Embedded hal 1

.gitignore

@@ -1,4 +1,24 @@
-**/*.rs.bk
-.#*
+# Generated by Cargo
 /target/
+**/target/
+
+# Remove Cargo.lock from gitignore if creating an executable, leave it for libraries
+# More information here https://doc.rust-lang.org/cargo/guide/cargo-toml-vs-cargo-lock.html
 Cargo.lock
+
+# Backup files
+**/*.rs.bk
+*~
+.#*
+
+# IDE files
+.idea/
+.vscode/
+*.swp
+*.swo
+
+# macOS specific files
+.DS_Store
+
+# Windows specific files
+Thumbs.db

Cargo.toml

@@ -1,20 +1,26 @@
 [package]
-authors = ["Roma Sokolov", "Alexander Zhuravlev", "Jorge Aparicio <jorge@japaric.io>"]
+authors = [
+    "Roma Sokolov",
+    "Alexander Zhuravlev",
+    "Jorge Aparicio <jorge@japaric.io>",
+]
 name = "mpu9250"
-version = "0.25.0"
+version = "0.30.0"
 description = "no_std driver for the MPU9250 & onboard AK8963 (accelerometer + gyroscope +  magnetometer IMU)"
 keywords = ["arm", "cortex-m", "stm32", "hal"]
 license = "MIT OR Apache-2.0"
 readme = "README.md"
 repository = "https://github.com/copterust/mpu9250"
+edition = "2024"
 
 [dependencies]
-embedded-hal = "0.2.3"
-bitflags = "1.0"
+# embedded-hal = "0.2.3"
+embedded-hal = "1.0.0"
+bitflags = "2.8.0"
 libm = { version = "0.2.1", optional = true }
 
 [dev-dependencies]
-linux-embedded-hal = "0.3"
+linux-embedded-hal = "0.4.0"
 
 [features]
 # Enable the I2C MPU interface. This disables the SPI interface. All function

examples/legacy/README.md

@@ -0,0 +1,5 @@
+# Examples - Old Style
+
+This folder contains the original examples from before the transition to embedded-hal 1.0. They have been preserved here as a reference but have not been updated to work with the current version of the library.
+
+These examples are provided for historical reference only. For up-to-date examples that work with the current version of the library, please refer to the main examples directory.

examples/bbblue_dmp.rs → examples/legacy/bbblue_dmp.rs

@@ -11,9 +11,9 @@ extern crate mpu9250;
 
 use std::io::{self, Write};
 
-use hal::sysfs_gpio;
 use hal::Delay;
 use hal::I2cdev;
+use hal::sysfs_gpio;
 use mpu9250::DMP_FIRMWARE;
 use mpu9250::{Error, Mpu9250};
 
@@ -30,27 +30,25 @@ fn main() {
         let mut stdout = stdout.lock();
         writeln!(&mut stdout, "  Normalized quaternion").unwrap();
 
-        let mut mpu9250 =
-            Mpu9250::dmp_default(i2c, &mut Delay, &DMP_FIRMWARE).expect("unable to load firmware");
+        let mut mpu9250 = Mpu9250::dmp_default(i2c, &mut Delay, &DMP_FIRMWARE)
+            .expect("unable to load firmware");
 
         loop {
             match event.poll(1000).unwrap() {
-                Some(_) =>
-                    match mpu9250.dmp_all::<[f32; 3], [f64; 4]>() {
-                        Ok(measure) => {
-                            write!(&mut stdout,
-                                "\r{:?}",
-                                measure).unwrap();
-                            stdout.flush().unwrap();
-                        },
-                        Err(Error::DmpDataNotReady) => (),
-                        Err(_) => (),
+                Some(_) => match mpu9250.dmp_all::<[f32; 3], [f64; 4]>() {
+                    Ok(measure) => {
+                        write!(&mut stdout, "\r{:?}", measure).unwrap();
+                        stdout.flush().unwrap();
                     },
+                    Err(Error::DmpDataNotReady) => (),
+                    Err(_) => (),
+                },
                 None => {
                     write!(&mut stdout, "\nTimeout\n").unwrap();
                     mpu9250.reset_fifo(&mut Delay).unwrap();
-                }
+                },
             }
         }
-    }).unwrap();
+    })
+    .unwrap();
 }

examples/rp235x/.cargo/config.toml

@@ -0,0 +1,11 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# pick one of the following options by uncommenting it
+# runner = "elf2uf2-rs -d" #and then flash manually
+# runner = "picotool load -u -v -x -t elf"
+runner = "probe-rs run --chip RP235x --protocol swd --speed 16000 --probe 2e8a:000c:E6633861A3543E38"
+
+[build]
+target = "thumbv8m.main-none-eabihf"
+
+[env]
+DEFMT_LOG = "debug"

examples/rp235x/Cargo.toml

@@ -0,0 +1,40 @@
+[package]
+name = "examples"
+version = "0.1.0"
+edition = "2024"
+
+[[example]]
+name = "basic"
+path = "src/basic.rs"
+
+[dependencies]
+embassy-rp = { version = "0.3.1", features = [
+    "defmt",
+    "unstable-pac",
+    "time-driver",
+    "critical-section-impl",
+    "rp235xa",
+] }
+embassy-embedded-hal = { version = "0.3.0", features = ["defmt"] }
+embassy-sync = { version = "0.6.2", features = ["defmt"] }
+embassy-executor = { version = "0.7.0", features = [
+    "task-arena-size-98304",
+    "arch-cortex-m",
+    "executor-thread",
+    "executor-interrupt",
+    "defmt",
+] }
+embassy-time = { version = "0.4.0", features = [
+    "defmt",
+    "defmt-timestamp-uptime",
+] }
+embassy-futures = { version = "0.1.1" }
+defmt = "0.3"
+defmt-rtt = "0.4"
+cortex-m-rt = "0.7.5"
+critical-section = "1.2.0"
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+num-traits = { version = "0.2", default-features = false }
+libm = "0.2.1"
+
+mpu9250 = { path = "../..", features = ["i2c", "dmp"] }

examples/rp235x/README.md

@@ -0,0 +1,28 @@
+# MPU6050-DMP Examples
+
+This directory contains examples demonstrating use of the MPU9250 sensor.
+
+## Examples
+
+### [Basic](src/basic.rs)
+
+Basic example showing how to:
+
+- Initialize the sensor with I2C
+- Perform sensor calibration
+- Read accelerometer, gyroscope and temperature data
+
+## Building and Running
+
+1. Connect your MPU6050 to a Raspberry Pi Pico 2:
+   - SDA -> GP16
+   - SCL -> GP17
+   - VCC -> 3.3V
+   - GND -> GND
+
+2. Build and flash an example:
+
+   ```bash
+   # For the basic example
+   cargo run --example basic
+   ```

examples/rp235x/build.rs

@@ -0,0 +1,35 @@
+//! This build script copies the `memory.x` file from the crate root into
+//! a directory where the linker can always find it at build time.
+//! For many projects this is optional, as the linker always searches the
+//! project root directory -- wherever `Cargo.toml` is. However, if you
+//! are using a workspace or have a more complicated build setup, this
+//! build script becomes required. Additionally, by requesting that
+//! Cargo re-run the build script whenever `memory.x` is changed,
+//! updating `memory.x` ensures a rebuild of the application with the
+//! new memory settings.
+
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+
+fn main() {
+    // Put `memory.x` in our output directory and ensure it's
+    // on the linker search path.
+    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+    File::create(out.join("memory.x"))
+        .unwrap()
+        .write_all(include_bytes!("memory.x"))
+        .unwrap();
+    println!("cargo:rustc-link-search={}", out.display());
+
+    // By default, Cargo will re-run a build script whenever
+    // any file in the project changes. By specifying `memory.x`
+    // here, we ensure the build script is only re-run when
+    // `memory.x` is changed.
+    println!("cargo:rerun-if-changed=memory.x");
+
+    println!("cargo:rustc-link-arg=--nmagic");
+    println!("cargo:rustc-link-arg=-Tlink.x");
+    println!("cargo:rustc-link-arg=-Tdefmt.x");
+}

examples/rp235x/memory.x

@@ -0,0 +1,74 @@
+MEMORY {
+    /*
+     * The RP2350 has either external or internal flash.
+     *
+     * 2 MiB is a safe default here, although a Pico 2 has 4 MiB.
+     */
+    FLASH : ORIGIN = 0x10000000, LENGTH = 2048K
+    /*
+     * RAM consists of 8 banks, SRAM0-SRAM7, with a striped mapping.
+     * This is usually good for performance, as it distributes load on
+     * those banks evenly.
+     */
+    RAM : ORIGIN = 0x20000000, LENGTH = 512K
+    /*
+     * RAM banks 8 and 9 use a direct mapping. They can be used to have
+     * memory areas dedicated for some specific job, improving predictability
+     * of access times.
+     * Example: Separate stacks for core0 and core1.
+     */
+    SRAM4 : ORIGIN = 0x20080000, LENGTH = 4K
+    SRAM5 : ORIGIN = 0x20081000, LENGTH = 4K
+}
+
+SECTIONS {
+    /* ### Boot ROM info
+     *
+     * Goes after .vector_table, to keep it in the first 4K of flash
+     * where the Boot ROM (and picotool) can find it
+     */
+    .start_block : ALIGN(4)
+    {
+        __start_block_addr = .;
+        KEEP(*(.start_block));
+    } > FLASH
+
+} INSERT AFTER .vector_table;
+
+/* move .text to start /after/ the boot info */
+_stext = ADDR(.start_block) + SIZEOF(.start_block);
+
+SECTIONS {
+    /* ### Picotool 'Binary Info' Entries
+     *
+     * Picotool looks through this block (as we have pointers to it in our
+     * header) to find interesting information.
+     */
+    .bi_entries : ALIGN(4)
+    {
+        /* We put this in the header */
+        __bi_entries_start = .;
+        /* Here are the entries */
+        KEEP(*(.bi_entries));
+        /* Keep this block a nice round size */
+        . = ALIGN(4);
+        /* We put this in the header */
+        __bi_entries_end = .;
+    } > FLASH
+} INSERT AFTER .text;
+
+SECTIONS {
+    /* ### Boot ROM extra info
+     *
+     * Goes after everything in our program, so it can contain a signature.
+     */
+    .end_block : ALIGN(4)
+    {
+        __end_block_addr = .;
+        KEEP(*(.end_block));
+    } > FLASH
+
+} INSERT AFTER .uninit;
+
+PROVIDE(start_to_end = __end_block_addr - __start_block_addr);
+PROVIDE(end_to_start = __start_block_addr - __end_block_addr);