Struct rustduino::sensors::MPU6050

#[repr(C, packed)]
pub struct MPU6050<'a> {
    pub address: u8,
    pub accel_output: FixedSliceVec<'a, f32>,
    pub gyro_output: FixedSliceVec<'a, f32>,
}

Controls the MPU6050 Gyroscopic Sensor.

Elements

• address - a u8, used to store the address to control the functioning AHT10 sensor.
• accel_output - a vector with u8 objects, It would be used to store the two byte accelerometer data read through the sensors.
• gyro_output - a vector with u8 objects, It would be used to store the two byte gyroscopic data read through the sensors.

Fields

address: u8

accel_output: FixedSliceVec<'a, f32>

gyro_output: FixedSliceVec<'a, f32>

Implementations

impl<'a> MPU6050<'a>

pub fn new() -> &'static mut Self

Creates a mutable refernce to the struct to be used in the implementations.

Returns

• a MPU6050 object - To control the sensor through I2C data protocol.

pub fn set_dlpf_mode(&mut self, dlpf: MPUdlpfT)

Set the DLPF mode according to the instruction from user.

pub fn set_dhpf_mode(&mut self, dhpf: MPUdhpfT)

Set the DHPF mode according to the instruction from user.

pub fn set_scale(&mut self, scale: MPUdpsT)

Set the DPS scale for MPU6050 according to the instruction from user.

pub fn get_scale(&mut self) -> MPUdpsT

Get the scale in DPS on which MPU6050 is currently set.

pub fn set_range(&mut self, range: MPURangeT)

Set the bandwidth range of MPU6050.

pub fn get_range(&mut self) -> MPURangeT

Get the bandwidth range of MPU6050 currently set.

pub fn set_clock_source(&mut self, source: MPUClockSourceT)

Set the clock source for MPU6050 according to user input.

pub fn get_clock_source(&mut self) -> MPUClockSourceT

Get the clock source for MPU6050 currently set.

pub fn set_accel_power_on_delay(&mut self, delay: MPUOnDelayT)

Set the acceleration power of MPU6050 on appropriate delay given by the user.

pub fn get_accel_power_on_delay(&mut self) -> MPUOnDelayT

Get the acceleration power of MPU6050 currently set.

pub fn set_int_free_fall_enabled(&mut self, state: bool)

pub fn get_int_free_fall_enabled(&mut self) -> bool

pub fn set_motion_detection_threshold(&mut self, threshold: u8)

pub fn get_motion_detection_threshold(&mut self) -> u8

pub fn set_motion_detection_duration(&mut self, duration: u8)

pub fn get_motion_detection_duration(&mut self) -> u8

pub fn set_zero_motion_detection_threshold(&mut self, threshold: u8)

pub fn get_zero_motion_detection_threshold(&mut self) -> u8

pub fn set_zero_motion_detection_duration(&mut self, duration: u8)

pub fn get_zero_motion_detection_duration(&mut self) -> u8

pub fn set_free_fall_detection_threshold(&mut self, threshold: u8)

pub fn get_free_fall_detection_threshold(&mut self) -> u8

pub fn set_free_fall_detection_duration(&mut self, duration: u8)

pub fn get_free_fall_detection_duration(&mut self) -> u8

pub fn set_sleep_enabled(&mut self, state: bool)

pub fn get_sleep_enabled(&mut self) -> bool

pub fn get_int_zero_motion_enabled(&mut self) -> bool

pub fn set_int_zero_motion_enabled(&mut self, state: bool)

pub fn get_int_motion_enabled(&mut self) -> bool

pub fn set_int_motion_enabled(&mut self, state: bool)

pub fn set_i2c_master_mode_enabled(&mut self, state: bool)

pub fn get_i2c_master_mode_enabled(&mut self) -> bool

pub fn set_i2c_byepass_enabled(&mut self, state: bool)

pub fn get_i2c_byepass_enabled(&mut self) -> bool

pub fn get_int_status(&mut self) -> u8

pub fn read_accel(&mut self)

Reads the three, two-byte accelerometer values from the sensor. Returns the two-byte raw accelerometer values as a 32-bit float. The vec accel_output stores the raw values of the accelerometer where accel_output[0] is the x-axis, accel_output[1] is the y-axis and accel_output[2] is the z-axis output respectively. These raw values are then converted to g’s per second according to the scale given as input in begin() function.

pub fn read_gyro(&mut self)

Reads the three, two-byte gyroscope values from the sensor. Returns the two-byte raw gyroscope values as a 32-bit float. The vec gyro_output stores the raw values of the gyroscope where gyro_output[0] is the x-axis, gyro_output[1] is the y-axis and gyro_output[2] is the z-axis output respectively. These raw values are then converted to degrees per second according to the scale given as input in begin() function.

pub fn begin(&mut self, scale: MPUdpsT, range: MPURangeT) -> bool

Starts the sensor by setting the device to active mode ,setting the accelerometer range and gyroscope scale.

Returns

• a boolean value - true if started successfully otherwise false