ank/mpu6050
1
Fork 0
Code Issues Activity

Merge pull request #38 from nilclass/configurable-address

Browse source 
Make device address configurable
This commit is contained in:
Julian Gaal 2021-11-19 12:11:04 +01:00 committed by GitHub
commit e27840bb25
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
2 changed files with 29 additions and 6 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
src/device.rs
View file

@ -57,7 +57,7 @@ pub const ACC_REGZ_H : u8= 0x3f;
/// High Byte Register Temperature
pub const TEMP_OUT_H : u8= 0x41;
/// Slave address of Mpu6050
pub const SLAVE_ADDR: u8 = 0x68;
pub const DEFAULT_SLAVE_ADDR: u8 = 0x68;
/// Internal register to check slave addr
pub const WHOAMI: u8 = 0x75;

33
src/lib.rs
View file

@ -76,6 +76,7 @@ pub enum Mpu6050Error<E> {
/// Handles all operations on/with Mpu6050
pub struct Mpu6050<I> {
i2c: I,
slave_addr: u8,
acc_sensitivity: f32,
gyro_sensitivity: f32,
}
@ -88,8 +89,9 @@ where
pub fn new(i2c: I) -> Self {
Mpu6050 {
i2c,
slave_addr: DEFAULT_SLAVE_ADDR,
acc_sensitivity: ACCEL_SENS.0,
gyro_sensitivity: GYRO_SENS.0,
gyro_sensitivity: GYRO_SENS.0,
}
}
@ -97,6 +99,27 @@ where
pub fn new_with_sens(i2c: I, arange: AccelRange, grange: GyroRange) -> Self {
Mpu6050 {
i2c,
slave_addr: DEFAULT_SLAVE_ADDR,
acc_sensitivity: arange.sensitivity(),
gyro_sensitivity: grange.sensitivity(),
}
}
/// Same as `new`, but the chip address can be specified (e.g. 0x69, if the A0 pin is pulled up)
pub fn new_with_addr(i2c: I, slave_addr: u8) -> Self {
Mpu6050 {
i2c,
slave_addr,
acc_sensitivity: ACCEL_SENS.0,
gyro_sensitivity: GYRO_SENS.0,
}
}
/// Combination of `new_with_sens` and `new_with_addr`
pub fn new_with_addr_and_sens(i2c: I, slave_addr: u8, arange: AccelRange, grange: GyroRange) -> Self {
Mpu6050 {
i2c,
slave_addr,
acc_sensitivity: arange.sensitivity(),
gyro_sensitivity: grange.sensitivity(),
}
@ -143,7 +166,7 @@ where
/// Verifies device to address 0x68 with WHOAMI.addr() Register
fn verify(&mut self) -> Result<(), Mpu6050Error<E>> {
let address = self.read_byte(WHOAMI)?;
if address != SLAVE_ADDR {
if address != DEFAULT_SLAVE_ADDR {
return Err(Mpu6050Error::InvalidChipId(address));
}
Ok(())
@ -358,7 +381,7 @@ where
/// Writes byte to register
pub fn write_byte(&mut self, reg: u8, byte: u8) -> Result<(), Mpu6050Error<E>> {
self.i2c.write(SLAVE_ADDR, &[reg, byte])
self.i2c.write(self.slave_addr, &[reg, byte])
.map_err(Mpu6050Error::I2c)?;
// delay disabled for dev build
// TODO: check effects with physical unit
@ -399,14 +422,14 @@ where
/// Reads byte from register
pub fn read_byte(&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(self.slave_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(self.slave_addr, &[reg], buf)
.map_err(Mpu6050Error::I2c)?;
Ok(())
}