Struct Lsm6dsv16x 

pub struct Lsm6dsv16x { /* private fields */ }

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).

Implementations

impl Lsm6dsv16x

pub fn new<I, PINS, CS>( spi: &mut SpiBus<I, PINS>, cs: &mut CS, ) -> Result<Self, Error>

where I: Instance, PINS: Pins<I>, CS: CsControl,

Probe WHO_AM_I, soft-reset, and configure accel + gyro for ±2 g / ±2000 dps at 120 Hz ODR in high-performance mode.

pub fn read_sample<I, PINS, CS>( &mut self, spi: &mut SpiBus<I, PINS>, cs: &mut CS, ) -> Result<ImuSample, Error>

where I: Instance, PINS: Pins<I>, CS: CsControl,

Burst-read gyro XYZ and accel XYZ (12 bytes starting at OUTX_L_G) and convert to SI units. Gyro comes first in the register map, then accel.