91 lines
No EOL
3.3 KiB
Rust
91 lines
No EOL
3.3 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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use mpu6050::device::{ACCEL_HPF, CLKSEL};
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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 power management
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println!("Test power management");
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// Test gyro config
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println!("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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println!("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: per default RESET/no filter, see ACCEL_CONFIG
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println!("Test 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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mpu.set_accel_hpf(ACCEL_HPF::_2P5)?;
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assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_2P5);
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mpu.set_accel_hpf(ACCEL_HPF::_5)?;
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assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_5);
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mpu.set_accel_hpf(ACCEL_HPF::_0P63)?;
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assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_0P63);
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mpu.set_accel_hpf(ACCEL_HPF::_HOLD)?;
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assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_HOLD);
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// test sleep. Default no, in wake()
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println!("Test sleep");
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assert_eq!(mpu.get_sleep_enabled()?, false);
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mpu.set_sleep_enabled(true)?;
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assert_eq!(mpu.get_sleep_enabled()?, true);
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mpu.set_sleep_enabled(false)?;
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assert_eq!(mpu.get_sleep_enabled()?, false);
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// test temp enable/disable
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println!("Test temp enable/disable");
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mpu.set_temp_enabled(false)?;
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assert_eq!(mpu.get_temp_enabled()?, false);
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assert_eq!(mpu.get_temp()?, 36.53);
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mpu.set_temp_enabled(true)?;
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assert_eq!(mpu.get_temp_enabled()?, true);
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assert_ne!(mpu.get_temp()?, 36.53);
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// Test clksel: GXAXIS per default, set in wake()
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println!("Test CLKSEL");
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assert_eq!(mpu.get_clock_source()?, CLKSEL::GXAXIS);
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mpu.set_clock_source(CLKSEL::GYAXIS)?;
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assert_eq!(mpu.get_clock_source()?, CLKSEL::GYAXIS);
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mpu.set_clock_source(CLKSEL::GZAXIS)?;
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assert_eq!(mpu.get_clock_source()?, CLKSEL::GZAXIS);
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mpu.set_clock_source(CLKSEL::OSCILL)?;
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assert_eq!(mpu.get_clock_source()?, CLKSEL::OSCILL);
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mpu.set_clock_source(CLKSEL::STOP)?;
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assert_eq!(mpu.get_clock_source()?, CLKSEL::STOP);
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mpu.set_clock_source(CLKSEL::RESERV)?;
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assert_eq!(mpu.get_clock_source()?, CLKSEL::RESERV);
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mpu.set_clock_source(CLKSEL::EXT_19P2)?;
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assert_eq!(mpu.get_clock_source()?, CLKSEL::EXT_19P2);
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mpu.set_clock_source(CLKSEL::EXT_32p7)?;
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assert_eq!(mpu.get_clock_source()?, CLKSEL::EXT_32p7);
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// reset
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println!("Test reset");
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mpu.reset_device(&mut delay)?;
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assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_RESET);
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assert_eq!(mpu.get_accel_range()?, range::AccelRange::G2);
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assert_eq!(mpu.get_gyro_range()?, range::GyroRange::D250);
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assert_eq!(mpu.get_sleep_enabled()?, true);
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assert_eq!(mpu.get_temp_enabled()?, true);
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println!("Test successful");
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Ok(())
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} |