1 unstable release

0.1.1 May 16, 2020

#9 in #imu

Used in pixracer_bsp


353 lines


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


  • 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


~11K SLoC