ism6hg256x-rs

Provides a platform-agnostic, no_std-compatible driver for the ST ISM6HG256X IMU, supporting both I2C and SPI communication interfaces.

Sensor Overview

The ISM6HG256X is a high-end, low-noise, low-power 6-axis IMU, featuring a 3-axis digital low-g accelerometer at 16 g, a 3-axis digital high-g accelerometer at 256 g, and a 3-axis digital gyroscope, which offers the best IMU sensor with a quad-channel architecture for processing acceleration and angular rate data on four separate channels (user interface, OIS, EIS, and high-g accelerometer data) with dedicated configuration, processing, and filtering along with a dedicated high-g sensor for high-g shock.

The ISM6HG256X enables edge computing, leveraging embedded advanced dedicated features such as a finite state machine (FSM) for configurable motion tracking and a machine learning core (MLC) for context awareness with exportable AI features for IoT applications.

The device supports the adaptive self-configuration (ASC) feature, which allows automatically reconfiguring the device in real time based on the detection of a specific motion pattern or based on the output of a specific decision tree configured in the MLC, without any intervention from the host processor.

The ISM6HG256X embeds a dedicated accelerometer sensor with an independent channel and filtering for high-g acceleration detection that perfectly matches shock requirements for asset tracking, robotics & factory automation, condition monitoring, and worker PPE (personal protective equipment).

For more info, please visit the device page at https://www.st.com/en/mems-and-sensors/ism6hg256x.html

Installation

Add the driver to your Cargo.toml dependencies:

[dependencies]
ism6hg256x-rs = "1.0.0"

Or, add it directly from the terminal:

cargo add ism6hg256x-rs

Usage

Include the crate and its prelude

use ism6hg256x_rs as ism6hg256x;
use ism6hg256x::*;
use ism6hg256x::prelude::*;

Create an instance

Create an instance of the driver with the new_<bus> associated function, by passing an I2C (embedded_hal::i2c::I2c) instance and I2C address, or an SPI (embedded_hal::spi::SpiDevice) instance, along with a timing peripheral.

An example with I2C:

let mut sensor = Ism6hg256x::new_i2c(i2c, I2CAddress::I2cAddL, delay);

Check "Who Am I" Register

This step ensures correct communication with the sensor. It returns a unique ID to verify the sensor's identity.

let whoami = sensor.device_id_get().unwrap();
if whoami != ID {
    panic!("Invalid sensor ID");
}

Configure

See details in specific examples; the following are common api calls:

// Restore default configuration
sensor.reset_set(Reset::RestoreCtrlRegs).unwrap();
let mut rst: Reset = Reset::RestoreCtrlRegs;
while rst != Reset::Ready {
    rst = sensor.reset_get().unwrap();
}

// Enable Block Data Update
sensor.block_data_update_set(1).unwrap();

// Set Output Data Rate
sensor.xl_data_rate_set(DataRate::_1920hz).unwrap();
sensor.hg_xl_data_rate_set(HgXlDataRate::_960hz, 1).unwrap();
sensor.gy_data_rate_set(DataRate::_120hz).unwrap();

// Set full scale
sensor.xl_full_scale_set(XlFullScale::_2g).unwrap();
sensor.hg_xl_full_scale_set(HgXlFullScale::_256g).unwrap();
sensor.gy_full_scale_set(GyFullScale::_2000dps).unwrap();

License

Distributed under the BSD-3 Clause license.

More Information: http://www.st.com.

Copyright (C) 2025 STMicroelectronics