Struct mpu6050::Mpu6050

pub struct Mpu6050<I, D> { /* fields omitted */ }

Handles all operations on/with Mpu6050

Methods

impl<I, D, E> Mpu6050<I, D> where
    I: Write<Error = E> + WriteRead<Error = E>,
    D: DelayMs<u8>, 

pub fn new(i2c: I, delay: D) -> Self

Side effect free constructor with default sensitivies, no calibration

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

custom sensitivity

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

Wakes MPU6050 with all sensors enabled (default)

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

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

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

Verifies device to address 0x68 with WHOAMI.addr() Register

pub fn soft_calib(&mut self, steps: Steps) -> Result<(), Mpu6050Error<E>>

Performs software calibration with steps number of readings of accelerometer and gyrometer sensor Readings must be made with MPU6050 in resting position

pub fn get_bias(&mut self) -> Option<&Bias>

Get bias of measurements

pub fn calc_variance(&mut self, steps: Steps) -> Result<(), Mpu6050Error<E>>

Get variance of sensor by observing in resting state for steps number of readings: accelerometer, gyro and temperature sensor each

pub fn get_variance(&mut self) -> Option<&Variance>

get variance of measurements

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

pub fn get_acc_angles_avg(
    &mut self,
    steps: Steps
) -> Result<Vector2<f32>, Mpu6050Error<E>>

Roll and pitch estimation from raw accelerometer - averaged across window readings

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

Accelerometer readings in m/s^2

pub fn get_acc_avg(
    &mut self,
    steps: Steps
) -> Result<Vector3<f32>, Mpu6050Error<E>>

Accelerometer readings in m/s^2 - averaged

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

Gyro readings in rad/s

pub fn get_gyro_avg(
    &mut self,
    steps: Steps
) -> Result<Vector3<f32>, Mpu6050Error<E>>

Gyro readings in rad/s

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

Temp in degrees celcius

pub fn get_temp_avg(&mut self, steps: Steps) -> Result<f32, Mpu6050Error<E>>

pub fn write_u8(&mut self, reg: u8, byte: u8) -> Result<(), Mpu6050Error<E>>

Writes byte to register

pub fn read_u8(&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