Struct mpu6050::Mpu6050

pub struct Mpu6050<I> { /* private fields */ }

Handles all operations on/with Mpu6050

Implementations

impl<I, E> Mpu6050<I>where
    I: Write<Error = E> + WriteRead<Error = E>,

pub fn new(i2c: I) -> Self

Side effect free constructor with default sensitivies, no calibration

pub fn new_with_sens(i2c: I, arange: AccelRange, grange: GyroRange) -> Self

custom sensitivity

pub fn new_with_addr(i2c: I, slave_addr: u8) -> Self

Same as new, but the chip address can be specified (e.g. 0x69, if the A0 pin is pulled up)

pub fn new_with_addr_and_sens(
    i2c: I,
    slave_addr: u8,
    arange: AccelRange,
    grange: GyroRange
) -> Self

Combination of new_with_sens and new_with_addr

pub fn set_clock_source(&mut self, source: CLKSEL) -> Result<(), Mpu6050Error<E>>

From Register map: “An internal 8MHz oscillator, gyroscope based clock,or external sources can be selected as the MPU-60X0 clock source. When the internal 8 MHz oscillator or an external source is chosen as the clock source, the MPU-60X0 can operate in low power modes with the gyroscopes disabled. Upon power up, the MPU-60X0clock source defaults to the internal oscillator. However, it is highly recommended that the device beconfigured to use one of the gyroscopes (or an external clocksource) as the clock reference for improved stability. The clock source can be selected according to the following table….”

pub fn get_clock_source(&mut self) -> Result<CLKSEL, Mpu6050Error<E>>

get current clock source

pub fn init<D: DelayMs<u8>>(
    &mut self,
    delay: &mut D
) -> Result<(), Mpu6050Error<E>>

Init wakes MPU6050 and verifies register addr, e.g. in i2c

pub fn setup_motion_detection(&mut self) -> Result<(), Mpu6050Error<E>>

setup motion detection sources:

• https://github.com/kriswiner/MPU6050/blob/a7e0c8ba61a56c5326b2bcd64bc81ab72ee4616b/MPU6050IMU.ino#L486
• https://arduino.stackexchange.com/a/48430

pub fn get_motion_detected(&mut self) -> Result<bool, Mpu6050Error<E>>

get whether or not motion has been detected (INT_STATUS, MOT_INT)

pub fn set_accel_hpf(&mut self, mode: ACCEL_HPF) -> Result<(), Mpu6050Error<E>>

set accel high pass filter mode

pub fn get_accel_hpf(&mut self) -> Result<ACCEL_HPF, Mpu6050Error<E>>

get accel high pass filter mode

pub fn set_gyro_range(&mut self, range: GyroRange) -> Result<(), Mpu6050Error<E>>

Set gyro range, and update sensitivity accordingly

pub fn get_gyro_range(&mut self) -> Result<GyroRange, Mpu6050Error<E>>

get current gyro range

pub fn set_accel_range(
    &mut self,
    range: AccelRange
) -> Result<(), Mpu6050Error<E>>

set accel range, and update sensitivy accordingly

pub fn get_accel_range(&mut self) -> Result<AccelRange, Mpu6050Error<E>>

get current accel_range

pub fn reset_device<D: DelayMs<u8>>(
    &mut self,
    delay: &mut D
) -> Result<(), Mpu6050Error<E>>

reset device

pub fn set_sleep_enabled(&mut self, enable: bool) -> Result<(), Mpu6050Error<E>>

enable, disable sleep of sensor

pub fn get_sleep_enabled(&mut self) -> Result<bool, Mpu6050Error<E>>

get sleep status

pub fn set_temp_enabled(&mut self, enable: bool) -> Result<(), Mpu6050Error<E>>

enable, disable temperature measurement of sensor TEMP_DIS actually saves “disabled status” 1 is disabled! -> enable=true : bit=!enable

pub fn get_temp_enabled(&mut self) -> Result<bool, Mpu6050Error<E>>

get temperature sensor status TEMP_DIS actually saves “disabled status” 1 is disabled! -> 1 == 0 : false, 0 == 0 : true

pub fn set_accel_x_self_test(
    &mut self,
    enable: bool
) -> Result<(), Mpu6050Error<E>>

set accel x self test

pub fn get_accel_x_self_test(&mut self) -> Result<bool, Mpu6050Error<E>>

get accel x self test

pub fn set_accel_y_self_test(
    &mut self,
    enable: bool
) -> Result<(), Mpu6050Error<E>>

set accel y self test

pub fn get_accel_y_self_test(&mut self) -> Result<bool, Mpu6050Error<E>>

get accel y self test

pub fn set_accel_z_self_test(
    &mut self,
    enable: bool
) -> Result<(), Mpu6050Error<E>>

set accel z self test

pub fn get_accel_z_self_test(&mut self) -> Result<bool, Mpu6050Error<E>>

get accel z self test

pub fn get_acc_angles(&mut self) -> Result<Vector2<f32>, Mpu6050Error<E>>

Roll and pitch estimation from raw accelerometer readings NOTE: no yaw! no magnetometer present on MPU6050 https://www.nxp.com/docs/en/application-note/AN3461.pdf equation 28, 29

pub fn get_acc(&mut self) -> Result<Vector3<f32>, Mpu6050Error<E>>

Accelerometer readings in g

pub fn get_gyro(&mut self) -> Result<Vector3<f32>, Mpu6050Error<E>>

Gyro readings in rad/s

pub fn get_temp(&mut self) -> Result<f32, Mpu6050Error<E>>

Sensor Temp in degrees celcius

pub fn write_byte(&mut self, reg: u8, byte: u8) -> Result<(), Mpu6050Error<E>>

Writes byte to register

pub fn write_bit(
    &mut self,
    reg: u8,
    bit_n: u8,
    enable: bool
) -> Result<(), Mpu6050Error<E>>

Enables bit n at register address reg

pub fn write_bits(
    &mut self,
    reg: u8,
    start_bit: u8,
    length: u8,
    data: u8
) -> Result<(), Mpu6050Error<E>>

Write bits data at reg from start_bit to start_bit+length

pub fn read_bits(
    &mut self,
    reg: u8,
    start_bit: u8,
    length: u8
) -> Result<u8, Mpu6050Error<E>>

Read bits at register reg, starting with bit start_bit, until start_bit+length

pub fn read_byte(&mut self, reg: u8) -> Result<u8, Mpu6050Error<E>>

Reads byte from register

pub fn read_bytes(
    &mut self,
    reg: u8,
    buf: &mut [u8]
) -> Result<(), Mpu6050Error<E>>

Reads series of bytes into buf from specified reg