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Julian Gaal 2019-05-08 19:02:51 +02:00
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commit 61b8b62b50
1 changed files with 45 additions and 4 deletions
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src/lib.rs
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#![no_std]
//! Mpu6050 sensor driver.
//!
//! Register sheet [here](https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf),
//! Data sheet [here](https://www.invensense.com/wp-content/uploads/2015/02/MPU-6500-Datasheet2.pdf)
//!
//! To use this driver you must provide a concrete `embedded_hal` implementation.//! This example uses `linux_embedded_hal`
//! ```
//! let i2c = I2cdev::new("/dev/i2c-1")
//! .map_err(Mpu6050Error::I2c)?;
//!
//! let delay = Delay;
//!
//! let mut mpu = Mpu6050::new(i2c, delay);
//! mpu.init()?;
//! mpu.soft_calib(Steps(100))?;
//! mpu.calc_variance(Steps(50))?;
//!
//! println!("Calibrated with bias: {:?}", mpu.get_bias().unwrap());
//! println!("Calculated variance: {:?}", mpu.get_variance().unwrap());
//!
//! // get roll and pitch estimate
//! let acc = mpu.get_acc_angles()?;
//!
//! // get roll and pitch estimate - averaged accross n readings (steps)
//! let acc = mpu.get_acc_angles_avg(Steps(5))?;
//!
//! // get temp
//! let temp = mpu.get_temp()?;
//!
//! // get temp - averages across n readings (steps)
//! let temp = mpu.get_temp_avg(Steps(5))?;
//!
//! // get gyro data, scaled with sensitivity
//! let gyro = mpu.get_gyro()?;
//!
//! // get gyro data, scaled with sensitivity - averaged across n readings (steps)
//! let gyro = mpu.get_gyro_avg(Steps(5))?;
//!
//! // get accelerometer data, scaled with sensitivity
//! let acc = mpu.get_acc()?;
//!
//! // get accelerometer data, scaled with sensitivity - averages across n readings (steps)
//! let acc = mpu.get_acc_avg(Steps(5))?;
//!
///! 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
#![no_std]
pub mod registers;