mpu6050-dmpPlatform-independent i2c Driver for the InvenSense MPU-6050 motion-processor.
Reasons/differences:
* Dependency on drogue-embedded-timer and embedded-time removed
- Timers are not required in regular operation, just for setup
- drogue-embedded-timer is out of sync with current versions of embedded-time as of time-of-fork
* Dependency on log removed
* Slight difference in conversion of Quaternion to YPR (no pitch -= PI)
* Various fixes for e.g. clippy lints (also PR'd upstream)
This driver can load the appropriate firmware for quaternion-based on-chip DMP processing.
Initialize your i2c bus:
rust
let gpiob = dp.GPIOB.split();
let scl = gpiob
.pb8
.into_alternate()
.internal_pull_up(true)
.set_open_drain();
let sda = gpiob
.pb9
.into_alternate()
.internal_pull_up(true)
.set_open_drain();
let i2c = dp.I2C1.i2c((scl, sda), 400.kHz(), &clocks);
rust
let sensor = Mpu6050::new(i2c, Address::default()).unwrap();
Setting up the DMP requires temporary exclusive access to a blocking delay implementation.
The initialize_dmp(&mut delay) method is provided to set up reasonable configurations and load the DMP firmware into the processor.
rust
sensor.initialize_dmp(&mut delay).unwrap();
If using the advanced on-chip DMP logic, the FIFO will contain 28-byte packets of quaternion and other data.
The first 16 bytes are quaternions, which can be constructed using the Quaternion class.
rust
let len = sensor.get_fifo_count().unwrap();
if len >= 28 {
let buf = sensor.read_fifo(&mut buf).unwrap();
let q = Quaternion::from_bytes(&buf[..16]).unwrap().normalize();
let ypr = YawPitchRoll::from(quat);
rprintln!("{:?}", ypr);
}