MPU 6050 Rust Driver

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

Datasheet | Register Map Sheet

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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") // or privide your owm on different platforms .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 (Rapsberry Pi 3B)

files here

Requirements: bash $ apt-get install -qq gcc-armv7-linux-gnueabihf libc6-armhf-cross libc6-dev-armhf-cross and all dependencies in example/Cargo.toml

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

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

TODO