mpu6050 crates.io CircleCI

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 ```rust use mpu6050::*; use linuxembeddedhal::{I2cdev, Delay}; use i2cdev::linux::LinuxI2CError;

fn main() -> Result<(), Mpu6050Error> { let i2c = I2cdev::new("/dev/i2c-1") .map_err(Mpu6050Error::I2c)?;

let delay = Delay;

let mut mpu = Mpu6050::new(i2c, delay);
mpu.init()?;
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);       
}

} ```

Compile linux example (Raspberry Pi 3B)

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

Rustup: bash $ rustup target add armv7-unknown-linux-gnueabihf To configure the linker use .cargo/config file

cross-compile with bash $ cargo build --examples --target=armv7-unknown-linux-gnueabihf

TODO