mpu6050

no_std driver for the MPU6050 6-axis IMU

Datasheet | Register Map Sheet

Visualization options for testing and development in viz branch

Basic usage

linux_embedded_hal example

use mpu6050::*;
use linux_embedded_hal::{I2cdev, Delay};
use i2cdev::linux::LinuxI2CError;

fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
  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:

$ apt-get install -qq gcc-arm-linux-gnueabihf libc6-armhf-cross libc6-dev-armhf-cross

Rustup:

$ rustup target add armv7-unknown-linux-gnueabihf

To configure the linker use .cargo/config file

cross-compile with

$ 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

$ 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	MPU6050
   5V Power	VCC
   Ground	GND
   GPIO 2	SCL
   GPIO 3	SDA

TODO

• init with default settings
• init with custom settings
  • custom sensitivity
  • custom device initialization
• device verification
• basic feature support as described here
• 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 (page 41-43)
• plotting csv datafor testing? -> See viz branch