MPU 6050 Rust Driver

Platform agnostic driver for MPU 6050 6-axis IMU using embedded_hal.

Datasheet

Register Map Sheet

Basic usage - linux_embedded_hal example

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

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

let delay = Delay;

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

loop {
    // get roll and pitch estimate
    match mpu.get_acc_angles() {
        Ok(r) => {
            println!("r/p: {:?}", r);
        },
        Err(_) => {} ,
    }

    // get temp
    match mpu.get_temp() {
        Ok(r) => {
            println!("temp: {}c", r);
        },
        Err(_) => {} ,
    }

    // get gyro data, scaled with sensitivity 
    match mpu.get_gyro() {
        Ok(r) => {
            println!("gyro: {:?}", r);
        },
        Err(_) => {} ,
    }

    // get accelerometer data, scaled with sensitivity
    match mpu.get_acc() {
        Ok(r) => {
            println!("acc: {:?}", r);
        },
        Err(_) => {} ,
    }
}

} ```

Compile linux example

• full file here
• Requirements: apt-get install -qq gcc-arm-linux-gnueabihf libc6-armhf-cross libc6-dev-armhf-cross
• cross-compile with cargo build --bin main --target=arm-unknown-linux-gnueabihf

TODO

• [x] init with default settings
• [ ] init with custom settings
• [x] device verification
• [ ] basic feature support as described here
• [x] read gyro data
• [x] read acc data
• [x] software calibration
• [x] roll, pitch estimation accelerometer only
• [x] read temp data
• [ ] rename constants to better match datasheet
• [ ] complementary filter for roll, pitch estimate
• [ ] sample rate devider with register 25? or timer/clock control with PWRMGMT2
  • [ ] 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 LPWAKECTRL (page 41-43)
• [ ] plotting csv datafor testing?