`mpu6050-dmp`

Platform-independent i2c Driver for the InvenSense MPU-6050 motion-processor.

Fork of drogue-mpu-6050

Reasons/differences:

Dependency on drogue-embedded-timer and embedded-time removed
- Timers are not required in regular operation, just for setup
- drogue-embedded-timer is out of sync with current versions of embedded-time as of time-of-fork
Dependency on log removed
Slight difference in conversion of Quaternion to YPR (no pitch -= PI)
Various fixes for e.g. clippy lints (also PR'd upstream)

Examples

The examples directory contains several examples demonstrating different features:

Basic Async: Basic sensor initialization and data reading
DMP Features: Digital Motion Processor usage and configuration
FIFO Buffer: FIFO buffer operations and data processing
Quaternion: 3D orientation tracking using quaternions
Motion Detection: Hardware motion detection with configurable sensitivity

See the examples README for detailed information.

Demo Projects

On-Chip DMP 'Digital Motion Processor'

This driver can load the appropriate firmware for quaternion-based on-chip DMP processing.

Setup

i2c

Initialize your i2c bus:

let gpiob = dp.GPIOB.split();
let scl = gpiob
    .pb8
    .into_alternate()
    .internal_pull_up(true)
    .set_open_drain();
let sda = gpiob
    .pb9
    .into_alternate()
    .internal_pull_up(true)
    .set_open_drain();
let i2c = dp.I2C1.i2c((scl, sda), 400.kHz(), &clocks);

MPU driver

let sensor = Mpu6050::new(i2c, Address::default()).unwrap();

Temperature Measurement

The MPU-6050 includes an on-chip temperature sensor. Temperature readings are available through the temperature() method when the temperature feature is enabled (enabled by default):

// Get temperature reading
let temp = sensor.temperature().unwrap();
println!("Temperature: {}°C", temp.celsius());

Setting up the DMP requires temporary exclusive access to a blocking delay implementation. The initialize_dmp(&mut delay) method is provided to set up reasonable configurations and load the DMP firmware into the processor.

sensor.initialize_dmp(&mut delay).unwrap();

If using the advanced on-chip DMP logic, the FIFO will contain 28-byte packets of quaternion and other data.

The first 16 bytes are quaternions, which can be constructed using the Quaternion class.

let len = sensor.get_fifo_count().unwrap();
if len >= 28 {
    let buf = sensor.read_fifo(&mut buf).unwrap();
    let q = Quaternion::from_bytes(&buf[..16]).unwrap().normalize();
    let ypr = YawPitchRoll::from(quat);
    rprintln!("{:?}", ypr);
}

mpu6050-dmp 0.6.1

mpu6050-dmp