diff --git a/src/lib.rs b/src/lib.rs index deb7f1d..26d353f 100644 --- a/src/lib.rs +++ b/src/lib.rs @@ -1,12 +1,12 @@ #![no_std] -pub mod registers; - ///! Mpu6050 sensor driver. ///! Register sheet: https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf ///! Data sheet: https://www.invensense.com/wp-content/uploads/2015/02/MPU-6500-Datasheet2.pdf -use crate::registers::*; +pub mod registers; + +use crate::registers::Registers::*; use libm::{powf, atan2f, sqrtf}; use embedded_hal::{ blocking::delay::DelayMs, @@ -15,6 +15,11 @@ use embedded_hal::{ /// pi, taken straight from C pub const PI: f32 = 3.14159265358979323846; +/// Gyro Sensitivity +pub const FS_SEL: (f32, f32, f32, f32) = (131., 65.5, 32.8, 16.4); +/// Calcelerometer Sensitivity +pub const AFS_SEL: (f32, f32, f32, f32) = (16384., 8192., 4096., 2048.); + /// Operations trait for sensor readings pub trait MutOps { @@ -302,7 +307,7 @@ where /// Wakes MPU6050 with all sensors enabled (default) pub fn wake(&mut self) -> Result<(), Mpu6050Error> { - self.write_u8(POWER_MGMT_1, 0)?; + self.write_u8(POWER_MGMT_1.addr(), 0)?; self.delay.delay_ms(100u8); Ok(()) } @@ -314,10 +319,10 @@ where Ok(()) } - /// Verifies device to address 0x68 with WHOAMI Register + /// Verifies device to address 0x68 with WHOAMI.addr() Register pub fn verify(&mut self) -> Result<(), Mpu6050Error> { - let address = self.read_u8(WHOAMI)?; - if address != SLAVE_ADDR { + let address = self.read_u8(WHOAMI.addr())?; + if address != SLAVE_ADDR.addr() { return Err(Mpu6050Error::InvalidChipId(address)); } Ok(()) @@ -431,7 +436,7 @@ where /// Accelerometer readings in m/s^2 pub fn get_acc(&mut self) -> Result> { - let mut acc = self.read_rot(ACC_REGX_H)?; + let mut acc = self.read_rot(ACC_REGX_H.addr())?; acc.x /= self.acc_sensitivity; acc.y /= self.acc_sensitivity; @@ -458,7 +463,7 @@ where /// Gyro readings in rad/s pub fn get_gyro(&mut self) -> Result> { - let mut gyro = self.read_rot(GYRO_REGX_H)?; + let mut gyro = self.read_rot(GYRO_REGX_H.addr())?; gyro.x *= PI / (180.0 * self.gyro_sensitivity); gyro.y *= PI / (180.0 * self.gyro_sensitivity); @@ -486,7 +491,7 @@ where /// Temp in degrees celcius pub fn get_temp(&mut self) -> Result> { let mut buf: [u8; 2] = [0; 2]; - self.read_bytes(TEMP_OUT_H, &mut buf)?; + self.read_bytes(TEMP_OUT_H.addr(), &mut buf)?; let raw_temp = self.read_word_2c(&buf[0..2]) as f32; Ok((raw_temp / 340.) + 36.53) @@ -503,7 +508,7 @@ where /// Writes byte to register pub fn write_u8(&mut self, reg: u8, byte: u8) -> Result<(), Mpu6050Error> { - self.i2c.write(SLAVE_ADDR, &[reg, byte]) + self.i2c.write(SLAVE_ADDR.addr(), &[reg, byte]) .map_err(Mpu6050Error::I2c)?; self.delay.delay_ms(10u8); Ok(()) @@ -512,14 +517,14 @@ where /// Reads byte from register pub fn read_u8(&mut self, reg: u8) -> Result> { let mut byte: [u8; 1] = [0; 1]; - self.i2c.write_read(SLAVE_ADDR, &[reg], &mut byte) + self.i2c.write_read(SLAVE_ADDR.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> { - self.i2c.write_read(SLAVE_ADDR, &[reg], buf) + self.i2c.write_read(SLAVE_ADDR.addr(), &[reg], buf) .map_err(Mpu6050Error::I2c)?; Ok(()) } diff --git a/src/registers.rs b/src/registers.rs index 468a8b4..b090bc8 100644 --- a/src/registers.rs +++ b/src/registers.rs @@ -1,42 +1,44 @@ //! All constants used in the driver, mostly register addresses -/// Slave address of Mpu6050 -pub const SLAVE_ADDR: u8 = 0x68; -/// Internal register to check slave addr -pub const WHOAMI: u8 = 0x75; +#[allow(non_camel_case_types)] +#[derive(Copy, Clone, Debug)] +pub enum Registers { + /// Slave address of Mpu6050 + SLAVE_ADDR = 0x68, + /// Internal register to check slave addr + WHOAMI = 0x75, -/// High Bytle Register Gyro x orientation -pub const GYRO_REGX_H: u8 = 0x43; -/// High Bytle Register Gyro y orientation -pub const GYRO_REGY_H: u8 = 0x45; -/// High Bytle Register Gyro z orientation -pub const GYRO_REGZ_H: u8 = 0x47; + /// High Bytle Register Gyro x orientation + GYRO_REGX_H = 0x43, + /// High Bytle Register Gyro y orientation + GYRO_REGY_H = 0x45, + /// High Bytle Register Gyro z orientation + GYRO_REGZ_H = 0x47, -/// High Byte Register Calc roll -pub const ACC_REGX_H: u8 = 0x3b; -/// High Byte Register Calc pitch -pub const ACC_REGY_H: u8 = 0x3d; -/// High Byte Register Calc yaw -pub const ACC_REGZ_H: u8 = 0x3f; + /// High Byte Register Calc roll + ACC_REGX_H = 0x3b, + /// High Byte Register Calc pitch + ACC_REGY_H = 0x3d, + /// High Byte Register Calc yaw + ACC_REGZ_H = 0x3f, -/// High Byte Register Temperature -pub const TEMP_OUT_H: u8 = 0x41; + /// High Byte Register Temperature + TEMP_OUT_H = 0x41, -/// Register to control chip waking from sleep, enabling sensors, default: sleep -pub const POWER_MGMT_1: u8 = 0x6b; -/// Internal clock -pub const POWER_MGMT_2: u8 = 0x6c; + /// Register to control chip waking from sleep, enabling sensors, default: sleep + POWER_MGMT_1 = 0x6b, + /// Internal clock + POWER_MGMT_2 = 0x6c, -/// Gyro Sensitivity -pub const FS_SEL: (f32, f32, f32, f32) = (131., 65.5, 32.8, 16.4); -/// Calcelerometer Sensitivity -pub const AFS_SEL: (f32, f32, f32, f32) = (16384., 8192., 4096., 2048.); + /// Accelerometer config register + ACCEL_CONFIG = 0x1c, -/// Accelerometer config register -pub const ACCEL_CONFIG: u8 = 0x1c; + /// gyro config register + GYRO_CONFIG = 0x1b, +} -/// gyro config register -pub const GYRO_CONFIG: u8 = 0x1b; - -/// pi -pub const PI: f32 = 3.14159265358979323846; +impl Registers { + pub fn addr(&self) -> u8 { + *self as u8 + } +}