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

README.md

@@ -1,4 +1,5 @@
-# MPU 6050 Rust Driver <img align="right" width="250" height="190" src="https://www.invensense.com/wp-content/uploads/2015/01/rp-mpu-6500.png">
+# MPU 6050 Rust Driver 
+<img align="right" width="250" height="190" src="https://www.invensense.com/wp-content/uploads/2015/01/rp-mpu-6500.png">
 
 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).
 
@@ -15,7 +16,7 @@ use linux_embedded_hal::{I2cdev, Delay};
 use i2cdev::linux::LinuxI2CError;
 
 fn main() -> Result<(), Error<LinuxI2CError>> {
-    let i2c = I2cdev::new("/dev/i2c-1") // or privide your owm on different platforms
+    let i2c = I2cdev::new("/dev/i2c-1")
         .map_err(Error::I2c)?;
 
     let delay = Delay;
@@ -25,40 +26,26 @@ fn main() -> Result<(), Error<LinuxI2CError>> {
 
     loop {
         // get roll and pitch estimate
-        match mpu.get_acc_angles() {
+        let acc = mpu.get_acc_angles()?;
-            Ok(r) => {
+        println!("r/p: {:?}", acc);
-                println!("r/p: {:?}", r);
-            },
-            Err(_) => {} ,
-        }
 
         // get temp
-        match mpu.get_temp() {
+        let temp = mpu.get_temp()?;
-            Ok(r) => {
+        println!("temp: {}c", temp);
-                println!("temp: {}c", r);
-            },
-            Err(_) => {} ,
-        }
 
         // get gyro data, scaled with sensitivity 
-        match mpu.get_gyro() {
+        let gyro = mpu.get_gyro()?;
-            Ok(r) => {
+        println!("gyro: {:?}", gyro);
-                println!("gyro: {:?}", r);
-            },
-            Err(_) => {} ,
-        }
         
         // get accelerometer data, scaled with sensitivity
-        match mpu.get_acc() {
+        let acc = mpu.get_acc()?;
-            Ok(r) => {
+        println!("acc: {:?}", acc);
-                println!("acc: {:?}", r);
-            },
-            Err(_) => {} ,
-        }
     }
 }
 ```
-#### Compile linux example (Rapsberry Pi 3B)
+*Note*: this example uses API of version published on crates.io, not local master branch.
+
+#### Compile linux example (Raspberry Pi 3B)
 files [here](https://github.com/juliangaal/mpu6050/blob/master/example/)
 
 Requirements: 

example/src/main.rs

@@ -10,39 +10,22 @@ fn main() -> Result<(), Error<LinuxI2CError>> {
 
     let mut mpu = Mpu6050::new(i2c, delay);
     mpu.init()?;
-    //mpu.soft_calib(200)?;
 
     loop {
         // get roll and pitch estimate
-        match mpu.get_acc_angles() {
+        let acc = mpu.get_acc_angles()?;
-            Ok(r) => {
+        println!("r/p: {:?}", acc);
-                println!("r/p: {:?}", r);
-            },
-            Err(_) => {} ,
-        }
 
         // get temp
-        match mpu.get_temp() {
+        let temp = mpu.get_temp()?;
-            Ok(r) => {
+        println!("temp: {}c", temp);
-                println!("temp: {}c", r);
-            },
-            Err(_) => {} ,
-        }
 
         // get gyro data, scaled with sensitivity 
-        match mpu.get_gyro() {
+        let gyro = mpu.get_gyro()?;
-            Ok(r) => {
+        println!("gyro: {:?}", gyro);
-                println!("gyro: {:?}", r);
-            },
-            Err(_) => {} ,
-        }
         
         // get accelerometer data, scaled with sensitivity
-        match mpu.get_acc() {
+        let acc = mpu.get_acc()?;
-            Ok(r) => {
+        println!("acc: {:?}", acc);
-                println!("acc: {:?}", r);
-            },
-            Err(_) => {} ,
-        }
     }
 }

src/lib.rs

@@ -1,12 +1,12 @@
 #![no_std]
 
-pub mod constants;
+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::constants::*;
+use crate::registers::*;
 use libm::{powf, atan2f, sqrtf};
 use embedded_hal::{
     blocking::delay::DelayMs,
@@ -96,7 +96,7 @@ pub enum GyroRange {
 
 /// All possible errors in this crate
 #[derive(Debug)]
-pub enum Error<E> {
+pub enum Mpu6050Error<E> {
     /// I2C bus error
     I2c(E),
 
@@ -142,7 +142,7 @@ where
 
     /// Performs software calibration with steps number of readings.
     /// Readings must be made with MPU6050 in resting position
-    pub fn soft_calib(&mut self, steps: u8) -> Result<(), Error<E>> {
+    pub fn soft_calib(&mut self, steps: u8) -> Result<(), Mpu6050Error<E>> {
         let mut bias = Bias::default();
 
         for _ in 0..steps+1 {
@@ -156,31 +156,31 @@ where
     }
 
     /// Wakes MPU6050 with all sensors enabled (default)
-    pub fn wake(&mut self) -> Result<(), Error<E>> {
+    pub fn wake(&mut self) -> Result<(), Mpu6050Error<E>> {
         self.write_u8(POWER_MGMT_1, 0)?;
         self.delay.delay_ms(100u8);
         Ok(())
     }
 
     /// Init wakes MPU6050 and verifies register addr, e.g. in i2c
-    pub fn init(&mut self) -> Result<(), Error<E>> {
+    pub fn init(&mut self) -> Result<(), Mpu6050Error<E>> {
         self.wake()?;
         self.verify()?;
         Ok(())
     }
 
     /// Verifies device to address 0x68 with WHOAMI Register
-    pub fn verify(&mut self) -> Result<(), Error<E>> {
+    pub fn verify(&mut self) -> Result<(), Mpu6050Error<E>> {
         let address = self.read_u8(WHOAMI)?;
         if address != SLAVE_ADDR {
-            return Err(Error::InvalidChipId(address));
+            return Err(Mpu6050Error::InvalidChipId(address));
         }
         Ok(())
     }
 
     /// Roll and pitch estimation from raw accelerometer readings
     /// NOTE: no yaw! no magnetometer present on MPU6050
-    pub fn get_acc_angles(&mut self) -> Result<(f32, f32), Error<E>> {
+    pub fn get_acc_angles(&mut self) -> Result<(f32, f32), Mpu6050Error<E>> {
         let (ax, ay, az) = self.get_acc()?;
         let roll: f32 = atan2f(ay, sqrtf(powf(ax, 2.) + powf(az, 2.)));
         let pitch: f32 = atan2f(-ax, sqrtf(powf(ay, 2.) + powf(az, 2.)));
@@ -202,7 +202,7 @@ where
     }
 
     /// Reads rotation (gyro/acc) from specified register
-    fn read_rot(&mut self, reg: u8) -> Result<(f32, f32, f32), Error<E>> {
+    fn read_rot(&mut self, reg: u8) -> Result<(f32, f32, f32), Mpu6050Error<E>> {
         let mut buf: [u8; 6] = [0; 6];
         self.read_bytes(reg, &mut buf)?;
 
@@ -214,7 +214,7 @@ where
     }
 
     /// Accelerometer readings in m/s^2
-    pub fn get_acc(&mut self) -> Result<(f32, f32, f32), Error<E>> {
+    pub fn get_acc(&mut self) -> Result<(f32, f32, f32), Mpu6050Error<E>> {
         let (mut ax, mut ay, mut az) = self.read_rot(ACC_REGX_H)?;
         
         ax /= self.acc_sensitivity;
@@ -231,7 +231,7 @@ where
     }
 
     /// Gyro readings in rad/s
-    pub fn get_gyro(&mut self) -> Result<(f32, f32, f32), Error<E>> {
+    pub fn get_gyro(&mut self) -> Result<(f32, f32, f32), Mpu6050Error<E>> {
         let (mut gx, mut gy, mut gz) = self.read_rot(GYRO_REGX_H)?;
 
         gx *= PI / (180.0 * self.gyro_sensitivity);
@@ -248,7 +248,7 @@ where
     }
 
     /// Temp in degrees celcius
-    pub fn get_temp(&mut self) -> Result<f32, Error<E>> {
+    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)?;
         let raw_temp = self.read_word_2c(&buf[0..2]) as f32;
@@ -257,25 +257,25 @@ where
     }
 
     /// Writes byte to register
-    pub fn write_u8(&mut self, reg: u8, byte: u8) -> Result<(), Error<E>> {
+    pub fn write_u8(&mut self, reg: u8, byte: u8) -> Result<(), Mpu6050Error<E>> {
         self.i2c.write(SLAVE_ADDR, &[reg, byte])
-            .map_err(Error::I2c)?;
+            .map_err(Mpu6050Error::I2c)?;
         self.delay.delay_ms(10u8);
         Ok(())
     }
     
     /// Reads byte from register
-    pub fn read_u8(&mut self, reg: u8) -> Result<u8, Error<E>> {
+    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)
-            .map_err(Error::I2c)?;
+            .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<(), Error<E>> {
+    pub fn read_bytes(&mut self, reg: u8, buf: &mut [u8]) -> Result<(), Mpu6050Error<E>> {
         self.i2c.write_read(SLAVE_ADDR, &[reg], buf)
-            .map_err(Error::I2c)?;
+            .map_err(Mpu6050Error::I2c)?;
         Ok(())
     }
 }

src/registers.rs

@@ -0,0 +1,42 @@
+//! 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;