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juliangaal 2019-06-06 19:43:04 +02:00
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0
example/.cargo/config → .cargo/config
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12
Cargo.toml
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@ -1,6 +1,6 @@
[package]
name = "mpu6050"
version = "0.1.2"
version = "0.1.3"
authors = ["Julian Gaal <gjulian@uos.de>"]
edition = "2018"
@ -12,4 +12,12 @@ license = "MIT"
[dependencies]
embedded-hal = "0.2.2"
libm = "0.1.2"
libm = "0.1.3"
[dependencies.nalgebra]
default-features = false
version = "0.18.0"
[dev-dependencies]
i2cdev = "0.4.2"
linux-embedded-hal = "0.2.2"

19
Makefile Normal file
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@ -0,0 +1,19 @@
target = armv7-unknown-linux-gnueabihf
mode = release
home = $(shell pwd)
.DEFAULT_GOAL = build
build:
cargo build
linux:
cargo build --examples --$(mode) --target=$(target)
viz:
cd $(home)/viz/viz && cargo build --$(mode) --target=$(target)
upload: linux
scp $(home)/target/armv7-unknown-linux-gnueabihf/release/examples/linux pi@192.168.1.136:
.PHONY: deploy build ext viz

37
README.md
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@ -1,14 +1,12 @@
# MPU 6050 Rust Driver
Platform agnostic driver for [MPU 6050 6-axis IMU](https://www.invensense.com/products/motion-tracking/6-axis/mpu-6500/) using [`embedded_hal`](https://github.com/rust-embedded/embedded-hal).
# `mpu6050` ![crates.io](https://img.shields.io/crates/v/mpu6050.svg)
> no_std driver for the MPU6050 6-axis IMU
[Datasheet](https://www.invensense.com/wp-content/uploads/2015/02/MPU-6500-Datasheet2.pdf) | [Register Map Sheet](https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf)
[Docs](https://docs.rs/mpu6050/0.1.2/mpu6050/) | [Crate](https://crates.io/crates/mpu6050)
Visualization options for testing and development in [viz branch](https://github.com/juliangaal/mpu6050/tree/viz/viz)
### Basic usage - [`linux_embedded_hal`](https://github.com/rust-embedded/linux-embedded-hal) example
### Basic usage
[`linux_embedded_hal`](https://github.com/rust-embedded/linux-embedded-hal) example
```rust
use mpu6050::*;
use linux_embedded_hal::{I2cdev, Delay};
@ -31,11 +29,11 @@ fn main() -> Result<(), Error<LinuxI2CError>> {
loop {
// get roll and pitch estimate
let acc = mpu.get_acc_angles()?;
println!("r/p: {:?}", acc);
println!("r/p: {}", acc);
// get roll and pitch estimate - averaged accross n readings (steps)
let acc = mpu.get_acc_angles_avg(Steps(5))?;
println!("r/p avg: {:?}", acc);
println!("r/p avg: {}", acc);
// get temp
let temp = mpu.get_temp()?;
@ -47,49 +45,48 @@ fn main() -> Result<(), Error<LinuxI2CError>> {
// get gyro data, scaled with sensitivity
let gyro = mpu.get_gyro()?;
println!("gyro: {:?}", gyro);
println!("gyro: {}", gyro);
// get gyro data, scaled with sensitivity - averaged across n readings (steps)
let gyro = mpu.get_gyro_avg(Steps(5))?;
println!("gyro avg: {:?}", gyro);
println!("gyro avg: {}", gyro);
// get accelerometer data, scaled with sensitivity
let acc = mpu.get_acc()?;
println!("acc: {:?}", acc);
println!("acc: {}", acc);
// get accelerometer data, scaled with sensitivity - averages across n readings (steps)
let acc = mpu.get_acc_avg(Steps(5))?;
println!("acc avg: {:?}", acc);
println!("acc avg: {}", acc);
}
}
```
*Note*: this example uses API of version on local master branch. Some functions may not be available on published crate yet.
#### Compile linux example (Raspberry Pi 3B)
files [here](https://github.com/juliangaal/mpu6050/blob/master/example/)
Requirements:
```bash
$ apt-get install -qq gcc-armv7-linux-gnueabihf libc6-armhf-cross libc6-dev-armhf-cross
$ apt-get install -qq gcc-arm-linux-gnueabihf libc6-armhf-cross libc6-dev-armhf-cross
```
and all dependencies in `example/Cargo.toml`
Rustup:
```bash
$ rustup target add armv7-unknown-linux-gnueabihf
```
To configure the linker use `example/.cargo/config`
To configure the linker use `.cargo/config` file
cross-compile with
```bash
$ cargo build --target=armv7-unknown-linux-gnueabihf
$ cargo build --examples --target=armv7-unknown-linux-gnueabihf
```
## TODO
- [x] init with default settings
- [ ] init with custom settings
- [x] custom sensitivity
- [ ] custom device initialization
- [x] device verification
- [ ] basic feature support as described [here](https://github.com/Tijndagamer/mpu6050/blob/master/mpu6050/mpu6050.py)
- [x] basic feature support as described [here](https://github.com/Tijndagamer/mpu6050/blob/master/mpu6050/mpu6050.py)
- [x] read gyro data
- [x] read acc data
- [x] software calibration

10
example/Cargo.toml
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@ -1,10 +0,0 @@
[package]
name = "example"
version = "0.1.0"
authors = ["Julian Gaal <juliangaal@protonmail.com>"]
edition = "2018"
[dependencies]
mpu6050 = { path = "../" }
i2cdev = "0.4.1"
linux-embedded-hal = "0.2.2"

12
example/src/main.rs → examples/linux.rs
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@ -19,11 +19,11 @@ fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
loop {
// get roll and pitch estimate
let acc = mpu.get_acc_angles()?;
println!("r/p: {:?}", acc);
println!("r/p: {}", acc);
// get roll and pitch estimate - averaged accross n readings (steps)
let acc = mpu.get_acc_angles_avg(Steps(5))?;
println!("r/p avg: {:?}", acc);
println!("r/p avg: {}", acc);
// get temp
let temp = mpu.get_temp()?;
@ -35,18 +35,18 @@ fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
// get gyro data, scaled with sensitivity
let gyro = mpu.get_gyro()?;
println!("gyro: {:?}", gyro);
println!("gyro: {}", gyro);
// get gyro data, scaled with sensitivity - averaged across n readings (steps)
let gyro = mpu.get_gyro_avg(Steps(5))?;
println!("gyro avg: {:?}", gyro);
println!("gyro avg: {}", gyro);
// get accelerometer data, scaled with sensitivity
let acc = mpu.get_acc()?;
println!("acc: {:?}", acc);
println!("acc: {}", acc);
// get accelerometer data, scaled with sensitivity - averages across n readings (steps)
let acc = mpu.get_acc_avg(Steps(5))?;
println!("acc avg: {:?}", acc);
println!("acc avg: {}", acc);
}
}

388
src/lib.rs
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@ -1,13 +1,55 @@
//! 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))?;
//! ```
#![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::*;
use crate::registers::Registers::*;
use libm::{powf, atan2f, sqrtf};
use nalgebra::{Vector3, Vector2};
use embedded_hal::{
blocking::delay::DelayMs,
blocking::i2c::{Write, WriteRead},
@ -15,6 +57,11 @@ 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 {
@ -24,6 +71,16 @@ pub trait MutOps {
fn scale(&mut self, n: u8);
}
/// Helpers for sensor readings
pub trait Access<T> {
fn x(&self) -> T;
fn set_x(&mut self, val: T);
fn y(&self) -> T;
fn set_y(&mut self, val: T);
fn z(&self) -> T;
fn set_z(&mut self, val: T);
}
/// Trait for conversion from/to radians/degree
pub trait UnitConv<T> {
/// get radians from degree
@ -54,45 +111,89 @@ impl UnitConv<f32> for f32 {
}
}
impl Access<f32> for Vector3<f32> {
fn x(&self) -> f32 {
self[0]
}
fn set_x(&mut self, val: f32) {
self[0] = val;
}
fn y(&self) -> f32 {
self[1]
}
fn set_y(&mut self, val: f32) {
self[1] = val;
}
fn z(&self) -> f32 {
self[2]
}
fn set_z(&mut self, val: f32) {
self[2] = val
}
}
impl Access<f32> for Vector2<f32> {
fn x(&self) -> f32 {
self[0]
}
fn set_x(&mut self, val: f32) {
self[0] = val;
}
fn y(&self) -> f32 {
self[1]
}
fn set_y(&mut self, val: f32) {
self[1] = val;
}
fn z(&self) -> f32 {
-1.0
}
fn set_z(&mut self, _val: f32) {}
}
/// Used for bias calculation of chip in mpu::soft_calib
#[derive(Default, Debug, Clone)]
#[derive(Debug, Clone)]
pub struct Bias {
/// accelerometer x axis bias
ax: f32,
/// accelerometer y axis bias
ay: f32,
/// accelerometer z axis bias
az: f32,
/// accelerometer axis bias
acc: Vector3<f32>,
/// gyro x axis bias
gx: f32,
/// gyro y axis bias
gy: f32,
/// gyro z axis bias
gz: f32,
gyro: Vector3<f32>,
/// temperature AVERAGE: can't get bias!
t: f32,
temp: f32,
}
impl Default for Bias {
fn default() -> Bias {
Bias {
acc: Vector3::<f32>::zeros(),
gyro: Vector3::<f32>::zeros(),
temp: 0.0,
}
}
}
impl Bias {
fn add(&mut self, acc: RotReading, gyro: RotReading, temp: f32) {
self.ax += acc.x;
self.ay += acc.y;
self.az += acc.z;
self.gx += gyro.x;
self.gy += gyro.y;
self.gz += gyro.z;
self.t += temp;
fn add(&mut self, acc: Vector3<f32>, gyro: Vector3<f32>, temp: f32) {
self.acc += acc;
self.gyro += gyro;
self.temp += temp;
}
fn scale(&mut self, n: u8) {
let n = n as f32;
self.ax /= n;
self.ay /= n;
self.az /= n;
self.gx /= n;
self.gy /= n;
self.gz /= n;
self.t /= n;
self.acc /= n;
self.gyro /= n;
self.temp /= n;
}
}
@ -100,108 +201,37 @@ impl Bias {
pub type Variance = Bias;
impl Variance {
fn add_diff(&mut self, acc_diff: (f32, f32, f32), gyro_diff: (f32, f32, f32), temp_diff: f32) {
self.ax += acc_diff.0;
self.ay += acc_diff.1;
self.az += acc_diff.2;
self.gx += gyro_diff.0;
self.gy += gyro_diff.1;
self.gz += gyro_diff.2;
self.t += temp_diff;
fn add_diff(&mut self, acc_diff: Vector3<f32>, gyro_diff: Vector3<f32>, temp_diff: f32) {
self.acc += acc_diff;
self.gyro += gyro_diff;
self.temp += temp_diff;
}
}
/// Struct for rotation reading: gyro or accelerometer.
/// see indivisual type definitions
#[derive(Debug)]
pub struct RotReading {
pub x: f32,
pub y: f32,
pub z: f32,
}
/// Accelerometer reading
pub type AccReading = RotReading;
/// Gyro Reading
pub type GyroReading = RotReading;
impl RotReading {
fn new(x: f32, y: f32, z: f32) -> Self {
RotReading {
x,
y,
z,
}
}
}
impl MutOps for RotReading {
fn add(&mut self, operand: &Self) {
self.x += operand.x;
self.y += operand.y;
self.z += operand.z;
}
fn scale(&mut self, n: u8) {
let n = n as f32;
self.x /= n;
self.y /= n;
self.z /= n;
}
}
/// struct for Roll/Pitch Reading
#[derive(Debug)]
pub struct RPReading {
pub roll: f32,
pub pitch: f32,
}
impl RPReading {
fn new(roll: f32, pitch: f32) -> Self {
RPReading {
roll,
pitch,
}
}
}
impl MutOps for RPReading {
fn add(&mut self, operand: &Self) {
self.roll += operand.roll;
self.pitch += operand.pitch;
}
fn scale(&mut self, n: u8) {
let n = n as f32;
self.roll /= n;
self.pitch /= n;
}
}
impl UnitConv<RPReading> for RPReading {
fn to_rad(&self) -> RPReading {
RPReading {
roll: self.roll.to_rad(),
pitch: self.pitch.to_rad(),
}
/// Vector2 for Roll/Pitch Reading
impl UnitConv<Vector2<f32>> for Vector2<f32> {
fn to_rad(&self) -> Vector2<f32> {
Vector2::<f32>::new(
self.x().to_rad(),
self.y().to_rad(),
)
}
fn to_rad_mut(&mut self) {
self.roll.to_rad_mut();
self.pitch.to_rad_mut();
self[0].to_rad_mut();
self[1].to_rad_mut();
}
fn to_deg(&self) -> RPReading {
RPReading {
roll: self.roll.to_deg(),
pitch: self.pitch.to_deg(),
}
fn to_deg(&self) -> Vector2<f32> {
Vector2::<f32>::new(
self.x().to_deg(),
self.y().to_deg(),
)
}
fn to_deg_mut(&mut self) {
self.roll.to_deg_mut();
self.pitch.to_deg_mut();
self[0].to_deg_mut();
self[1].to_deg_mut();
}
}
@ -302,7 +332,7 @@ 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 +344,10 @@ 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(())
@ -334,7 +364,7 @@ where
}
bias.scale(steps.0);
bias.az -= 1.0; // gravity compensation
bias.acc[2] -= 1.0; // gravity compensation
self.bias = Some(bias);
Ok(())
@ -357,15 +387,19 @@ where
let mut acc = self.get_acc()?;
let mut gyro = self.get_gyro()?;
let mut temp = self.get_temp()?;
let mut acc_diff: (f32, f32, f32);
let mut gyro_diff: (f32, f32, f32);
let mut acc_diff = Vector3::<f32>::zeros();
let mut gyro_diff = Vector3::<f32>::zeros();
let mut temp_diff: f32;
let bias = self.bias.clone().unwrap();
for _ in 0..iterations {
acc_diff = (powf(acc.x - bias.ax, 2.0), powf(acc.y - bias.ay, 2.0), powf(acc.z - bias.az, 2.0));
gyro_diff = (powf(gyro.x - bias.gx, 2.0), powf(gyro.y - bias.gy, 2.0), powf(gyro.z - bias.gz, 2.0));
temp_diff = powf(temp - bias.t, 2.0);
acc_diff.set_x(powf(acc.x() - bias.acc.x(), 2.0));
acc_diff.set_y(powf(acc.y() - bias.acc.y(), 2.0));
acc_diff.set_z(powf(acc.z() - bias.acc.z(), 2.0));
gyro_diff.set_x(powf(gyro.x() - bias.gyro.x(), 2.0));
gyro_diff.set_y(powf(gyro.y() - bias.gyro.y(), 2.0));
gyro_diff.set_z(powf(gyro.z() - bias.gyro.z(), 2.0));
temp_diff = powf(temp - bias.temp, 2.0);
variance.add_diff(acc_diff, gyro_diff, temp_diff);
acc = self.get_acc()?;
gyro = self.get_gyro()?;
@ -373,7 +407,7 @@ where
}
variance.scale(iterations-1);
variance.az -= 1.0; // gravity compensation
variance.acc[2] -= 1.0; // gravity compensation
self.variance = Some(variance);
Ok(())
@ -386,20 +420,21 @@ where
/// Roll and pitch estimation from raw accelerometer readings
/// NOTE: no yaw! no magnetometer present on MPU6050
pub fn get_acc_angles(&mut self) -> Result<RPReading, Mpu6050Error<E>> {
pub fn get_acc_angles(&mut self) -> Result<Vector2<f32>, Mpu6050Error<E>> {
let acc = self.get_acc()?;
let roll: f32 = atan2f(acc.y, sqrtf(powf(acc.x, 2.) + powf(acc.z, 2.)));
let pitch: f32 = atan2f(-acc.x, sqrtf(powf(acc.y, 2.) + powf(acc.z, 2.)));
Ok(RPReading::new(roll, pitch))
Ok(Vector2::<f32>::new(
atan2f(acc.y(), sqrtf(powf(acc.x(), 2.) + powf(acc.z(), 2.))),
atan2f(-acc.x(), sqrtf(powf(acc.y(), 2.) + powf(acc.z(), 2.)))
))
}
/// Roll and pitch estimation from raw accelerometer - averaged across window readings
pub fn get_acc_angles_avg(&mut self, steps: Steps) -> Result<RPReading, Mpu6050Error<E>> {
pub fn get_acc_angles_avg(&mut self, steps: Steps) -> Result<Vector2<f32>, Mpu6050Error<E>> {
let mut acc = self.get_acc_angles()?;
for _ in 0..steps.0-1 {
acc.add(&self.get_acc_angles()?);
acc += self.get_acc_angles()?;
}
acc.scale(steps.0);
acc /= steps.0 as f32;
Ok(acc)
}
@ -418,75 +453,68 @@ where
}
/// Reads rotation (gyro/acc) from specified register
fn read_rot(&mut self, reg: u8) -> Result<RotReading, Mpu6050Error<E>> {
fn read_rot(&mut self, reg: u8) -> Result<Vector3<f32>, Mpu6050Error<E>> {
let mut buf: [u8; 6] = [0; 6];
self.read_bytes(reg, &mut buf)?;
let xr = self.read_word_2c(&buf[0..2]);
let yr = self.read_word_2c(&buf[2..4]);
let zr = self.read_word_2c(&buf[4..6]);
Ok(RotReading::new(xr as f32, yr as f32, zr as f32)) // returning as f32 makes future calculations easier
Ok(Vector3::<f32>::new(
self.read_word_2c(&buf[0..2]) as f32,
self.read_word_2c(&buf[2..4]) as f32,
self.read_word_2c(&buf[4..6]) as f32
))
}
/// 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)?;
pub fn get_acc(&mut self) -> Result<Vector3<f32>, Mpu6050Error<E>> {
let mut acc = self.read_rot(ACC_REGX_H.addr())?;
acc.x /= self.acc_sensitivity;
acc.y /= self.acc_sensitivity;
acc.z /= self.acc_sensitivity;
acc /= self.acc_sensitivity;
if let Some(ref bias) = self.bias {
acc.x -= bias.ax;
acc.y -= bias.ay;
acc.z -= bias.az;
acc -= bias.acc;
}
Ok(acc)
}
/// Accelerometer readings in m/s^2 - averaged
pub fn get_acc_avg(&mut self, steps: Steps) -> Result<AccReading, Mpu6050Error<E>> {
pub fn get_acc_avg(&mut self, steps: Steps) -> Result<Vector3<f32>, Mpu6050Error<E>> {
let mut acc = self.get_acc()?;
for _ in 0..steps.0-1 {
acc.add(&self.get_acc()?);
acc += self.get_acc()?;
}
acc.scale(steps.0);
acc /= steps.0 as f32;
Ok(acc)
}
/// Gyro readings in rad/s
pub fn get_gyro(&mut self) -> Result<GyroReading, Mpu6050Error<E>> {
let mut gyro = self.read_rot(GYRO_REGX_H)?;
pub fn get_gyro(&mut self) -> Result<Vector3<f32>, Mpu6050Error<E>> {
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);
gyro.z *= PI / (180.0 * self.gyro_sensitivity);
gyro *= PI / (180.0 * self.gyro_sensitivity);
if let Some(ref bias) = self.bias {
gyro.x -= bias.gx;
gyro.y -= bias.gy;
gyro.z -= bias.gz;
gyro -= bias.gyro;
}
Ok(gyro)
}
/// Gyro readings in rad/s
pub fn get_gyro_avg(&mut self, steps: Steps) -> Result<GyroReading, Mpu6050Error<E>> {
pub fn get_gyro_avg(&mut self, steps: Steps) -> Result<Vector3<f32>, Mpu6050Error<E>> {
let mut gyro = self.get_gyro()?;
for _ in 0..steps.0-1 {
gyro.add(&self.get_gyro()?);
gyro += self.get_gyro()?;
}
gyro.scale(steps.0);
gyro /= steps.0 as f32;
Ok(gyro)
}
/// 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 +531,7 @@ 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 +540,14 @@ 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(())
}
@ -543,4 +571,16 @@ mod tests {
rad.to_deg_mut();
assert_eq!(rad, 57.295776);
}
#[test]
fn test_nalgebra() {
let mut v = Vector3::<f32>::new(1., 1., 1.);
let o = v.clone();
v *= 3.;
assert_eq!(Vector3::<f32>::new(3., 3., 3.), v);
v /= 3.;
assert_eq!(o, v);
v -= o;
assert_eq!(Vector3::<f32>::new(0., 0., 0.), v);
}
}

74
src/registers.rs
View file

@ -1,42 +1,38 @@
//! 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
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
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
TEMP_OUT_H = 0x41,
/// Register to control chip waking from sleep, enabling sensors, default: sleep
POWER_MGMT_1 = 0x6b,
/// Internal clock
POWER_MGMT_2 = 0x6c,
/// Accelerometer config register
ACCEL_CONFIG = 0x1c,
/// gyro config register
GYRO_CONFIG = 0x1b,
}
/// 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 = 3.14159265358979323846;
impl Registers {
pub fn addr(&self) -> u8 {
*self as u8
}
}