ank/mpu6050
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bump embedded_hal to 1.0

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This commit is contained in:
Andy Killorin 2025-01-04 16:33:33 -05:00
parent aeb0e91bc7
commit 32604cc16c
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
2 changed files with 10 additions and 10 deletions
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2
Cargo.toml
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@ -11,7 +11,7 @@ keywords = ["mpu6050", "imu", "embedded"]
license = "MIT" license = "MIT"
[dependencies] [dependencies]
embedded-hal = "0.2.4" embedded-hal = "1"
libm = "0.2.1" libm = "0.2.1"
[dependencies.nalgebra] [dependencies.nalgebra]

18
src/lib.rs
View file

@ -12,7 +12,7 @@
//! **More Examples** can be found [here](https://github.com/juliangaal/mpu6050/tree/master/examples). //! **More Examples** can be found [here](https://github.com/juliangaal/mpu6050/tree/master/examples).
//! ```no_run //! ```no_run
//! use mpu6050::*; //! use mpu6050::*;
//! use linux_embedded_hal::{I2cdev, Delay}; //! use linux_embedded_hal::{I2cdev, DelayNs};
//! use i2cdev::linux::LinuxI2CError; //! use i2cdev::linux::LinuxI2CError;
//! //!
//! fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> { //! fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
@ -53,9 +53,9 @@ use crate::device::*;
use libm::{powf, atan2f, sqrtf}; use libm::{powf, atan2f, sqrtf};
use nalgebra::{Vector3, Vector2}; use nalgebra::{Vector3, Vector2};
use embedded_hal::{ use embedded_hal::{
blocking::delay::DelayMs, i2c::I2c
blocking::i2c::{Write, WriteRead},
}; };
use embedded_hal::delay::DelayNs;
/// PI, f32 /// PI, f32
pub const PI: f32 = core::f32::consts::PI; pub const PI: f32 = core::f32::consts::PI;
@ -83,7 +83,7 @@ pub struct Mpu6050<I> {
impl<I, E> Mpu6050<I> impl<I, E> Mpu6050<I>
where where
I: Write<Error = E> + WriteRead<Error = E>, I: I2c<Error = E>,
{ {
/// Side effect free constructor with default sensitivies, no calibration /// Side effect free constructor with default sensitivies, no calibration
pub fn new(i2c: I) -> Self { pub fn new(i2c: I) -> Self {
@ -126,11 +126,11 @@ where
} }
/// Wakes MPU6050 with all sensors enabled (default) /// Wakes MPU6050 with all sensors enabled (default)
fn wake<D: DelayMs<u8>>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> { fn wake<D: DelayNs>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
// MPU6050 has sleep enabled by default -> set bit 0 to wake // MPU6050 has sleep enabled by default -> set bit 0 to wake
// Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 (See Register Map ) // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 (See Register Map )
self.write_byte(PWR_MGMT_1::ADDR, 0x01)?; self.write_byte(PWR_MGMT_1::ADDR, 0x01)?;
delay.delay_ms(100u8); delay.delay_ms(100);
Ok(()) Ok(())
} }
@ -154,7 +154,7 @@ where
} }
/// Init wakes MPU6050 and verifies register addr, e.g. in i2c /// Init wakes MPU6050 and verifies register addr, e.g. in i2c
pub fn init<D: DelayMs<u8>>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> { pub fn init<D: DelayNs>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
self.wake(delay)?; self.wake(delay)?;
self.verify()?; self.verify()?;
self.set_accel_range(AccelRange::G2)?; self.set_accel_range(AccelRange::G2)?;
@ -253,9 +253,9 @@ where
} }
/// reset device /// reset device
pub fn reset_device<D: DelayMs<u8>>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> { pub fn reset_device<D: DelayNs>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
self.write_bit(PWR_MGMT_1::ADDR, PWR_MGMT_1::DEVICE_RESET, true)?; self.write_bit(PWR_MGMT_1::ADDR, PWR_MGMT_1::DEVICE_RESET, true)?;
delay.delay_ms(100u8); delay.delay_ms(100);
// Note: Reset sets sleep to true! Section register map: resets PWR_MGMT to 0x40 // Note: Reset sets sleep to true! Section register map: resets PWR_MGMT to 0x40
Ok(()) Ok(())
} }