mpu6050

no_std driver for the MPU6050 6-axis IMU

What Works

• Reading the accelerometer, gyroscope, temperature sensor
  • raw
  • scaled
  • roll/pitch estimation
• Motion Detection
• Setting Accel/Gyro Ranges/Sensitivity
• Setting Accel HPF/LPF

Basic usage

To use this driver you must provide a concrete embedded_hal implementation. Here's a linux_embedded_hal example

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 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);
  }
}