mpu6886

no_std driver for the mpu6886 6-axis IMU

thanks to "Julian Gaal gjulian@uos.de", for the major work in mpu6050 only small adaptions for mpu6886 were done: * device ID for mpu6886 changed * temperature reading adapted * CLKSEL is redefined * IRQ STATUS redefined removed: * MOTDETECTSTATUS * MOTDETECTCONTROL * LPWAKECTRL * ACCEL_HPF

What Works most probably now after changes from mpu6050 to mpu6886

Not, almost no tests have been done yet. * Reading the accelerometer, gyroscope, temperature sensor * raw * scaled * roll/pitch estimation * Setting Accel/Gyro Ranges/Sensitivity

Basic usage

To use this driver you must provide a concrete embedded_hal implementation. Here's a linux_embedded_hal example ```rust use mpu6886::*; use linuxembeddedhal::{I2cdev, Delay}; use i2cdev::linux::LinuxI2CError;

fn main() -> Result<(), mpu6886Error> { let i2c = I2cdev::new("/dev/i2c-1") .map_err(mpu6886Error::I2c)?;

let mut delay = Delay; let mut mpu = mpu6886::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);

} } ```