ank/mpu6050
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make registers dedicated enum

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This commit is contained in:
Julian Gaal 2019-05-08 18:50:47 +02:00
parent 29efdc29d7
commit 44a67e8fdd
2 changed files with 53 additions and 46 deletions
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31
src/lib.rs
View file

@ -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<E>> {
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<E>> {
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<AccReading, Mpu6050Error<E>> {
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<GyroReading, Mpu6050Error<E>> {
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<f32, Mpu6050Error<E>> {
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<E>> {
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<u8, Mpu6050Error<E>> {
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<E>> {
self.i2c.write_read(SLAVE_ADDR, &[reg], buf)
self.i2c.write_read(SLAVE_ADDR.addr(), &[reg], buf)
.map_err(Mpu6050Error::I2c)?;
Ok(())
}

68
src/registers.rs
View file

@ -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
}
}