp.RCC.constrain();
    let clocks = rcc.cfgr.hclk(8.MHz()).freeze();

    let gpiob = dp.GPIOB.split();

    let scl = gpiob.pb6.into_open_drain_output();
    let sda = gpiob.pb7.into_open_drain_output();

    let mut i2c = dp.I2C1.i2c(
        (scl, sda),
        Mode::Standard { frequency: 100.kHz() },
        &clocks,
    );

    // Instantiate Lsm6dsox imu object
    let imu = Lsm6dsox::new(i2c).unwrap();

    // Configures imu
    imu.configure_accel(&mut i2c).unwrap();

    // variable to store data
    let mut accel_data:[f32; 3] = [0.0, 0.0, 0.0];


    ...

    loop {

        // read acceleration data
        accel_data = imu.read_accel(&mut i2c).unwrap();

        ...

    }

}

Documentation

Currently, a hosting solution is not yet available. However, documentation can be generated with the following command.

cargo doc

The command will generate html files in the target/doc folder.

Datasheet

https://www.st.com/resource/en/datasheet/lsm6dsox.pdf