33 lines
No EOL
974 B
Rust
33 lines
No EOL
974 B
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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use mpu6050::device::ACCEL_HPF;
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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 mut delay = Delay;
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let mut mpu = Mpu6050::new(i2c);
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mpu.init(&mut delay)?;
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// Test gyro config
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assert_eq!(mpu.get_gyro_range()?, range::GyroRange::D250);
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mpu.set_gyro_range(range::GyroRange::D500)?;
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assert_eq!(mpu.get_gyro_range()?, range::GyroRange::D500);
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// Test accel config
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assert_eq!(mpu.get_accel_range()?, range::AccelRange::G2);
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mpu.set_accel_range(range::AccelRange::G4)?;
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assert_eq!(mpu.get_accel_range()?, range::AccelRange::G4);
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// accel_hpf
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assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_RESET);
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mpu.set_accel_hpf(ACCEL_HPF::_1P25);
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assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_1P25);
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println!("Test successful");
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Ok(())
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} |