Rust LSM303AGR Ultra-low-power 3D Accelerometer and 3D Magnetometer Driver

This is a platform agnostic Rust driver for the LSM303AGR ultra-compact high-performance eCompass module: ultra-low-power 3D accelerometer and 3D magnetometer using the embedded-hal traits.

This driver allows you to:

• Connect through I2C or SPI. See: new_with_i2c().
• Initialize the device. See: init().
• Accelerometer:
  • Read measured acceleration. See: acceleration().
  • Get accelerometer status. See: accel_status().
  • Set accelerometer mode and output data rate. See: set_accel_mode_and_odr().
  • Set accelerometer scale. See: set_accel_scale().
  • Get accelerometer ID. See: accelerometer_id().
  • Get temperature sensor status. See: temperature_status().
  • Read measured temperature. See: temperature().
  • Configure FIFO. See: acc_set_fifo_mode().
  • Enable/disable interrupts. See: acc_enable_interrupt().
• Magnetometer:
  • Get the magnetometer status. See: mag_status().
  • Change into continuous/one-shot mode. See: into_mag_continuous().
  • Read measured magnetic field. See: magnetic_field().
  • Set magnetometer mode and output data rate. See: set_mag_mode_and_odr().
  • Get magnetometer ID. See: magnetometer_id().
  • Enable/disable magnetometer built in offset cancellation. See: enable_mag_offset_cancellation().
  • Enable/disable magnetometer low-pass filter. See: mag_enable_low_pass_filter().

The LSM303AGR is an ultra-low-power high- performance system-in-package featuring a 3D digital linear acceleration sensor and a 3D digital magnetic sensor. The LSM303AGR has linear acceleration full scales of ±2g/±4g/±8g/±16g and a magnetic field dynamic range of ±50 gauss.

The LSM303AGR includes an I2C serial bus interface that supports standard, fast mode, fast mode plus, and high-speed (100 kHz, 400 kHz, 1 MHz, and 3.4 MHz) and an SPI serial standard interface.

The system can be configured to generate an interrupt signal for free-fall, motion detection and magnetic field detection.

The magnetic and accelerometer blocks can be enabled or put into power-down mode separately.

Documents: Datasheet - Application note

Usage

To use this driver, import this crate and an embedded_hal implementation, then instantiate the device.

Please find additional examples using hardware in this repository: driver-examples

use linux_embedded_hal::{Delay, I2cdev};
use lsm303agr::{AccelMode, AccelOutputDataRate, Lsm303agr};

fn main() {
    let dev = I2cdev::new("/dev/i2c-1").unwrap();
    let mut sensor = Lsm303agr::new_with_i2c(dev);
    sensor.init().unwrap();
    sensor
        .set_accel_mode_and_odr(&mut Delay, AccelMode::Normal, AccelOutputDataRate::Hz50)
        .unwrap();
    loop {
        if sensor.accel_status().unwrap().xyz_new_data() {
            let data = sensor.acceleration().unwrap();
            println!(
                "Acceleration: x {} y {} z {}",
                data.x_mg(),
                data.y_mg(),
                data.z_mg()
            );
        }
    }
}

Support

For questions, issues, feature requests, and other changes, please file an issue in the github project.

License

Licensed under either of

• Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.

Contributing

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.