1 unstable release
0.1.0 | Feb 19, 2023 |
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#30 in #imu
40KB
509 lines
mpu6886
no_std driver for the mpu6886 6-axis IMU
thanks to "Julian Gaal gjulian@uos.de", for the major work in mpu6050 only small adaptions for mpu6886 were done:
- device ID for mpu6886 changed
- temperature reading adapted
- CLKSEL is redefined
- IRQ STATUS redefined removed:
- MOT_DETECT_STATUS
- MOT_DETECT_CONTROL
- LP_WAKE_CTRL
- ACCEL_HPF
What Works most probably now after changes from mpu6050 to mpu6886
Not, almost no tests have been done yet.
- Reading the accelerometer, gyroscope, temperature sensor
- raw
- scaled
- roll/pitch estimation
- Setting Accel/Gyro Ranges/Sensitivity
Basic usage
To use this driver you must provide a concrete embedded_hal
implementation. Here's a
linux_embedded_hal
example
use mpu6886::*;
use linux_embedded_hal::{I2cdev, Delay};
use i2cdev::linux::LinuxI2CError;
fn main() -> Result<(), mpu6886Error<LinuxI2CError>> {
let i2c = I2cdev::new("/dev/i2c-1")
.map_err(mpu6886Error::I2c)?;
let mut delay = Delay;
let mut mpu = mpu6886::new(i2c);
mpu.init(&mut delay)?;
loop {
// get roll and pitch estimate
let acc = mpu.get_acc_angles()?;
println!("r/p: {:?}", acc);
// get temp
let temp = mpu.get_temp()?;
println!("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);
}
}
Dependencies
~3.5MB
~67K SLoC