# `mpu6050-dmp`
Platform-independent i<sup>2</sup>c Driver for the InvenSense [MPU-6050 motion-processor](https://invensense.tdk.com/products/motion-tracking/6-axis/mpu-6050/).
## Fork of [drogue-mpu-6050](https://github.com/drogue-iot/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](examples/README.md) for detailed information.
## Demo Projects
- [Demo Project for STM32F1](https://github.com/barafael/mpu6050-dmp-demo-f1)
- [Demo Project for STM32F4](https://github.com/barafael/mpu6050-dmp-demo-f4)
## On-Chip DMP 'Digital Motion Processor'
This driver can load the appropriate firmware for quaternion-based on-chip DMP processing.
## Setup
### i<sup>2</sup>c
Initialize your i<sup>2</sup>c bus:
```rust
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
```rust
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):
```rust
// 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.
```rust
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.
```rust
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);
}
```