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remove delay when enabling motion detection

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juliangaal 2021-02-19 23:03:13 +01:00
parent e08126199a
commit d830eebbc6
2 changed files with 5 additions and 5 deletions
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2
examples/motion_detection.rs
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@ -12,7 +12,7 @@ fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
let mut mpu = Mpu6050::new(i2c); let mut mpu = Mpu6050::new(i2c);
mpu.init(&mut delay)?; mpu.init(&mut delay)?;
mpu.setup_motion_detection(&mut delay)?; mpu.setup_motion_detection()?;
let mut count: u8 = 0; let mut count: u8 = 0;

8
src/lib.rs
View file

@ -151,7 +151,7 @@ where
/// sources: /// sources:
/// * https://github.com/kriswiner/MPU6050/blob/a7e0c8ba61a56c5326b2bcd64bc81ab72ee4616b/MPU6050IMU.ino#L486 /// * https://github.com/kriswiner/MPU6050/blob/a7e0c8ba61a56c5326b2bcd64bc81ab72ee4616b/MPU6050IMU.ino#L486
/// * https://arduino.stackexchange.com/a/48430 /// * https://arduino.stackexchange.com/a/48430
pub fn setup_motion_detection<D: DelayMs<u8>>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> { pub fn setup_motion_detection(&mut self) -> Result<(), Mpu6050Error<E>> {
self.write_byte(0x6B, 0x00)?; self.write_byte(0x6B, 0x00)?;
// optional? self.write_byte(0x68, 0x07)?; // Reset all internal signal paths in the MPU-6050 by writing 0x07 to register 0x68; // optional? self.write_byte(0x68, 0x07)?; // Reset all internal signal paths in the MPU-6050 by writing 0x07 to register 0x68;
self.write_byte(INT_PIN_CFG::ADDR, 0x20)?; //write register 0x37 to select how to use the interrupt pin. For an active high, push-pull signal that stays until register (decimal) 58 is read, write 0x20. self.write_byte(INT_PIN_CFG::ADDR, 0x20)?; //write register 0x37 to select how to use the interrupt pin. For an active high, push-pull signal that stays until register (decimal) 58 is read, write 0x20.
@ -356,7 +356,7 @@ where
/// Writes byte to register /// Writes byte to register
pub fn write_byte(&mut self, reg: u8, byte: u8) -> Result<(), Mpu6050Error<E>> { pub fn write_byte(&mut self, reg: u8, byte: u8) -> Result<(), Mpu6050Error<E>> {
self.i2c.write(SLAVE_ADDR.addr(), &[reg, byte]) self.i2c.write(SLAVE_ADDR, &[reg, byte])
.map_err(Mpu6050Error::I2c)?; .map_err(Mpu6050Error::I2c)?;
// delay disabled for dev build // delay disabled for dev build
// TODO: check effects with physical unit // TODO: check effects with physical unit
@ -397,14 +397,14 @@ where
/// Reads byte from register /// Reads byte from register
pub fn read_byte(&mut self, reg: u8) -> Result<u8, Mpu6050Error<E>> { pub fn read_byte(&mut self, reg: u8) -> Result<u8, Mpu6050Error<E>> {
let mut byte: [u8; 1] = [0; 1]; let mut byte: [u8; 1] = [0; 1];
self.i2c.write_read(SLAVE_ADDR.addr(), &[reg], &mut byte) self.i2c.write_read(SLAVE_ADDR, &[reg], &mut byte)
.map_err(Mpu6050Error::I2c)?; .map_err(Mpu6050Error::I2c)?;
Ok(byte[0]) Ok(byte[0])
} }
/// Reads series of bytes into buf from specified reg /// Reads series of bytes into buf from specified reg
pub fn read_bytes(&mut self, reg: u8, buf: &mut [u8]) -> Result<(), Mpu6050Error<E>> { pub fn read_bytes(&mut self, reg: u8, buf: &mut [u8]) -> Result<(), Mpu6050Error<E>> {
self.i2c.write_read(SLAVE_ADDR.addr(), &[reg], buf) self.i2c.write_read(SLAVE_ADDR, &[reg], buf)
.map_err(Mpu6050Error::I2c)?; .map_err(Mpu6050Error::I2c)?;
Ok(()) Ok(())
} }