cu-mpu9250 1.1.1

Copper source driver for the MPU9250 IMU.
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cu-mpu9250

Copper source component for the MPU9250 IMU. This crate is no_std by default and ships an embedded-hal-compatible SPI driver so it can run on both baremetal and Linux.

Features

  • embedded-hal: Generic SPI+CS+delay backend over embedded-hal 1.0 traits.
  • rp235x-hal: SPI1 backend for RP235x (Pico 2 class) boards wired to GPIO10-13.
  • linux-embedded-hal: spidev + gpio-cdev backend for Linux boards.
  • mock: Reserved for mock backends.

RP235x usage

# Build the source + AHRS stack for RP2350
CARGO_CONFIG=components/tasks/cu_ahrs/.cargo/config.rp2350.toml \
    cargo run --no-default-features --features "rp2350-demo" \
    -p cu-ahrs --example rp2350_copper

In Copper apps, bind spi, cs, and delay from a board resource bundle into cu_mpu9250::Mpu9250Source<...>.

The RP2350 AHRS demo initializes those HAL handles in firmware setup, exposes them through resources::Rp2350ImuBundle, and configures the task with:

  • gyro_cal_ms (u32, default 0 = disabled)
  • gyro_sample_delay_ms (u32, default 10)

Linux embedded-hal usage

Enable the linux-embedded-hal feature to talk to MPU9250 via spidev and a gpio-cdev chip-select.

Config fields:

  • spi_path (string, default /dev/spidev0.0): spidev bus path.
  • spi_hz (u32, default 1_000_000): SPI bus speed.
  • gpio_chip (string, default /dev/gpiochip0): GPIO chip for the CS line.
  • cs_line (u32, required): Line offset within the GPIO chip to drive CS.
  • gyro_cal_ms / gyro_sample_delay_ms: same calibration knobs as the RP backend.