Julian Gaal
GitHub
commit
378730e21d
4 changed files with 250 additions and 32 deletions
34
examples/motion_detection.rs
Normal file
34
examples/motion_detection.rs
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@ -0,0 +1,34 @@
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use mpu6050::*;
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use linux_embedded_hal::{I2cdev, Delay};
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use i2cdev::linux::LinuxI2CError;
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use embedded_hal::blocking::delay::DelayMs;
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use mpu6050::device::MOT_DETECT_STATUS;
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fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
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let i2c = I2cdev::new("/dev/i2c-1")
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.map_err(Mpu6050Error::I2c)?;
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let mut delay = Delay;
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let mut mpu = Mpu6050::new(i2c);
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mpu.init(&mut delay)?;
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mpu.setup_motion_detection()?;
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let mut count: u8 = 0;
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loop {
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if mpu.get_motion_detected()? {
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println!("YEAH BUDDY. Motion by axes: {:b}", mpu.read_byte(MOT_DETECT_STATUS::ADDR)?);
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count += 1;
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}
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delay.delay_ms(10u8);
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if count > 5 {
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mpu.reset_device(&mut delay)?;
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break;
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}
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}
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Ok(())
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}
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@ -19,7 +19,7 @@
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x17] ZG_OFFS_USRH| R/W | [15:0] ZG_OFFS_USR|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x18] ZG_OFFS_USRL| R/W ||
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x19] SMPLRT_DIV| R/W | [7:0] SMPLRT_DIV|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x1A] CONFIG| R/W | [5:3] EXT_SYNC_SET [2:0] DLPF_CFG|
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| <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x1A] CONFIG| R/W | [5:3] EXT_SYNC_SET [2:0] DLPF_CFG|
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x1B] GYRO_CONFIG| R/W | [7] XG_ST [6] YG_ST [5] ZG_ST [4:3] FS_SEL|
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x1C] ACCEL_CONFIG| R/W | [7] XA_ST [6] YA_ST [5] ZA_ST [4:3] AFS_SEL [2:0] ACCEL_HPF|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x1D] FF_THR| R/W | [7:0] FF_THR|
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@ -48,24 +48,24 @@
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x34] I2C_SLV4_CTRL| R/W | [7] I2C_SLV4_EN [6] I2C_SLV4_INT_EN [5] I2C_SLV4_REG_DIS [4:0] I2C_MST_DLY|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x35] I2C_SLV4_DI| R/W | [7:0] I2C_SLV4_DI|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x36] I2C_MST_STATUS| RO| [7] PASS_THROUGH [6] I2C_SLV4_DONE [5] I2C_LOST_ARB [4] I2C_SLV4_NACK [3] I2C_SLV3_NACK [2] I2C_SLV2_NACK [1] I2C_SLV1_NACK [0] I2C_SLV0_NACK|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x37] INT_PIN_CFG| R/W | [7] INT_LEVEL [6] INT_OPEN [5] LATCH_INT_EN [4] INT_RD_CLEAR [3] FSYNC_INT_LEVEL [2] FSYNC_INT_EN [1] I2C_BYPASS_EN [0] CLKOUT_EN|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x38] INT_ENABLE| R/W | [7] FF_EN [6] MOT_EN [5] ZMOT_EN [4] FIFO_OFLOW_EN [3] I2C_MST_INT_EN [2] PLL_RDY_INT_EN [1] DMP_INT_EN [0] RAW_RDY_EN|
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| <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x37] INT_PIN_CFG| R/W | [7] INT_LEVEL [6] INT_OPEN [5] LATCH_INT_EN [4] INT_RD_CLEAR [3] FSYNC_INT_LEVEL [2] FSYNC_INT_EN [1] I2C_BYPASS_EN [0] CLKOUT_EN|
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| <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x38] INT_ENABLE| R/W | [7] FF_EN [6] MOT_EN [5] ZMOT_EN [4] FIFO_OFLOW_EN [3] I2C_MST_INT_EN [2] PLL_RDY_INT_EN [1] DMP_INT_EN [0] RAW_RDY_EN|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x39] DMP_INT_STATUS| RO| [5] DMP_INT_5 [4] DMP_INT_4 [3] DMP_INT_3 [2] DMP_INT_2 [1] DMP_INT_1 [0] DMP_INT_0|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x3A] INT_STATUS| RO| [7] FF_INT [6] MOT_INT [5] ZMOT_INT [4] FIFO_OFLOW_INT [3] I2C_MST_INT [2] PLL_RDY_INT [1] DMP_INT [0] RAW_RDY_INT|
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x3B] ACCEL_XOUT_H| RO| [15:0] ACCEL_XOUT|
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x3C] ACCEL_XOUT_L| RO|
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x3D] ACCEL_YOUT_H| RO| [15:0] ACCEL_YOUT|
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x3E] ACCEL_YOUT_L| RO|
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x3F] ACCEL_ZOUT_H| RO| [15:0] ACCEL_ZOUT|
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x40] ACCEL_ZOUT_L| RO||
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x41] TEMP_OUT_H| RO| [15:0] TEMP_OUT|
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x42] TEMP_OUT_L| RO||
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x43] GYRO_XOUT_H| RO | [15:0] GYRO_XOUT|
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x44] GYRO_XOUT_L| RO||
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x45] GYRO_YOUT_H| RO| [15:0] GYRO_YOUT|
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x46] GYRO_YOUT_L| RO||
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x47] GYRO_ZOUT_H| RO| [15:0] GYRO_ZOUT|
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| <ul><li> -[x] </li><li> -[x] </li></ul>|[0x48] GYRO_ZOUT_L| RO||
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| <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x3A] INT_STATUS| RO| [7] FF_INT [6] MOT_INT [5] ZMOT_INT [4] FIFO_OFLOW_INT [3] I2C_MST_INT [2] PLL_RDY_INT [1] DMP_INT [0] RAW_RDY_INT|
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x3B] ACCEL_XOUT_H| RO| [15:0] ACCEL_XOUT|
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x3C] ACCEL_XOUT_L| RO|
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x3D] ACCEL_YOUT_H| RO| [15:0] ACCEL_YOUT|
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x3E] ACCEL_YOUT_L| RO|
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x3F] ACCEL_ZOUT_H| RO| [15:0] ACCEL_ZOUT|
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x40] ACCEL_ZOUT_L| RO||
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x41] TEMP_OUT_H| RO| [15:0] TEMP_OUT|
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x42] TEMP_OUT_L| RO||
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x43] GYRO_XOUT_H| RO | [15:0] GYRO_XOUT|
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x44] GYRO_XOUT_L| RO||
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x45] GYRO_YOUT_H| RO| [15:0] GYRO_YOUT|
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x46] GYRO_YOUT_L| RO||
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x47] GYRO_ZOUT_H| RO| [15:0] GYRO_ZOUT|
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x48] GYRO_ZOUT_L| RO||
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| <ul><li> -[ ] </ul></li>|<ul><li> -[ ] </li></ul>|[0x49] EXT_SENS_DATA_00| RO |[7:0] EXT_SENS_DATA_00|
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| <ul><li> -[ ] </ul></li>|<ul><li> -[ ] </li></ul>|[0x4A] EXT_SENS_DATA_01| RO |[7:0] EXT_SENS_DATA_01|
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| <ul><li> -[ ] </ul></li>|<ul><li> -[ ] </li></ul>|[0x4B] EXT_SENS_DATA_02| RO |[7:0] EXT_SENS_DATA_02|
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@ -90,14 +90,14 @@
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x5E] EXT_SENS_DATA_21| RO |[7:0] EXT_SENS_DATA_21|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x5F] EXT_SENS_DATA_22| RO |[7:0] EXT_SENS_DATA_22|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x60] EXT_SENS_DATA_23| RO |[7:0] EXT_SENS_DATA_23|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x61] MOT_DETECT_STATUS| RO |[7] MOT_XNEG [6] MOT_XPOS [5] MOT_YNEG [4] MOT_YPOS [3] MOT_ZNEG [2] MOT_ZPOS [0] MOT_ZRMOT|
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| <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x61] MOT_DETECT_STATUS| RO |[7] MOT_XNEG [6] MOT_XPOS [5] MOT_YNEG [4] MOT_YPOS [3] MOT_ZNEG [2] MOT_ZPOS [0] MOT_ZRMOT|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x63] I2C_SLV0_DO| R/W | [7:0] I2C_SLV0_DO|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x64] I2C_SLV1_DO| R/W | [7:0] I2C_SLV1_DO|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x65] I2C_SLV2_DO| R/W | [7:0] I2C_SLV2_DO|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x66] I2C_SLV3_DO| R/W | [7:0] I2C_SLV3_DO|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x67] I2C_MST_DELAY_CTRL| R/W | [7] DELAY_ES_SHADOW [4] I2C_SLV4_DLY_EN [3] I2C_SLV3_DLY_EN [2] I2C_SLV2_DLY_EN [1] I2C_SLV1_DLY_EN [0] I2C_SLV0_DLY_EN|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x68] SIGNAL_PATH_RESET| R/W | [2] GYRO_RESET [1] ACCEL_RESET [0] TEMP_RESET|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x69] MOT_DETECT_CTRL| R/W | [5:4] ACCEL_ON_DELAY [3:2] FF_COUNT [1:0] MOT_COUNT|
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| <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x69] MOT_DETECT_CTRL| R/W | [5:4] ACCEL_ON_DELAY [3:2] FF_COUNT [1:0] MOT_COUNT|
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| <ul><li> -[ ] </li></ul>|<ul><li> -[ ] </li></ul>|[0x6A] USER_CTRL| R/W | [7] DMP_EN [6] FIFO_EN [5] I2C_MST_EN [4] I2C_IF_DIS [3] DMP_RESET [2] FIFO_RESET [1] I2C_MST_RESET [0] SIG_COND_RESET|
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| <ul><li> -[x] </li></ul>|<ul><li> -[x] </li></ul>|[0x6B] PWR_MGMT_1| R/W | [7] DEVICE_RESET [6] SLEEP [5] CYCLE [3] TEMP_DIS [2:0] CLK_SEL|
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| <ul><li> -[x] </li></ul>|<ul><li> -[ ] </li></ul>|[0x6C] PWR_MGMT_2| R/W | [7] LP_WAKE_CTRL [5] STBY_ZG [4] STBY_YA [3] STBY_ZA [2] STBY_XG [1] STBY_YG [0] STBY_ZG|
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177
src/device.rs
177
src/device.rs
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@ -2,6 +2,7 @@
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//! Register map: https://arduino.ua/docs/RM-MPU-6000A.pdf
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//! Datasheet with WAY more info about interrupts (Revision 3.2) https://www.cdiweb.com/datasheets/invensense/ps-mpu-6000a.pdf
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//!
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//!
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/// Gyro Sensitivity
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///
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@ -46,10 +47,6 @@ impl Specs {
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#[derive(Copy, Clone, Debug)]
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/// Register addresses
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pub enum Registers {
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/// Slave address of Mpu6050
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SLAVE_ADDR = 0x68,
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/// Internal register to check slave addr
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WHOAMI = 0x75,
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/// High Byte Register Gyro x orientation
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GYRO_REGX_H = 0x43,
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/// High Byte Register Gyro y orientation
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@ -64,10 +61,18 @@ pub enum Registers {
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ACC_REGZ_H = 0x3f,
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/// High Byte Register Temperature
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TEMP_OUT_H = 0x41,
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/// Internal clock
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POWER_MGMT_2 = 0x6c,
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//
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}
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/// Slave address of Mpu6050
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pub const SLAVE_ADDR: u8 = 0x68;
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/// Internal register to check slave addr
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pub const WHOAMI: u8 = 0x75;
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/// Motion Threshold Register
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pub const MOT_THR: u8 = 0x1F;
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/// Motion Duration Detection Register
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pub const MOT_DUR: u8 = 0x20;
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/// Describes a bit block from bit number 'bit' to 'bit'+'length'
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pub struct BitBlock {
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pub bit: u8,
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@ -80,6 +85,20 @@ impl Registers {
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}
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}
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#[allow(non_camel_case_types)]
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#[derive(Copy, Clone, Debug)]
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/// Register 26: Configuration (DLPF, External signal)
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pub struct CONFIG;
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impl CONFIG {
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/// Base Address
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pub const ADDR: u8 = 0x1a;
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/// external Frame Synchronisation (FSYNC)
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pub const EXT_SYNC_SET: BitBlock = BitBlock { bit: 5, length: 3};
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/// Digital Low Pass Filter (DLPF) config
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pub const DLPF_CFG: BitBlock = BitBlock { bit: 2, length: 3};
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}
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#[allow(non_camel_case_types)]
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#[derive(Copy, Clone, Debug)]
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/// Register 27: Gyro Config
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@ -119,7 +138,117 @@ impl ACCEL_CONFIG {
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#[allow(non_camel_case_types)]
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#[derive(Copy, Clone, Debug)]
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/// Register 107: Power Management
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/// Register 55: INT Pin / Bypass Enable Configuration
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pub struct INT_PIN_CFG;
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impl INT_PIN_CFG {
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/// Base Address
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pub const ADDR: u8 = 0x37;
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/// INT pin logic level
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pub const INT_LEVEL: u8 = 7;
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/// INT pin config
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pub const INT_OPEN: u8 = 6;
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/// Pulse (length)
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pub const LATCH_INT_EN: u8 = 5;
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/// INT clear conditions
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pub const INT_RD_CLEAR: u8 = 4;
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/// FSYNC PIN logic level
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pub const FSYNC_INT_LEVEL: u8 = 3;
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/// FSYNC PIN config
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pub const FSYNC_INT_EN: u8 = 2;
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/// i2c access/bypass
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pub const I2C_BYPASS_EN: u8 = 1;
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/// enable/disable reference clock output
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pub const CLKOUT_EN: u8 = 0;
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}
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#[allow(non_camel_case_types)]
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#[derive(Copy, Clone, Debug)]
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/// Register 56: Interrupt Status
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pub struct INT_ENABLE;
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impl INT_ENABLE {
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/// Base Address
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pub const ADDR: u8 = 0x38;
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/// Generate interrupt Free Fall Detection
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pub const FF_EN: u8 = 7;
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/// Generate interrupt with Motion Detected
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pub const MOT_EN: u8 = 6;
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/// Generate iterrrupt when Zero Motion Detection
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pub const ZMOT_EN: u8 = 5;
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/// Generate iterrupt when FIFO buffer overflow
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pub const FIFO_OFLOW_END: u8 = 4;
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/// this bit enables any of the I2C Masterinterrupt sources to generate an interrupt
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pub const I2C_MST_INT_EN: u8 = 3;
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/// enables Data Ready interrupt, each time a write operation to all sensor registers completed
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pub const DATA_RDY_EN: u8 = 0;
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}
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#[allow(non_camel_case_types)]
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#[derive(Copy, Clone, Debug)]
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/// Register 58: Interrupt Status
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pub struct INT_STATUS;
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impl INT_STATUS {
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/// Base Address
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pub const ADDR: u8 = 0x3a;
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/// Free Fall Interrupt
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pub const FF_INT: u8 = 7;
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/// Motion Detection Interrupt
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pub const MOT_INT: u8 = 6;
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/// Zero Motion Detection Interrupt
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pub const ZMOT_INT: u8 = 5;
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/// FIFO buffer overflow
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pub const FIFO_OFLOW_INT: u8 = 4;
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/// i2c master interrupt has been generated
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pub const I2C_MSF_INT: u8 = 3;
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/// Data is ready
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pub const DATA_RDY_INT: u8 = 0;
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}
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#[allow(non_camel_case_types)]
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#[derive(Copy, Clone, Debug)]
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/// Register 97: Motion Detection Status
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pub struct MOT_DETECT_STATUS;
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impl MOT_DETECT_STATUS {
|
||||
/// Base Address
|
||||
pub const ADDR: u8 = 0x61;
|
||||
/// motion in the negative X axis has generated a Motion detection interrupt
|
||||
pub const MOT_XNEG: u8 = 7;
|
||||
/// motion in the positive X axis has generated a Motion detection interrupt
|
||||
pub const MOT_XPOS: u8 = 6;
|
||||
/// motion in the negative Y axis has generated a Motion detection interrupt
|
||||
pub const MOT_YNEG: u8 = 5;
|
||||
/// motion in the positive Y axis has generated a Motion detection interrupt
|
||||
pub const MOT_YPOS: u8 = 4;
|
||||
/// motion in the negative Z axis has generated a Motion detection interrupt.
|
||||
pub const MOT_ZNEG: u8 = 3;
|
||||
/// motion in the positive Z axis has generated a Motion detection interrupt
|
||||
pub const MOT_ZPOS: u8 = 2;
|
||||
/// Zero Motion detection interrupt is generated
|
||||
pub const MOT_ZRMOT: u8 = 0;
|
||||
}
|
||||
|
||||
#[allow(non_camel_case_types)]
|
||||
#[derive(Copy, Clone, Debug)]
|
||||
/// Register 105: Motion Detection Control
|
||||
pub struct MOT_DETECT_CONTROL;
|
||||
|
||||
impl MOT_DETECT_CONTROL {
|
||||
/// Base Address
|
||||
pub const ADDR: u8 = 0x69;
|
||||
/// Additional delay
|
||||
pub const ACCEL_ON_DELAY: BitBlock = BitBlock { bit: 5, length: 2};
|
||||
/// Free Fall count
|
||||
pub const FF_COUNT: BitBlock = BitBlock { bit: 3, length: 2};
|
||||
/// Motion Detection cound
|
||||
pub const MOT_COUNT: BitBlock = BitBlock { bit: 1, length: 2};
|
||||
}
|
||||
|
||||
#[allow(non_camel_case_types)]
|
||||
#[derive(Copy, Clone, Debug)]
|
||||
/// Register 107: Power Management 1
|
||||
pub struct PWR_MGMT_1;
|
||||
|
||||
impl PWR_MGMT_1 {
|
||||
|
|
@ -137,6 +266,40 @@ impl PWR_MGMT_1 {
|
|||
pub const CLKSEL: BitBlock = BitBlock { bit: 2, length: 3 };
|
||||
}
|
||||
|
||||
#[allow(non_camel_case_types)]
|
||||
#[derive(Copy, Clone, Debug)]
|
||||
/// Register 107: Power Management 2
|
||||
pub struct PWR_MGMT_2;
|
||||
|
||||
impl PWR_MGMT_2 {
|
||||
/// Base Address
|
||||
pub const ADDR: u8 = 0x6c;
|
||||
/// Wake up frequency
|
||||
pub const LP_WAKE_CTRL: BitBlock = BitBlock { bit: 7, length: 2};
|
||||
/// disable accel axis x
|
||||
pub const STBY_XA: u8 = 5;
|
||||
/// disable accel axis y
|
||||
pub const STBY_YA: u8 = 4;
|
||||
/// disable accel axis z
|
||||
pub const STBY_ZA: u8 = 3;
|
||||
/// disable gyro axis x
|
||||
pub const STBY_XG: u8 = 2;
|
||||
/// disable gyro axis y
|
||||
pub const STBY_YG: u8 = 1;
|
||||
/// disable gyro axis z
|
||||
pub const STBY_ZG: u8 = 0;
|
||||
}
|
||||
|
||||
#[allow(non_camel_case_types)]
|
||||
#[derive(Copy, Clone, Debug, Eq, PartialEq)]
|
||||
/// Wake values
|
||||
pub enum LP_WAKE_CTRL {
|
||||
_1P25 = 0,
|
||||
_2P5,
|
||||
_5,
|
||||
_10,
|
||||
}
|
||||
|
||||
#[allow(non_camel_case_types)]
|
||||
#[derive(Copy, Clone, Debug, Eq, PartialEq)]
|
||||
/// Accelerometer High Pass Filter Values
|
||||
|
|
|
|||
31
src/lib.rs
31
src/lib.rs
|
|
@ -140,13 +140,34 @@ where
|
|||
|
||||
/// Verifies device to address 0x68 with WHOAMI.addr() Register
|
||||
fn verify(&mut self) -> Result<(), Mpu6050Error<E>> {
|
||||
let address = self.read_byte(WHOAMI.addr())?;
|
||||
if address != SLAVE_ADDR.addr() {
|
||||
let address = self.read_byte(WHOAMI)?;
|
||||
if address != SLAVE_ADDR {
|
||||
return Err(Mpu6050Error::InvalidChipId(address));
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// setup motion detection
|
||||
/// sources:
|
||||
/// * https://github.com/kriswiner/MPU6050/blob/a7e0c8ba61a56c5326b2bcd64bc81ab72ee4616b/MPU6050IMU.ino#L486
|
||||
/// * https://arduino.stackexchange.com/a/48430
|
||||
pub fn setup_motion_detection(&mut self) -> Result<(), Mpu6050Error<E>> {
|
||||
self.write_byte(0x6B, 0x00)?;
|
||||
// optional? self.write_byte(0x68, 0x07)?; // Reset all internal signal paths in the MPU-6050 by writing 0x07 to register 0x68;
|
||||
self.write_byte(INT_PIN_CFG::ADDR, 0x20)?; //write register 0x37 to select how to use the interrupt pin. For an active high, push-pull signal that stays until register (decimal) 58 is read, write 0x20.
|
||||
self.write_byte(ACCEL_CONFIG::ADDR, 0x01)?; //Write register 28 (==0x1C) to set the Digital High Pass Filter, bits 3:0. For example set it to 0x01 for 5Hz. (These 3 bits are grey in the data sheet, but they are used! Leaving them 0 means the filter always outputs 0.)
|
||||
self.write_byte(MOT_THR, 10)?; //Write the desired Motion threshold to register 0x1F (For example, write decimal 20).
|
||||
self.write_byte(MOT_DUR, 40)?; //Set motion detect duration to 1 ms; LSB is 1 ms @ 1 kHz rate
|
||||
self.write_byte(0x69, 0x15)?; //to register 0x69, write the motion detection decrement and a few other settings (for example write 0x15 to set both free-fall and motion decrements to 1 and accelerometer start-up delay to 5ms total by adding 1ms. )
|
||||
self.write_byte(INT_ENABLE::ADDR, 0x40)?; //write register 0x38, bit 6 (0x40), to enable motion detection interrupt.
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// get whether or not motion has been detected (INT_STATUS, MOT_INT)
|
||||
pub fn get_motion_detected(&mut self) -> Result<bool, Mpu6050Error<E>> {
|
||||
Ok(self.read_bit(INT_STATUS::ADDR, INT_STATUS::MOT_INT)? != 0)
|
||||
}
|
||||
|
||||
/// set accel high pass filter mode
|
||||
pub fn set_accel_hpf(&mut self, mode: ACCEL_HPF) -> Result<(), Mpu6050Error<E>> {
|
||||
Ok(
|
||||
|
|
@ -335,7 +356,7 @@ where
|
|||
|
||||
/// Writes byte to register
|
||||
pub fn write_byte(&mut self, reg: u8, byte: u8) -> Result<(), Mpu6050Error<E>> {
|
||||
self.i2c.write(SLAVE_ADDR.addr(), &[reg, byte])
|
||||
self.i2c.write(SLAVE_ADDR, &[reg, byte])
|
||||
.map_err(Mpu6050Error::I2c)?;
|
||||
// delay disabled for dev build
|
||||
// TODO: check effects with physical unit
|
||||
|
|
@ -376,14 +397,14 @@ where
|
|||
/// Reads byte from register
|
||||
pub fn read_byte(&mut self, reg: u8) -> Result<u8, Mpu6050Error<E>> {
|
||||
let mut byte: [u8; 1] = [0; 1];
|
||||
self.i2c.write_read(SLAVE_ADDR.addr(), &[reg], &mut byte)
|
||||
self.i2c.write_read(SLAVE_ADDR, &[reg], &mut byte)
|
||||
.map_err(Mpu6050Error::I2c)?;
|
||||
Ok(byte[0])
|
||||
}
|
||||
|
||||
/// Reads series of bytes into buf from specified reg
|
||||
pub fn read_bytes(&mut self, reg: u8, buf: &mut [u8]) -> Result<(), Mpu6050Error<E>> {
|
||||
self.i2c.write_read(SLAVE_ADDR.addr(), &[reg], buf)
|
||||
self.i2c.write_read(SLAVE_ADDR, &[reg], buf)
|
||||
.map_err(Mpu6050Error::I2c)?;
|
||||
Ok(())
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue