Merge branch 'master' of github.com:juliangaal/mpu6050 into viz

README.md

@@ -79,5 +79,5 @@ $ cargo build --target=armv7-unknown-linux-gnueabihf
 - [ ] complementary filter for roll, pitch estimate
 - [ ] sample rate devider with register 25? or timer/clock control with PWR_MGMT_2
   - [ ] internal clock, register 108 `POWER_MGMT_2`, [will  cycle between  sleep mode  and  waking  up  to  take a single  sample of data from active sensors at a rate determined by LP_WAKE_CTRL](https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf) (page 41-43)
-- [ ] plotting [csv data](https://plot.ly/python/plot-data-from-csv/)for testing?
+- [x] plotting [csv data](https://plot.ly/python/plot-data-from-csv/)for testing? -> See viz branch
 

example/src/bin/recorder.rs

@@ -0,0 +1,62 @@
+use mpu6050::*;
+use mpu6050::Error as Mpu6050Error;
+use linux_embedded_hal::{I2cdev, Delay};
+use i2cdev::linux::LinuxI2CError;
+use std::io::prelude::*;
+use std::fs::File;
+use std::path::Path;
+use std::error::Error;
+
+fn new_file(name: &str) -> File {
+    let path = Path::new(name);
+    let display = path.display();
+    let _file = match File::create(&path) {
+        Err(why) => panic!("couldn't create {}: {}",
+                           display,
+                           why.description()),
+        Ok(file) => return file,
+    };
+}
+
+fn write_x_to(file: &mut File, content: String) {
+    match file.write_all(content.as_bytes()) {
+        Err(why) => {
+            println!("couldn't write to file: {}", why.description());
+        },
+        Ok(_) => {},
+    }
+}
+
+fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
+    let i2c = I2cdev::new("/dev/i2c-1")
+        .map_err(Mpu6050Error::I2c)?;
+
+    let delay = Delay;
+
+    let mut mpu = Mpu6050::new(i2c, delay);
+    mpu.init()?;
+
+
+    let mut acc_file = new_file("acc_data.txt");
+    let mut gyro_file = new_file("gyro_data.txt");
+    let mut temp_file = new_file("temp_data.txt");
+    let mut angles_file = new_file("angles_data.txt");
+
+    loop {
+        // get roll and pitch estimate
+        let acc = mpu.get_acc_angles()?;
+        write_x_to(&mut angles_file, format!("{},{}", acc.0, acc.1));
+
+        // get temp
+        let temp = mpu.get_temp()?;
+        write_x_to(&mut temp_file, format!("{}", temp));
+
+        // get gyro data, scaled with sensitivity 
+        let gyro = mpu.get_gyro()?;
+        write_x_to(&mut gyro_file, format!("{} {} {}", gyro.0, gyro.1, gyro.2));
+        
+        // get accelerometer data, scaled with sensitivity
+        let acc = mpu.get_acc()?;
+        write_x_to(&mut acc_file, format!("{} {} {}", acc.0, acc.1, acc.2));
+    }
+}

src/constants.rs

@@ -1,42 +0,0 @@
-//! 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;
-
-/// 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 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 Temperature
-pub const TEMP_OUT_H: u8 = 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; 
-
-/// 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
-pub const ACCEL_CONFIG: u8  = 0x1c;
-
-/// gyro config register
-pub const GYRO_CONFIG: u8 = 0x1b;
-
-/// pi
-pub const PI: f32 = 3.14159;