52 lines
1.7 KiB
Rust
52 lines
1.7 KiB
Rust
use mpu6050::*;
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use linux_embedded_hal::{I2cdev, Delay};
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use i2cdev::linux::LinuxI2CError;
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fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
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let i2c = I2cdev::new("/dev/i2c-1")
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.map_err(Mpu6050Error::I2c)?;
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let delay = Delay;
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let mut mpu = Mpu6050::new(i2c, delay);
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mpu.init()?;
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mpu.soft_calib(Steps(100))?;
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mpu.calc_variance(Steps(50))?;
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println!("Calibrated with bias: {:?}", mpu.get_bias().unwrap());
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println!("Calculated variance: {:?}", mpu.get_variance().unwrap());
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loop {
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// get roll and pitch estimate
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let acc = mpu.get_acc_angles()?;
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println!("r/p: {}", acc);
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// get roll and pitch estimate - averaged accross n readings (steps)
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let acc = mpu.get_acc_angles_avg(Steps(5))?;
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println!("r/p avg: {}", acc);
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// get temp
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let temp = mpu.get_temp()?;
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println!("temp: {}c", temp);
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// get temp - averages across n readings (steps)
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let temp = mpu.get_temp_avg(Steps(5))?;
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println!("temp avg: {}c", temp);
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// get gyro data, scaled with sensitivity
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let gyro = mpu.get_gyro()?;
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println!("gyro: {}", gyro);
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// get gyro data, scaled with sensitivity - averaged across n readings (steps)
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let gyro = mpu.get_gyro_avg(Steps(5))?;
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println!("gyro avg: {}", gyro);
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// get accelerometer data, scaled with sensitivity
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let acc = mpu.get_acc()?;
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println!("acc: {}", acc);
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// get accelerometer data, scaled with sensitivity - averages across n readings (steps)
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let acc = mpu.get_acc_avg(Steps(5))?;
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println!("acc avg: {}", acc);
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}
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}
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