first commit

.cargo/config

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+[target.arm-unknown-linux-gnueabihf]
+linker = "arm-linux-gnueabihf-gcc"

.gitignore

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+/target
+**/*.rs.bk
+Cargo.lock

Cargo.toml

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+[package]
+name = "mpu6050"
+version = "0.1.0"
+authors = ["Julian Gaal <gjulian@uos.de>"]
+edition = "2018"
+
+[dependencies]
+i2cdev = "0.4.1"
+embedded-hal = "0.2.2"
+linux-embedded-hal = "0.2.2"

README.md

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+# mpu6050

src/bin/linux.rs

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+use mpu6050::*;
+use linux_embedded_hal::{I2cdev, Delay};
+use i2cdev::linux::LinuxI2CError;
+
+fn main() -> Result<(), Error<LinuxI2CError>> {
+    let i2c = I2cdev::new("/dev/i2c-1")
+        .map_err(Error::I2c)?;
+
+    let delay = Delay;
+
+    let mut mpu = Mpu6050::new(i2c, delay);
+    mpu.init()?;
+    Ok(())
+}

src/lib.rs

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+//#![no_std]
+
+///! Mpu6050 sensor driver.
+///! Datasheet: 
+use embedded_hal::{
+    blocking::delay::DelayMs,
+    blocking::i2c::{Read, Write, WriteRead},
+};
+
+const Mpu6050_SLAVE_ADDR: u8 = 0x68;
+const Mpu6050_WHOAMI: u8 = 0x75;
+
+/// High Bytle Register Gyro x orientation
+const Mpu6050_GYRO_REGX_H: u8 = 0x43;
+/// High Bytle Register Gyro y orientation
+const Mpu6050_GYRO_REGY_H: u8 = 0x45;
+/// High Bytle Register Gyro z orientation
+const Mpu6050_GYRO_REGZ_H: u8 = 0x47;
+ 
+/// High Byte Register Acc roll
+const Mpu6050_ACC_REGX_H: u8 = 0x3b;
+/// High Byte Register Acc pitch
+const Mpu6050_ACC_REGY_H: u8 = 0x3d;
+/// High Byte Register Acc yaw
+const Mpu6050_ACC_REGZ_H: u8 = 0x3f;
+
+/// Register to control chip waking from sleep, enabling sensors, default: sleep
+const POWER_MGMT_1: u8 = 0x6b; 
+/// Internal clock
+const POWER_MGMT_2: u8 = 0x6c; 
+
+/// Gyro Sensitivity
+const FS_SEL: (f64, f64, f64, f64) = (131., 65.5, 32.8, 16.4);
+/// Accelerometer Sensitivity
+const AFS_SEL: (f64, f64, f64, f64) = (16384., 8192., 4096., 2048.);
+
+/// All possible errors in this crate
+#[derive(Debug)]
+pub enum Error<E> {
+    /// I2C bus error
+    I2c(E),
+
+    /// Invalid chip ID was read
+    InvalidChipId(u8),
+}
+
+pub struct Rotation<T> {
+    x: T,
+    y: T,
+    z: T,
+}
+
+pub struct Mpu6050<I, D> {
+    i2c: I,
+    delay: D
+}
+
+impl<I, D, E> Mpu6050<I, D>
+where
+    I: Write<Error = E> + WriteRead<Error = E>,
+    D: DelayMs<u8>, 
+{
+    pub fn new(i2c: I, delay: D) -> Self {
+        Mpu6050 {
+            i2c,
+            delay,
+        }
+    }
+
+    pub fn init(&mut self) -> Result<(), Error<E>> {
+        self.write(POWER_MGMT_1, 0)?;
+
+        self.verify()?;
+
+        self.delay.delay_ms(100u8);
+        Ok(())
+    }
+
+    pub fn verify(&mut self) -> Result<(), Error<E>> {
+        let address = self.read(Mpu6050_WHOAMI)?;
+        if address != Mpu6050_SLAVE_ADDR {
+            return Err(Error::InvalidChipId(address));
+        }
+
+        println!("address {}", address);
+        Ok(())
+    }
+
+    pub fn gyro_data(&mut self) -> Result<Rotation<f32>, Error<E>> {
+        Ok(Rotation { x: 1., y: 2., z: 3. })
+    }
+
+    pub fn write(&mut self, address: u8, byte: u8) -> Result<(), Error<E>> {
+        self.i2c.write(Mpu6050_SLAVE_ADDR, &[address, byte])
+            .map_err(Error::I2c)?;
+        
+        self.delay.delay_ms(10u8);
+        Ok(())
+    }
+
+    pub fn read(&mut self, address: u8) -> Result<u8, Error<E>> {
+        let mut buffer = [0];
+        self.i2c.write_read(Mpu6050_SLAVE_ADDR, &[address], &mut buffer)
+            .map_err(Error::I2c)?;
+
+        println!("GOT {:?}", &buffer);
+        Ok(buffer[0])
+    }
+}