.circleci/config.yml

@@ -1,24 +1,88 @@
 version: 2
 jobs:
-  1dot64:
+  latest:
     docker:
-      - image: cimg/rust:1.64.0
+      - image: circleci/rust:latest
     steps:
       - checkout
       - run: 
           name: build and test
           command: cargo build
-  1dot63:
+  fournine:
     docker:
-      - image: cimg/rust:1.63.0
+      - image: circleci/rust:1.49.0
     steps:
       - checkout
       - run:
           name: build and test
           command: cargo build
-  1dot62:
+  foureight:
     docker:
-      - image: cimg/rust:1.62.0
+      - image: circleci/rust:1.48.0
+    steps:
+      - checkout
+      - run:
+          name: build and test
+          command: cargo build
+  fourseven:
+    docker:
+      - image: circleci/rust:1.47.0
+    steps:
+      - checkout
+      - run:
+          name: build and test
+          command: cargo build
+  foursix:
+    docker:
+      - image: circleci/rust:1.46.0
+    steps:
+      - checkout
+      - run:
+          name: build and test
+          command: cargo build
+  fourfive:
+    docker:
+      - image: circleci/rust:1.45.0
+    steps:
+      - checkout
+      - run:
+          name: build and test
+          command: cargo build
+  fourfour:
+    docker:
+      - image: circleci/rust:1.44.0
+    steps:
+      - checkout
+      - run:
+          name: build and test
+          command: cargo build
+  fourthree:
+    docker:
+      - image: circleci/rust:1.43.0
+    steps:
+      - checkout
+      - run:
+          name: build and test
+          command: cargo build
+  fourtwo:
+    docker:
+      - image: circleci/rust:1.42.0
+    steps:
+      - checkout
+      - run:
+          name: build and test
+          command: cargo build
+  fourone:
+    docker:
+      - image: circleci/rust:1.40.0
+    steps:
+      - checkout
+      - run:
+          name: build and test
+          command: cargo build
+  fourzero:
+    docker:
+      - image: circleci/rust:1.40.0
     steps:
       - checkout
       - run:
@@ -29,7 +93,15 @@ workflows:
   version: 2
   build_and_test:
     jobs:
-      - 1dot64
-      - 1dot63
-      - 1dot62
+      - latest
+      - fournine
+      - foureight
+      - fourseven
+      - foursix
+      - fourfive
+      - fourfour
+      - fourthree
+      - fourtwo
+      - fourone
+      - fourzero
 

.gitignore

@@ -2,7 +2,6 @@
 */target
 example/**/*.rs.bk
 example/Cargo.lock
-.idea/
 **/*.rs.bk
 Cargo.lock
 .DS_Store

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "mpu6050"
-version = "0.1.6"
+version = "0.1.4"
 authors = ["Julian Gaal <gjulian@uos.de>"]
 edition = "2018"
 
@@ -11,13 +11,13 @@ keywords = ["mpu6050", "imu", "embedded"]
 license = "MIT"
 
 [dependencies]
-embedded-hal = "1"
+embedded-hal = "0.2.4"
 libm = "0.2.1"
 
 [dependencies.nalgebra]
 default-features = false
-version = "0.31.2"
+version = "0.24.1"
 
 [dev-dependencies]
-i2cdev = "0.5.1"
-linux-embedded-hal = "0.3.2"
+i2cdev = "0.4.4"
+linux-embedded-hal = "0.3.0"

src/lib.rs

@@ -12,7 +12,7 @@
 //! **More Examples** can be found [here](https://github.com/juliangaal/mpu6050/tree/master/examples).
 //! ```no_run
 //! use mpu6050::*;
-//! use linux_embedded_hal::{I2cdev, DelayNs};
+//! use linux_embedded_hal::{I2cdev, Delay};
 //! use i2cdev::linux::LinuxI2CError;
 //!
 //! fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
@@ -53,9 +53,9 @@ use crate::device::*;
 use libm::{powf, atan2f, sqrtf};
 use nalgebra::{Vector3, Vector2};
 use embedded_hal::{
-    i2c::I2c
+    blocking::delay::DelayMs,
+    blocking::i2c::{Write, WriteRead},
 };
-use embedded_hal::delay::DelayNs;
 
 /// PI, f32
 pub const PI: f32 = core::f32::consts::PI;
@@ -83,7 +83,7 @@ pub struct Mpu6050<I> {
 
 impl<I, E> Mpu6050<I>
 where
-    I: I2c<Error = E>,
+    I: Write<Error = E> + WriteRead<Error = E>, 
 {
     /// Side effect free constructor with default sensitivies, no calibration
     pub fn new(i2c: I) -> Self {
@@ -126,11 +126,11 @@ where
     }
 
     /// Wakes MPU6050 with all sensors enabled (default)
-    fn wake<D: DelayNs>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
+    fn wake<D: DelayMs<u8>>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
         // MPU6050 has sleep enabled by default -> set bit 0 to wake
         // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 (See Register Map )
         self.write_byte(PWR_MGMT_1::ADDR, 0x01)?;
-        delay.delay_ms(100);
+        delay.delay_ms(100u8);
         Ok(())
     }
 
@@ -154,7 +154,7 @@ where
     }
 
     /// Init wakes MPU6050 and verifies register addr, e.g. in i2c
-    pub fn init<D: DelayNs>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
+    pub fn init<D: DelayMs<u8>>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
         self.wake(delay)?;
         self.verify()?;
         self.set_accel_range(AccelRange::G2)?;
@@ -253,9 +253,9 @@ where
     }
 
     /// reset device
-    pub fn reset_device<D: DelayNs>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
+    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)?;
-        delay.delay_ms(100);
+        delay.delay_ms(100u8);
         // Note: Reset sets sleep to true! Section register map: resets PWR_MGMT to 0x40
         Ok(())
     }