Expand description
ST LSM6DSV16X 6-axis IMU (accelerometer + gyroscope) SPI driver.
Wired on SPI4 CS2. Uses 4-wire SPI mode 0 (CPOL=0, CPHA=0), matching the bus
config used by the DWM tag on CS1. The read_sample() method returns a single
synchronized accelerometer + gyroscope reading converted to SI units (m/s^2 and
rad/s) so the tilt control loop on the STM32 can consume it directly.
Structs§
- ImuSample
- A single synchronized IMU sample in SI units.
- Lsm6dsv16x
- LSM6DSV16X driver. Does not own the SPI bus or CS line — they are passed in per-call so that SPI4 can be shared with other devices (DWM tag on CS1).