52 lines
1.7 KiB
Rust
52 lines
1.7 KiB
Rust
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)?;
|
|
mpu.soft_calib(Steps(100))?;
|
|
mpu.calc_variance(Steps(50))?;
|
|
|
|
println!("Calibrated with bias: {:?}", mpu.get_bias().unwrap());
|
|
println!("Calculated variance: {:?}", mpu.get_variance().unwrap());
|
|
|
|
loop {
|
|
// get roll and pitch estimate
|
|
let acc = mpu.get_acc_angles()?;
|
|
println!("r/p: {:?}", acc);
|
|
|
|
// get roll and pitch estimate - averaged accross n readings (steps)
|
|
let acc = mpu.get_acc_angles_avg(Steps(5))?;
|
|
println!("r/p avg: {:?}", acc);
|
|
|
|
// get temp
|
|
let temp = mpu.get_temp()?;
|
|
println!("temp: {:?}c", temp);
|
|
|
|
// get temp - averages across n readings (steps)
|
|
let temp = mpu.get_temp_avg(Steps(5))?;
|
|
println!("temp avg: {:?}c", temp);
|
|
|
|
// get gyro data, scaled with sensitivity
|
|
let gyro = mpu.get_gyro()?;
|
|
println!("gyro: {:?}", gyro);
|
|
|
|
// get gyro data, scaled with sensitivity - averaged across n readings (steps)
|
|
let gyro = mpu.get_gyro_avg(Steps(5))?;
|
|
println!("gyro avg: {:?}", gyro);
|
|
|
|
// get accelerometer data, scaled with sensitivity
|
|
let acc = mpu.get_acc()?;
|
|
println!("acc: {:?}", acc);
|
|
|
|
// get accelerometer data, scaled with sensitivity - averages across n readings (steps)
|
|
let acc = mpu.get_acc_avg(Steps(5))?;
|
|
println!("acc avg: {:?}", acc);
|
|
}
|
|
}
|