Struct DigitalMotionProcessor 

pub struct DigitalMotionProcessor {
    pub mpu: Mpu9250,
    pub mag: Ak8963,
    pub debug: bool,
    /* private fields */
}

Fields

mpu: Mpu9250

mag: Ak8963

debug: bool

Implementations

impl DigitalMotionProcessor

pub fn new( i2c_bus: i32, mpu_addr: Option<u16>, mpu_whoami: Option<u8>, ak_addr: Option<u16>, ) -> Result<DigitalMotionProcessor, LinuxI2CError>

pub fn set_debug(&mut self, debug: bool)

pub fn initialize(&mut self, sample_rate: u16) -> Result<(), LinuxI2CError>

pub fn write_memory( &mut self, mem_addr: u16, data: &[u8], ) -> Result<(), LinuxI2CError>

pub fn read_memory( &mut self, mem_addr: u16, length: u8, ) -> Result<Vec<u8>, LinuxI2CError>

pub fn enable_6x_lp_quat(&mut self) -> Result<(), LinuxI2CError>

pub fn disable_6x_lp_quat(&mut self) -> Result<(), LinuxI2CError>

pub fn read_fifo(&mut self) -> Result<DmpSample, DmpFifoReadError>

pub fn quaternion_to_taitbryan(q: &Array1<f32>) -> Array1<f32>