https://github.com/ysimonson/berryimu

https://github.com/ysimonson/berryimu

Last synced: 3 months ago
JSON representation

• Host: GitHub
• URL: https://github.com/ysimonson/berryimu
• Owner: ysimonson
• License: apache-2.0
• Created: 2023-01-29T16:55:58.000Z (almost 2 years ago)
• Default Branch: main
• Last Pushed: 2023-08-03T21:33:43.000Z (over 1 year ago)
• Last Synced: 2024-09-14T06:51:43.963Z (4 months ago)
• Language: Rust
• Size: 9.77 KB
• Stars: 2
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
# BerryIMU

[![crates.io](https://img.shields.io/crates/v/berryimu.svg)](https://crates.io/crates/berryimu)

[![Released API docs](https://docs.rs/berryimu/badge.svg)](https://docs.rs/berryimu)

A pure-rust library for interfacing with [BerryIMU v3](https://ozzmaker.com/product/berryimu-accelerometer-gyroscope-magnetometer-barometricaltitude-sensor/).

At the moment, this is just enough functionality to support [what's demoed in part 2 of the raspberry pi guide](https://ozzmaker.com/compass2/), as this is all I needed for building a robot. Specifically, this supports reading the accelerometer and magnetometer with fixed settings on linux. Pull requests to add more functionality are welcome.

## Example

This will print out the tilt-compensated heading via i2c:

```rust

use std::error::Error;

use std::f64;

use std::thread;

use std::time::Duration;

use berryimu;

pub fn main() -> Result<(), Box> {

    let mut accelerometer = berryimu::i2c::Accelerometer::new_from_address("/dev/i2c-1")?;

    let mut magnetometer = berryimu::i2c::Magnetometer::new_from_address("/dev/i2c-1")?;

    loop {

        let (acc_x, acc_y, acc_z) = accelerometer.read()?;

        let (mag_x, mag_y, mag_z) = magnetometer.read()?;

        // Normalize accelerometer raw values.

        let acc_x_norm =

            (acc_x as f64) / ((acc_x * acc_x + acc_y * acc_y + acc_z * acc_z) as f64).sqrt();

        let acc_y_norm =

            (acc_y as f64) / ((acc_x * acc_x + acc_y * acc_y + acc_z * acc_z) as f64).sqrt();

        //Calculate pitch and roll

        let pitch = acc_x_norm.asin();

        let roll = -((acc_y_norm / pitch.cos()).asin());

        // Calculate the new tilt compensated values

        // The compass and accelerometer are oriented differently on the the BerryIMUv1, v2 and v3.

        // This needs to be taken into consideration when performing the calculations.

        // X compensation

        let mag_x_comp = (mag_x as f64) * pitch.cos() + (mag_z as f64) * pitch.sin();

        // Y compensation

        let mag_y_comp = (mag_x as f64) * roll.sin() * pitch.sin() + (mag_y as f64) * roll.cos()

            - (mag_z as f64) * roll.sin() * pitch.cos();

        // Calculate heading in degrees

        let mut heading = 180.0 * mag_y_comp.atan2(mag_x_comp) / f64::consts::PI;

        if heading < 0.0 {

            heading += 360.0;

        }

        println!("{heading:.2}");

        // Sleep for 25ms

        thread::sleep(Duration::from_millis(25));

    }

}

```

See also the `examples/` directory.