Expand description
Mpu6050 sensor driver.
embedded_hal based driver with i2c access to MPU6050
Misc
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
All device constants used in the driver, mostly register addresses.
Structs
Handles all operations on/with Mpu6050
Enums
All possible errors in this crate