lis2mdl-rs

Provides a platform-agnostic, no_std-compatible driver for the ST LIS2MDL sensor, supporting both I2C and SPI communication interfaces.

Sensor Overview

The LIS2MDL is an ultra-low-power, highperformance 3-axis digital magnetic sensor.

The LIS2MDL has a magnetic field dynamic range of ±50 gauss.

The LIS2MDL 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 device can be configured to generate an interrupt signal for magnetic field detection.

The LIS2MDL is available in a plastic land grid array package (LGA) and is guaranteed to operate over an extended temperature range from -40 °C to +85 °C.

For more info, please visit the device page at https://www.st.com/en/mems-and-sensors/lis2mdl.html

Installation

Add the driver to your Cargo.toml dependencies:

[dependencies]
lis2mdl-rs = "0.1.0"

Or, add it directly from the terminal:

cargo add lis2mdl-rs

Usage

Include the crate and its prelude

use lis2mdl_rs as lis2mdl;
use lis2mdl::*;
use lis2mdl::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.

An example with I2C:

let mut sensor = Lis2mdl::new_i2c(i2c, I2CAddress::I2cAdd);

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(1).unwrap();

// Wait for reset to complete
while sensor.reset_get().unwrap() != 0 {}

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

// Set Output Data Rate
sensor.data_rate_set(Odr::_10hz).unwrap();

// Set / Reset sensor mode
sensor
    .set_rst_mode_set(SetRst::SensOffCancEveryOdr)
    .unwrap();

// Enable temperature compensation
sensor.offset_temp_comp_set(1).unwrap();

// Set device in continuous mode
sensor.operating_mode_set(Md::ContinuousMode).unwrap();

License

Distributed under the BSD-3 Clause license.

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

Copyright (C) 2025 STMicroelectronics