# `adis1647x`

no_std driver for the Analog Devices [adis1647](https://www.mouser.com/new/analog-devices/adi-adis1647-imus/) family of IMUs. Currently only the adis16475 is implemented.


### Usage

You need an embedded_hal_async spi driver

```rust

use adis1647x::*;
use adis1647x::delta::*;

async fn main() -> Result<(), SomeSpiError> {
    let bus = some_spi();
    
    let imu = ADIS1647X::new(bus).await?;
    
    let mut angle: DeltaAngle = Default::default();
    
    loop {
        data_ready_rising_edge().await;
        
        let (delta_angle, _) = imu.deltas().await?;
        
        angle += delta_angle;
        
        println!("yaw: {} degrees", angle.angles().y);
    }
```