ank/mpu6050
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restructure functions to better reflect typical usage

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juliangaal 2019-04-23 18:24:02 +02:00
parent 5398f1d472
commit 4a277b1ee1
1 changed files with 24 additions and 24 deletions
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48
src/lib.rs
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@ -149,6 +149,29 @@ where
}
}
/// Wakes MPU6050 with all sensors enabled (default)
pub fn wake(&mut self) -> Result<(), Mpu6050Error<E>> {
self.write_u8(POWER_MGMT_1, 0)?;
self.delay.delay_ms(100u8);
Ok(())
}
/// Init wakes MPU6050 and verifies register addr, e.g. in i2c
pub fn init(&mut self) -> Result<(), Mpu6050Error<E>> {
self.wake()?;
self.verify()?;
Ok(())
}
/// Verifies device to address 0x68 with WHOAMI Register
pub fn verify(&mut self) -> Result<(), Mpu6050Error<E>> {
let address = self.read_u8(WHOAMI)?;
if address != SLAVE_ADDR {
return Err(Mpu6050Error::InvalidChipId(address));
}
Ok(())
}
/// Performs software calibration with steps number of readings
/// of accelerometer and gyrometer sensor
/// Readings must be made with MPU6050 in resting position
@ -175,7 +198,7 @@ where
/// number of readings: accelerometer, gyro and temperature sensor each
pub fn calc_variance(&mut self, steps: u8) -> Result<(), Mpu6050Error<E>> {
if let None = self.bias {
self.soft_calib(100)?;
self.soft_calib(steps)?;
}
let mut variance = Variance::default();
@ -209,29 +232,6 @@ where
self.variance.as_ref()
}
/// Wakes MPU6050 with all sensors enabled (default)
pub fn wake(&mut self) -> Result<(), Mpu6050Error<E>> {
self.write_u8(POWER_MGMT_1, 0)?;
self.delay.delay_ms(100u8);
Ok(())
}
/// Init wakes MPU6050 and verifies register addr, e.g. in i2c
pub fn init(&mut self) -> Result<(), Mpu6050Error<E>> {
self.wake()?;
self.verify()?;
Ok(())
}
/// Verifies device to address 0x68 with WHOAMI Register
pub fn verify(&mut self) -> Result<(), Mpu6050Error<E>> {
let address = self.read_u8(WHOAMI)?;
if address != SLAVE_ADDR {
return Err(Mpu6050Error::InvalidChipId(address));
}
Ok(())
}
/// Roll and pitch estimation from raw accelerometer readings
/// NOTE: no yaw! no magnetometer present on MPU6050
pub fn get_acc_angles(&mut self) -> Result<(f32, f32), Mpu6050Error<E>> {