MPU 6050 Rust Driver
Platform agnostic driver for MPU 6050 6-axis IMU using embedded_hal
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Datasheet | Register Map Sheet
Basic usage - linux_embedded_hal
example
use *;
use ;
use LinuxI2CError;
Compile linux example (Rapsberry Pi 3B)
files here
Requirements:
and all dependencies in example/Cargo.toml
Rustup:
To configure the linker use example/.cargo/config
cross-compile with
TODO
- init with default settings
- init with custom settings
- device verification
- basic feature support as described here
- read gyro data
- read acc data
- software calibration
- roll, pitch estimation accelerometer only
- read temp data
- rename constants to better match datasheet
- complementary filter for roll, pitch estimate
- sample rate devider with register 25? or timer/clock control with PWR_MGMT_2
- internal clock, register 108
POWER_MGMT_2
, will cycle between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL (page 41-43)
- internal clock, register 108
- plotting csv datafor testing?