mpu6050

no_std driver for the MPU6050 6-axis IMU

What Works

• Reading the accelerometer, gyroscope, temperature sensor
  • raw
  • scaled
  • roll/pitch estimation
• Motion Detection
• Setting Accel/Gyro Ranges/Sensitivity
• Setting Accel HPF/LPF

Basic usage

To use this driver you must provide a concrete embedded_hal implementation. Here's a 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 mut delay = Delay; let mut mpu = Mpu6050::new(i2c);

mpu.init(&mut delay)?;

loop { // get roll and pitch estimate let acc = mpu.getaccangles()?; println!("r/p: {:?}", acc);

// get temp
let temp = mpu.get_temp()?;
println!("temp: {:?}c", temp);

// get gyro data, scaled with sensitivity 
let gyro = mpu.get_gyro()?;
println!("gyro: {:?}", gyro);

// get accelerometer data, scaled with sensitivity
let acc = mpu.get_acc()?;
println!("acc: {:?}", acc);

} } ```