juliangaal / mpu6050 Goto Github PK

/// Init wakes MPU6050 and verifies register addr, e.g. in i2c
    pub fn init<D: DelayMs<u8>>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
        self.wake(delay)?;
        self.verify()?;
        self.set_accel_range(AccelRange::G2)?;
        self.set_gyro_range(GyroRange::D250)?;
        self.set_accel_hpf(ACCEL_HPF::_RESET)?;
        Ok(())
    }

[dependencies]
mpu6050 = "*"
i2cdev = "*"
linux-embedded-hal = "*"
embedded-hal = "*"

[target.aarch64-unknown-linux-gnu]
linker = "aarch64-linux-gnu-gcc"

[target.arm-unknown-linux-gnueabihf]
linker = "arm-linux-gnueabihf-gcc"

Default host: x86_64-unknown-linux-gnu

installed toolchains
--------------------

stable-x86_64-unknown-linux-gnu
nightly-x86_64-unknown-linux-gnu (default)

installed targets for active toolchain
--------------------------------------

aarch64-unknown-linux-gnu
arm-unknown-linux-gnueabihf
x86_64-unknown-linux-gnu

active toolchain
----------------

nightly-x86_64-unknown-linux-gnu (default)
rustc 1.37.0-nightly (03ee55bb1 2019-06-01)

 error[E0277]: `mpu6050::RPReading` doesn't implement `std::fmt::Display`
  --> src/main.rs:22:29
   |
22 |         println!("r/p: {}", acc);
   |                             ^^^ `mpu6050::RPReading` cannot be formatted with the default formatter
   |
   = help: the trait `std::fmt::Display` is not implemented for `mpu6050::RPReading`
   = note: in format strings you may be able to use `{:?}` (or {:#?} for pretty-print) instead
   = note: required by `std::fmt::Display::fmt`

error[E0277]: `mpu6050::RPReading` doesn't implement `std::fmt::Display`
  --> src/main.rs:26:33
   |
26 |         println!("r/p avg: {}", acc);
   |                                 ^^^ `mpu6050::RPReading` cannot be formatted with the default formatter
   |
   = help: the trait `std::fmt::Display` is not implemented for `mpu6050::RPReading`
   = note: in format strings you may be able to use `{:?}` (or {:#?} for pretty-print) instead
   = note: required by `std::fmt::Display::fmt`

error[E0277]: `mpu6050::RotReading` doesn't implement `std::fmt::Display`
  --> src/main.rs:38:30
   |
38 |         println!("gyro: {}", gyro);
   |                              ^^^^ `mpu6050::RotReading` cannot be formatted with the default formatter
   |
   = help: the trait `std::fmt::Display` is not implemented for `mpu6050::RotReading`
   = note: in format strings you may be able to use `{:?}` (or {:#?} for pretty-print) instead
   = note: required by `std::fmt::Display::fmt`

error[E0277]: `mpu6050::RotReading` doesn't implement `std::fmt::Display`
  --> src/main.rs:42:34
   |
42 |         println!("gyro avg: {}", gyro);
   |                                  ^^^^ `mpu6050::RotReading` cannot be formatted with the default formatter
   |
   = help: the trait `std::fmt::Display` is not implemented for `mpu6050::RotReading`
   = note: in format strings you may be able to use `{:?}` (or {:#?} for pretty-print) instead
   = note: required by `std::fmt::Display::fmt`

error[E0277]: `mpu6050::RotReading` doesn't implement `std::fmt::Display`
  --> src/main.rs:46:29
   |
46 |         println!("acc: {}", acc);
   |                             ^^^ `mpu6050::RotReading` cannot be formatted with the default formatter
   |
   = help: the trait `std::fmt::Display` is not implemented for `mpu6050::RotReading`
   = note: in format strings you may be able to use `{:?}` (or {:#?} for pretty-print) instead
   = note: required by `std::fmt::Display::fmt`

error[E0277]: `mpu6050::RotReading` doesn't implement `std::fmt::Display`
  --> src/main.rs:50:33
   |
50 |         println!("acc avg: {}", acc);
   |                                 ^^^ `mpu6050::RotReading` cannot be formatted with the default formatter
   |
   = help: the trait `std::fmt::Display` is not implemented for `mpu6050::RotReading`
   = note: in format strings you may be able to use `{:?}` (or {:#?} for pretty-print) instead
   = note: required by `std::fmt::Display::fmt`

#![no_std]
#![no_main]

use core::fmt::Write;
use esp32_hal::{
    clock::ClockControl, i2c::I2C, pac::Peripherals, prelude::*, timer::TimerGroup, Rtc, Serial, IO,
};
use esp_backtrace as _;
use mpu6050::Mpu6050;

#[xtensa_lx_rt::entry]
fn main() -> ! {
    let peripherals = Peripherals::take().unwrap();
    let mut system = peripherals.DPORT.split();
    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();

    // Disable the RTC and TIMG watchdog timers
    let mut rtc = Rtc::new(peripherals.RTC_CNTL);
    let timer_group0 = TimerGroup::new(peripherals.TIMG0, &clocks);
    let mut wdt0 = timer_group0.wdt;
    let timer_group1 = TimerGroup::new(peripherals.TIMG1, &clocks);
    let mut wdt1 = timer_group1.wdt;

    rtc.rwdt.disable();
    wdt0.disable();
    wdt1.disable();

    let mut usb = Serial::new(peripherals.UART0);
    let mut delay = esp32_hal::Delay::new(&clocks);

    let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);

    let i2c = I2C::new(
        peripherals.I2C0,
        io.pins.gpio21,
        io.pins.gpio22,
        100u32.kHz(),
        &mut system.peripheral_clock_control,
        &clocks,
    )
    .unwrap();

    let mut mpu = Mpu6050::new(i2c);
    mpu.init(&mut delay).unwrap();
    writeln!(usb, "Got here!").unwrap();

    let mut count: u64 = 0;
    loop {
        writeln!(usb, "Serial output #{count}. This works!").unwrap();

        // get roll and pitch estimate
        let acc = mpu.get_acc_angles().unwrap();
        writeln!(usb, "r/p: {:?}", acc).unwrap();

        // get sensor temp
        let temp = mpu.get_temp().unwrap();
        writeln!(usb, "temp: {:?}c", temp).unwrap();

        // get gyro data, scaled with sensitivity
        let gyro = mpu.get_gyro().unwrap();
        writeln!(usb, "gyro: {:?}", gyro).unwrap();

        // get accelerometer data, scaled with sensitivity
        let acc = mpu.get_acc().unwrap();
        writeln!(usb, "acc: {:?}", acc).unwrap();

        delay.delay_ms(10u32);
        count += 1;
    }
}

rst:0x1 (POWERON_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:2
load:0x3fff0048,len:12
ho 0 tail 12 room 4
load:0x3fff0054,len:4800
load:0x40078000 [_stack_end_cpu0:??:??],len:17448
load:0x4007c428 [_stack_end_cpu0:??:??],len:4840
entry 0x4007c6a0 [_stack_end_cpu0:??:??]
 
 
!! A panic occured in 'src/main.rs', at line 44, column 26
 
PanicInfo {
    payload: Any { .. },
    message: Some(
        called `Result::unwrap()` on an `Err` value: I2c(AckCheckFailed),
    ),
    location: Location {
        file: "src/main.rs",
        line: 44,
        col: 26,
    },
    can_unwind: true,
}
 
Backtrace:
 
0x400f1d85 [core::result::unwrap_failed:[...]/.rustup/toolchains/esp/lib/rustlib/src/rust/library/core/src/result.rs:1814]
0x400d95e2 [core::result::Result<T,E>::unwrap:[...]/.rustup/toolchains/esp/lib/rustlib/src/rust/library/core/src/result.rs:1107]
0x400d9a2f [esp32_rust_test::__xtensa_lx_rt_main:[...]/src/main.rs:44]
0x400e1678 [Reset:[...]/.cargo/registry/src/github.com-1ecc6299db9ec823/xtensa-lx-rt-0.13.0/src/lib.rs:77]
0x400dde39 [ESP32Reset:[...]/.cargo/registry/src/github.com-1ecc6299db9ec823/esp32-hal-0.5.0/src/lib.rs:78]