Crate mpu6050

Mpu6050 sensor driver.

embedded_hal based driver with i2c access to MPU6050

Misc

• Register sheet,
• Data sheet

To use this driver you must provide a concrete embedded_hal implementation. This example uses linux_embedded_hal.

More Examples can be found here.

use mpu6050::*;
use linux_embedded_hal::{I2cdev, Delay};
use i2cdev::linux::LinuxI2CError;

fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
    let i2c = I2cdev::new("/dev/i2c-1")
        .map_err(Mpu6050Error::I2c)?;

    let mut delay = Delay;
    let mut mpu = Mpu6050::new(i2c);

    mpu.init(&mut delay)?;

    loop {
        // get roll and pitch estimate
        let acc = mpu.get_acc_angles()?;
        println!("r/p: {:?}", acc);

        // get sensor temp
        let temp = mpu.get_temp()?;
        printlnasd!("temp: {:?}c", temp);

        // get gyro data, scaled with sensitivity
        let gyro = mpu.get_gyro()?;
        println!("gyro: {:?}", gyro);

        // get accelerometer data, scaled with sensitivity
        let acc = mpu.get_acc()?;
        println!("acc: {:?}", acc);
    }
}

Modules

device

All device constants used in the driver, mostly register addresses.

Structs

Mpu6050

Handles all operations on/with Mpu6050

Enums

Mpu6050Error

All possible errors in this crate

Constants

PI

PI, f32

PI_180

PI / 180, for conversion to radians