Platform agnostic driver for MPU 6050 6-axis IMU using embedded_hal
.
Datasheet | Register Map Sheet
Basic usage - linux_embedded_hal
example
use mpu6050::*;
use linux_embedded_hal::{I2cdev, Delay};
use i2cdev::linux::LinuxI2CError;
fn main() -> Result<(), Error<LinuxI2CError>> {
let i2c = I2cdev::new("/dev/i2c-1") // or privide your owm on different platforms
.map_err(Error::I2c)?;
let delay = Delay;
let mut mpu = Mpu6050::new(i2c, delay);
mpu.init()?;
loop {
// get roll and pitch estimate
match mpu.get_acc_angles() {
Ok(r) => {
println!("r/p: {:?}", r);
},
Err(_) => {} ,
}
// get temp
match mpu.get_temp() {
Ok(r) => {
println!("temp: {}c", r);
},
Err(_) => {} ,
}
// get gyro data, scaled with sensitivity
match mpu.get_gyro() {
Ok(r) => {
println!("gyro: {:?}", r);
},
Err(_) => {} ,
}
// get accelerometer data, scaled with sensitivity
match mpu.get_acc() {
Ok(r) => {
println!("acc: {:?}", r);
},
Err(_) => {} ,
}
}
}
files here
Requirements:
$ apt-get install -qq gcc-armv7-linux-gnueabihf libc6-armhf-cross libc6-dev-armhf-cross
and all dependencies in example/Cargo.toml
Rustup:
$ rustup target add armv7-unknown-linux-gnueabihf
To configure the linker use example/.cargo/config
cross-compile with
$ cargo build --target=armv7-unknown-linux-gnueabihf
- init with default settings
- init with custom settings
- device verification
- basic feature support as described here
- read gyro data
- read acc data
- software calibration
- roll, pitch estimation accelerometer only
- read temp data
- rename constants to better match datasheet
- complementary filter for roll, pitch estimate
- sample rate devider with register 25? or timer/clock control with PWR_MGMT_2
- internal clock, register 108
POWER_MGMT_2
, will cycle between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL (page 41-43)
- internal clock, register 108
- plotting csv datafor testing?