# `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) Visualization options for testing and development in [viz branch](https://github.com/juliangaal/mpu6050/tree/viz/viz) ### Basic usage [`linux_embedded_hal`](https://github.com/rust-embedded/linux-embedded-hal) example ```rust use mpu6050::*; use linux_embedded_hal::{I2cdev, Delay}; use i2cdev::linux::LinuxI2CError; fn main() -> Result<(), Mpu6050Error> { let i2c = I2cdev::new("/dev/i2c-1") .map_err(Mpu6050Error::I2c)?; let mut delay = Delay; let mut mpu = Mpu6050::new(i2c); mpu.init(&mut delay)?; loop { // get roll and pitch estimate let acc = mpu.get_acc_angles()?; println!("r/p: {:?}", acc); // get temp let temp = mpu.get_temp()?; println!("temp: {:?}c", temp); // get gyro data, scaled with sensitivity let gyro = mpu.get_gyro()?; println!("gyro: {:?}", gyro); // get accelerometer data, scaled with sensitivity let acc = mpu.get_acc()?; 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