prep for crate version 1.4

README.md

@@ -1,11 +1,17 @@
 # `mpu6050` ![crates.io](https://img.shields.io/crates/v/mpu6050.svg) ![CircleCI](https://img.shields.io/circleci/build/github/juliangaal/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)
+## What Works
+* Reading the accelerometer, gyroscope, temperature sensor
+    * raw
+    * scaled
+    * roll/pitch estimation
+* Motion Detection
+* Setting Accel/Gyro Ranges/Sensitivity
+* Setting Accel HPF/LPF
 
-Visualization options for testing and development in [viz branch](https://github.com/juliangaal/mpu6050/tree/viz/viz)
+## Basic usage 
-
+To use this driver you must provide a concrete `embedded_hal` implementation. Here's a 
-### Basic usage 
 [`linux_embedded_hal`](https://github.com/rust-embedded/linux-embedded-hal) example
 ```rust
 use mpu6050::*;
@@ -39,79 +45,4 @@ fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
     println!("acc: {:?}", acc);
   }
 }
-```
+```
-
-### Linux example (Raspberry Pi 3B)
-
-#### Cross compile
-Requirements: 
-```bash
-$ apt-get install -qq gcc-arm-linux-gnueabihf libc6-armhf-cross libc6-dev-armhf-cross
-```
-
-Rustup:
-```bash
-$ rustup target add armv7-unknown-linux-gnueabihf
-```
-To configure the linker use `.cargo/config` file
-
-cross-compile with 
-```bash
-$ cargo build --examples --target=armv7-unknown-linux-gnueabihf
-```
-Copy binary to rpi, once steps below are successfully completed.
-
-#### On RPi (RPi OS lite, 15.02.21)
-
-##### Install i2c dependencies
-```bash
-$ sudo apt-get install i2c-tools libi2c-dev python-smbus -y
-```
-
-##### Enable and load kernel modules at boot
-1. edit `/etc/modules` and add
-    ```
-    i2c-dev
-    i2c-bcm2708
-    ```
-2. edit `/boot/config.txt` and add/uncomment
-    ```
-    dtparam=i2c_arm=on
-    dtparam=i2c1=on
-    ```
-3. reboot
-4. check if working with `sudo i2cdetect -y 1` or `sudo i2cdetect -y 0`. You should bet a signal similar to this
-    ```
-      0 1 2 3 4 5 6 7 8 9 a b c d e f
-    00: -- -- -- -- -- -- -- -- -- -- -- -- --
-    10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
-    20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
-    30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
-    40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
-    50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
-    60: -- -- -- -- -- -- -- -- -- -- -- 68 -- -- -- --
-    70: -- -- -- -- -- -- -- --
-    ```
-5. Wire up 
-
-    | [RPi GPIO](https://www.raspberrypi.org/documentation/usage/gpio/) | MPU6050 |
-    |:---|---:|
-    | 5V Power | VCC |
-    | Ground | GND |
-    | GPIO 2 | SCL |
-    | GPIO 3 | SDA |
-
-## TODO
-- [x] init with default settings
-- [ ] init with custom settings
-  - [x] custom sensitivity
-  - [ ] custom device initialization
-- [x] device verification
-- [x] basic feature support as described [here](https://github.com/Tijndagamer/mpu6050/blob/master/mpu6050/mpu6050.py)
-- [x] rename constants to better match datasheet
-- [ ] complementary filter for roll, pitch estimate, possible on device?
-- [ ] low pass filter registers? How to use?
-- [ ] sample rate devider with register 25? or timer/clock control with PWR_MGMT_2
-  - [ ] internal clock, register 108 `POWER_MGMT_2`, [will  cycle between  sleep mode  and  waking  up  to  take a single  sample of data from active sensors at a rate determined by LP_WAKE_CTRL](https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf) (page 41-43)
-- [x] plotting [csv data](https://plot.ly/python/plot-data-from-csv/)for testing? -> See viz branch
-

examples/motion_detection.rs

@@ -1,8 +1,7 @@
-use mpu6050::*;
+use mpu6050::{*, device::MOT_DETECT_STATUS};
 use linux_embedded_hal::{I2cdev, Delay};
 use i2cdev::linux::LinuxI2CError;
 use embedded_hal::blocking::delay::DelayMs;
-use mpu6050::device::MOT_DETECT_STATUS;
 
 fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
     let i2c = I2cdev::new("/dev/i2c-1")

examples/simple.rs

@@ -16,7 +16,7 @@ fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
         let acc = mpu.get_acc_angles()?;
         println!("r/p: {:?}", acc);
 
-        // get temp
+        // get sensor temp
         let temp = mpu.get_temp()?;
         println!("temp: {:?}c", temp);
 

examples/test.rs

@@ -1,4 +1,4 @@
-use mpu6050::*;
+use mpu6050::{*, device::*};
 
 use linux_embedded_hal::{I2cdev, Delay};
 use i2cdev::linux::LinuxI2CError;
@@ -18,15 +18,15 @@ fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
 
     // Test gyro config
     println!("Test gyro config");
-    assert_eq!(mpu.get_gyro_range()?, range::GyroRange::D250);
+    assert_eq!(mpu.get_gyro_range()?, GyroRange::D250);
-    mpu.set_gyro_range(range::GyroRange::D500)?;
+    mpu.set_gyro_range(GyroRange::D500)?;
-    assert_eq!(mpu.get_gyro_range()?, range::GyroRange::D500);
+    assert_eq!(mpu.get_gyro_range()?, GyroRange::D500);
 
     // Test accel config
     println!("Test accel config");
-    assert_eq!(mpu.get_accel_range()?, range::AccelRange::G2);
+    assert_eq!(mpu.get_accel_range()?, AccelRange::G2);
-    mpu.set_accel_range(range::AccelRange::G4)?;
+    mpu.set_accel_range(AccelRange::G4)?;
-    assert_eq!(mpu.get_accel_range()?, range::AccelRange::G4);
+    assert_eq!(mpu.get_accel_range()?, AccelRange::G4);
 
     // accel_hpf: per default RESET/no filter, see ACCEL_CONFIG
     println!("Test accel hpf");
@@ -81,8 +81,8 @@ fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
     println!("Test reset");
     mpu.reset_device(&mut delay)?;
     assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_RESET);
-    assert_eq!(mpu.get_accel_range()?, range::AccelRange::G2);
+    assert_eq!(mpu.get_accel_range()?, AccelRange::G2);
-    assert_eq!(mpu.get_gyro_range()?, range::GyroRange::D250);
+    assert_eq!(mpu.get_gyro_range()?, GyroRange::D250);
     assert_eq!(mpu.get_sleep_enabled()?, true);
     assert_eq!(mpu.get_temp_enabled()?, true);
 

src/device.rs

@@ -1,13 +1,18 @@
-//! All constants used in the driver, mostly register addresses
+//! All device constants used in the driver, mostly register addresses.
-//! Register map: https://arduino.ua/docs/RM-MPU-6000A.pdf
-//! Datasheet with WAY more info about interrupts (Revision 3.2) https://www.cdiweb.com/datasheets/invensense/ps-mpu-6000a.pdf
 //!
+//! NOTE: Earlier revisions of Datasheet and Register Map has way more info about interrupt usage,
+//! particularly rev 3.2
 //!
+//! #### Sources:
+//! * Register map (rev 3.2): https://arduino.ua/docs/RM-MPU-6000A.pdf
+//! * Datasheet (rev 3.2): https://www.cdiweb.com/datasheets/invensense/ps-mpu-6000a.pdf
+
 
 /// Gyro Sensitivity
 ///
 /// Measurements are scaled like this:
 /// x * range/2**(resolution-1) or x / (2**(resolution-1) / range)
+///
 /// Sources:
 ///     * https://www.nxp.com/docs/en/application-note/AN3461.pdf
 ///     * https://theccontinuum.com/2012/09/24/arduino-imu-pitch-roll-from-accelerometer/
@@ -19,6 +24,7 @@ pub const GYRO_SENS: (f32, f32, f32, f32) = (131., 65.5, 32.8, 16.4);
 /// Accelerometer Sensitivity
 ///
 /// Measurements are scaled like this:
+///
 /// x * range/2**(resolution-1) or x / (2**(resolution-1) / range)
 /// Sources:
 ///     * https://www.nxp.com/docs/en/application-note/AN3461.pdf
@@ -27,51 +33,33 @@ pub const GYRO_SENS: (f32, f32, f32, f32) = (131., 65.5, 32.8, 16.4);
 ///     * https://github.com/kriswiner/MPU6050/wiki/2014-Invensense-Developer%27s-Conference
 ///     * rust MPU9250 driver on github
 pub const ACCEL_SENS: (f32, f32, f32, f32) = (16384., 8192., 4096., 2048.);
-
 /// Temperature Offset
 pub const TEMP_OFFSET: f32 = 36.53;
-
 /// Temperature Sensitivity
 pub const TEMP_SENSITIVITY: f32 = 340.;
 
-#[allow(non_camel_case_types)]
-#[derive(Copy, Clone, Debug)]
-pub struct Specs;
-
-impl Specs {
-    // pub const ACCEL_SELF_TEST_MIN: u8 = -14;
-    pub const ACCEL_SELF_TEST_MAX: u8 = 14;
-}
-
-#[allow(non_camel_case_types)]
-#[derive(Copy, Clone, Debug)]
-/// Register addresses
-pub enum Registers {
-    /// High Byte Register Gyro x orientation
-    GYRO_REGX_H = 0x43,
-    /// High Byte Register Gyro y orientation
-    GYRO_REGY_H = 0x45,
-    /// High Byte 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,
-    //
-}
-
-/// Slave address of Mpu6050
-pub const SLAVE_ADDR: u8 = 0x68;
-/// Internal register to check slave addr
-pub const WHOAMI: u8 = 0x75;
 /// Motion Threshold Register
 pub const MOT_THR: u8 = 0x1F;
 /// Motion Duration Detection Register
 pub const MOT_DUR: u8 = 0x20;
+/// High Byte Register Gyro x orientation
+pub const GYRO_REGX_H: u8 = 0x43;
+/// High Byte Register Gyro y orientation
+pub const GYRO_REGY_H: u8 = 0x45;
+/// High Byte 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;
+/// Slave address of Mpu6050
+pub const SLAVE_ADDR: u8 = 0x68;
+/// Internal register to check slave addr
+pub const WHOAMI: u8 = 0x75;
 
 /// Describes a bit block from bit number 'bit' to 'bit'+'length'
 pub struct BitBlock {
@@ -79,12 +67,6 @@ pub struct BitBlock {
     pub length: u8
 }
 
-impl Registers {
-    pub fn addr(&self) -> u8 {
-        *self as u8
-    }
-}
-
 #[allow(non_camel_case_types)]
 #[derive(Copy, Clone, Debug)]
 /// Register 26: Configuration (DLPF, External signal)
@@ -294,9 +276,13 @@ impl PWR_MGMT_2 {
 #[derive(Copy, Clone, Debug, Eq, PartialEq)]
 /// Wake values
 pub enum LP_WAKE_CTRL {
+    /// 1.25 Hz
     _1P25 = 0,
+    /// 2.5 Hz
     _2P5,
+    /// 5 Hz
     _5,
+    /// 10 Hz
     _10,
 }
 
@@ -304,11 +290,18 @@ pub enum LP_WAKE_CTRL {
 #[derive(Copy, Clone, Debug, Eq, PartialEq)]
 /// Accelerometer High Pass Filter Values
 pub enum ACCEL_HPF {
+    /// Cut off frequency: None
     _RESET = 0,
+    /// Cut off frequency: 5 Hz
     _5 = 1,
+    /// Cut off frequency: 2.5 Hz
     _2P5 = 2,
+    /// Cut off frequency: 1.25 Hz
     _1P25 = 3,
+    /// Cut off frequency: 0.63 Hz
     _0P63 = 4,
+    /// When triggered, the filter holds the present sample. The filter output will be the
+    /// difference between the input sample and the held sample
     _HOLD = 7
 }
 
@@ -331,13 +324,21 @@ impl From<u8> for ACCEL_HPF {
 #[derive(Copy, Clone, Debug, Eq, PartialEq)]
 /// Clock Source Select Values
 pub enum CLKSEL {
+    /// Internal 8MHz oscillator
     OSCILL = 0,
+    /// PLL with X axis gyroscope reference
     GXAXIS = 1,
+    /// PLL with Y axis gyroscope reference
     GYAXIS = 2,
+    /// PLL with Z axis gyroscope reference
     GZAXIS = 3,
+    /// PLL with external 32.768kHz reference
     EXT_32p7 = 4,
+    /// PLL with external 19.2MHz reference
     EXT_19P2 = 5,
+    /// Reserved
     RESERV = 6,
+    /// Stops the clock and keeps the timing generator in reset
     STOP = 7,
 }
 
@@ -355,4 +356,80 @@ impl From<u8> for CLKSEL {
             _ => CLKSEL::GXAXIS
         }
     }
-}
+}
+
+/// Defines accelerometer range/sensivity
+#[derive(Debug, Eq, PartialEq, Copy, Clone)]
+pub enum AccelRange {
+    /// 2G
+    G2 = 0,
+    /// 4G
+    G4,
+    /// 8G
+    G8,
+    /// 16G
+    G16,
+}
+
+/// Defines gyro range/sensitivity
+#[derive(Debug, Eq, PartialEq, Copy, Clone)]
+pub enum GyroRange {
+    /// 250 degrees
+    D250 = 0,
+    /// 500 degrees
+    D500,
+    /// 1000 degrees
+    D1000,
+    /// 2000 degrees
+    D2000,
+}
+
+impl From<u8> for GyroRange {
+    fn from(range: u8) -> Self
+    {
+        match range {
+            0 => GyroRange::D250,
+            1 => GyroRange::D500,
+            2 => GyroRange::D1000,
+            3 => GyroRange::D2000,
+            _ => GyroRange::D250
+        }
+    }
+}
+
+impl From<u8> for AccelRange {
+    fn from(range: u8) -> Self
+    {
+        match range {
+            0 => AccelRange::G2,
+            1 => AccelRange::G4,
+            2 => AccelRange::G8,
+            3 => AccelRange::G16,
+            _ => AccelRange::G2
+        }
+    }
+}
+
+impl AccelRange {
+    // Converts accelerometer range to correction/scaling factor, see register sheet
+    pub(crate) fn sensitivity(&self) -> f32 {
+        match &self {
+            AccelRange::G2 => ACCEL_SENS.0,
+            AccelRange::G4 => ACCEL_SENS.1,
+            AccelRange::G8 => ACCEL_SENS.2,
+            AccelRange::G16 => ACCEL_SENS.3,
+        }
+    }
+}
+
+impl GyroRange {
+    // Converts gyro range to correction/scaling factor, see register sheet
+    pub(crate) fn sensitivity(&self) -> f32 {
+        match &self {
+            GyroRange::D250 => GYRO_SENS.0,
+            GyroRange::D500 => GYRO_SENS.1,
+            GyroRange::D1000 => GYRO_SENS.2,
+            GyroRange::D2000 => GYRO_SENS.3,
+        }
+    }
+}

src/lib.rs

@@ -1,53 +1,55 @@
-//! Mpu6050 sensor driver.
+//! # Mpu6050 sensor driver.
 //!
-//! Register sheet [here](https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf),
+//! `embedded_hal` based driver with i2c access to MPU6050
-//! Data sheet [here](https://www.invensense.com/wp-content/uploads/2015/02/MPU-6500-Datasheet2.pdf)
+//!
+//! ### Misc
+//! * [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)
 //! 
 //! To use this driver you must provide a concrete `embedded_hal` implementation.
-//! This example uses `linux_embedded_hal`
+//! This example uses `linux_embedded_hal`.
+//!
+//! **More Examples** can be found [here](https://github.com/juliangaal/mpu6050/tree/master/examples).
 //! ```no_run
 //! use mpu6050::*;
-// use linux_embedded_hal::{I2cdev, Delay};
+//! use linux_embedded_hal::{I2cdev, Delay};
-// use i2cdev::linux::LinuxI2CError;
+//! use i2cdev::linux::LinuxI2CError;
-//
+//!
-// fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
+//! fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
-//     let i2c = I2cdev::new("/dev/i2c-1")
+//!     let i2c = I2cdev::new("/dev/i2c-1")
-//         .map_err(Mpu6050Error::I2c)?;
+//!         .map_err(Mpu6050Error::I2c)?;
-//
+//!
-//     let mut delay = Delay;
+//!     let mut delay = Delay;
-//     let mut mpu = Mpu6050::new(i2c);
+//!     let mut mpu = Mpu6050::new(i2c);
-//
+//!
-//     mpu.init(&mut delay)?;
+//!     mpu.init(&mut delay)?;
-//
+//!
-//     loop {
+//!     loop {
-//         // get roll and pitch estimate
+//!         // get roll and pitch estimate
-//         let acc = mpu.get_acc_angles()?;
+//!         let acc = mpu.get_acc_angles()?;
-//         println!("r/p: {:?}", acc);
+//!         println!("r/p: {:?}", acc);
-//
+//!
-//         // get temp
+//!         // get sensor temp
-//         let temp = mpu.get_temp()?;
+//!         let temp = mpu.get_temp()?;
-//         println!("temp: {:?}c", temp);
+//!         printlnasd!("temp: {:?}c", temp);
-//
+//!
-//         // get gyro data, scaled with sensitivity
+//!         // get gyro data, scaled with sensitivity
-//         let gyro = mpu.get_gyro()?;
+//!         let gyro = mpu.get_gyro()?;
-//         println!("gyro: {:?}", gyro);
+//!         println!("gyro: {:?}", gyro);
-//
+//!
-//         // get accelerometer data, scaled with sensitivity
+//!         // get accelerometer data, scaled with sensitivity
-//         let acc = mpu.get_acc()?;
+//!         let acc = mpu.get_acc()?;
-//         println!("acc: {:?}", acc);
+//!         println!("acc: {:?}", acc);
-//     }
+//!     }
-// }
+//! }
 //! ```
 
 #![no_std]
 
+mod bits;
 pub mod device;
-pub mod bits;
-pub mod range;
-
-use crate::range::*;
-use crate::device::{*, Registers::*};
 
+use crate::device::*;
 use libm::{powf, atan2f, sqrtf};
 use nalgebra::{Vector3, Vector2};
 use embedded_hal::{
@@ -198,6 +200,15 @@ where
         Ok(())
     }
 
+    /// get current gyro range
+    pub fn get_gyro_range(&mut self) -> Result<GyroRange, Mpu6050Error<E>> {
+        let byte = self.read_bits(GYRO_CONFIG::ADDR,
+                                  GYRO_CONFIG::FS_SEL.bit,
+                                  GYRO_CONFIG::FS_SEL.length)?;
+
+        Ok(GyroRange::from(byte))
+    }
+
     /// set accel range, and update sensitivy accordingly
     pub fn set_accel_range(&mut self, range: AccelRange) -> Result<(), Mpu6050Error<E>> {
         self.write_bits(ACCEL_CONFIG::ADDR,
@@ -218,15 +229,6 @@ where
         Ok(AccelRange::from(byte))
     }
 
-    /// get current gyro range
-    pub fn get_gyro_range(&mut self) -> Result<GyroRange, Mpu6050Error<E>> {
-        let byte = self.read_bits(GYRO_CONFIG::ADDR,
-                                  GYRO_CONFIG::FS_SEL.bit,
-                                  GYRO_CONFIG::FS_SEL.length)?;
-
-        Ok(GyroRange::from(byte))
-    }
-
     /// reset device
     pub fn reset_device<D: DelayMs<u8>>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
         self.write_bit(PWR_MGMT_1::ADDR, PWR_MGMT_1::DEVICE_RESET, true)?;
@@ -329,7 +331,7 @@ where
 
     /// Accelerometer readings in g
     pub fn get_acc(&mut self) -> Result<Vector3<f32>, Mpu6050Error<E>> {
-        let mut acc = self.read_rot(ACC_REGX_H.addr())?;
+        let mut acc = self.read_rot(ACC_REGX_H)?;
         acc /= self.acc_sensitivity;
 
         Ok(acc)
@@ -337,17 +339,17 @@ where
 
     /// Gyro readings in rad/s
     pub fn get_gyro(&mut self) -> Result<Vector3<f32>, Mpu6050Error<E>> {
-        let mut gyro = self.read_rot(GYRO_REGX_H.addr())?;
+        let mut gyro = self.read_rot(GYRO_REGX_H)?;
 
         gyro *= PI_180 * self.gyro_sensitivity;
 
         Ok(gyro)
     }
 
-    /// Temp in degrees celcius
+    /// Sensor 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.addr(), &mut buf)?;
+        self.read_bytes(TEMP_OUT_H, &mut buf)?;
         let raw_temp = self.read_word_2c(&buf[0..2]) as f32;
 
         // According to revision 4.2

src/range.rs

@@ -1,68 +1 @@
 use crate::device::*;
-
-/// Defines accelerometer range/sensivity
-#[derive(Debug, Eq, PartialEq, Copy, Clone)]
-pub enum AccelRange {
-    G2 = 0,
-    G4,
-    G8,
-    G16,
-}
-
-/// Defines gyro range/sensitivity
-#[derive(Debug, Eq, PartialEq, Copy, Clone)]
-pub enum GyroRange {
-    D250 = 0,
-    D500,
-    D1000,
-    D2000,
-}
-
-impl From<u8> for GyroRange {
-    fn from(range: u8) -> Self
-    {
-        match range {
-            0 => GyroRange::D250,
-            1 => GyroRange::D500,
-            2 => GyroRange::D1000,
-            3 => GyroRange::D2000,
-            _ => GyroRange::D250
-        }
-    }
-}
-
-impl From<u8> for AccelRange {
-    fn from(range: u8) -> Self
-    {
-        match range {
-            0 => AccelRange::G2,
-            1 => AccelRange::G4,
-            2 => AccelRange::G8,
-            3 => AccelRange::G16,
-            _ => AccelRange::G2
-        }
-    }
-}
-
-impl AccelRange {
-    pub(crate) fn sensitivity(&self) -> f32 {
-        match &self {
-            AccelRange::G2 => ACCEL_SENS.0,
-            AccelRange::G4 => ACCEL_SENS.1,
-            AccelRange::G8 => ACCEL_SENS.2,
-            AccelRange::G16 => ACCEL_SENS.3,
-        }
-    }
-}
-
-// Converts gyro range to correction/scaling factor, see table p. 31 or register sheet
-impl GyroRange {
-    pub(crate) fn sensitivity(&self) -> f32 {
-        match &self {
-            GyroRange::D250 => GYRO_SENS.0,
-            GyroRange::D500 => GYRO_SENS.1,
-            GyroRange::D1000 => GYRO_SENS.2,
-            GyroRange::D2000 => GYRO_SENS.3,
-        }
-    }
-}