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icm20689

A rust embedded-hal driver for the TDK InvenSense ICM-20689 6DOF accelerometer and gyroscope.

The ICM-20689 is a 6-axis motion tracking device that combines a 3-axis gyroscope, 3-axis accelerometer, and a motion processor. This driver supports some similar 6dof devices in the same family, such as:

  • ICM-20602
  • ICM-20608G

Status

  • Basic SPI support
  • Basic I2C support
  • Supported product identifier check
  • Read of gyro data
  • Read of accel data
  • Support for ICM-20608G (tested)
  • Support for ICM-20602 (implemented but untested)
  • Support for DMA with SPI
  • Tests with mock embedded hal
  • Usage example with cortex-m hal
  • Doc comments
  • CI
  • Support for user recalibration