mpu6050's Introduction

`mpu6050`

no_std driver for the MPU6050 6-axis IMU

Reason for forking

compiling this library for avr didn't work because of an error in rand, which was required (not optional) by nalgebra. Since fixing nalgebra would probably be a lot harder I decided to just delete nalgebra, since I don't need fancy vector types anyway

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

use mpu6050::*;
use linux_embedded_hal::{I2cdev, Delay};
use i2cdev::linux::LinuxI2CError;

fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
  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.get_acc_angles()?;
    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);
  }
}

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