106 lines
3.9 KiB
Markdown
106 lines
3.9 KiB
Markdown
# MPU 6050 Rust Driver
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Platform agnostic driver for [MPU 6050 6-axis IMU](https://www.invensense.com/products/motion-tracking/6-axis/mpu-6500/) using [`embedded_hal`](https://github.com/rust-embedded/embedded-hal).
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[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)
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[Docs](https://docs.rs/mpu6050/0.1.2/mpu6050/) | [Crate](https://crates.io/crates/mpu6050)
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Visualization options for testing and development in [viz branch](https://github.com/juliangaal/mpu6050/tree/viz/viz)
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### Basic usage
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[`linux_embedded_hal`](https://github.com/rust-embedded/linux-embedded-hal) example
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```rust
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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<(), Error<LinuxI2CError>> {
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let i2c = I2cdev::new("/dev/i2c-1")
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.map_err(Error::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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#### Compile linux example (Raspberry Pi 3B)
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files [here](https://github.com/juliangaal/mpu6050/blob/master/example/)
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Requirements:
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```bash
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$ apt-get install -qq gcc-armv7-linux-gnueabihf libc6-armhf-cross libc6-dev-armhf-cross
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```
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and all dependencies in `example/Cargo.toml`
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Rustup:
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```bash
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$ rustup target add armv7-unknown-linux-gnueabihf
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```
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To configure the linker use `example/.cargo/config`
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cross-compile with
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```bash
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$ cargo build --target=armv7-unknown-linux-gnueabihf
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```
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## TODO
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- [x] init with default settings
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- [ ] init with custom settings
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- [x] custom sensitivity
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- [ ] custom device initialization
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- [x] device verification
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- [x] basic feature support as described [here](https://github.com/Tijndagamer/mpu6050/blob/master/mpu6050/mpu6050.py)
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- [x] read gyro data
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- [x] read acc data
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- [x] software calibration
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- [x] software measurement variance estimation
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- [x] roll, pitch estimation accelerometer only
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- [x] read temp data
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- [ ] rename constants to better match datasheet
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- [ ] complementary filter for roll, pitch estimate, possible on device?
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- [ ] sample rate devider with register 25? or timer/clock control with PWR_MGMT_2
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- [ ] 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)
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- [x] plotting [csv data](https://plot.ly/python/plot-data-from-csv/)for testing? -> See viz branch
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