cu-mpu9250

Copper source component for the MPU9250 IMU. This crate is no_std by default and ships an embedded-hal-compatible SPI driver so it can run on both baremetal and Linux.

Features

• embedded-hal: Generic SPI+CS+delay backend over embedded-hal 1.0 traits.
• rp235x-hal: SPI1 backend for RP235x (Pico 2 class) boards wired to GPIO10-13.
• linux-embedded-hal: spidev + gpio-cdev backend for Linux boards.
• mock: Reserved for mock backends.

RP235x usage

# Build the source + AHRS stack for RP2350
CARGO_CONFIG=components/tasks/cu_ahrs/.cargo/config.rp2350.toml \
    cargo run --no-default-features --features "rp2350-demo" \
    -p cu-ahrs --example rp2350_copper

The RP235x backend supports optional config fields:

• xosc_hz (u32): External crystal frequency (default 12_000_000).
• spi_hz (u32): SPI1 bus speed (default 1_000_000).
• gyro_cal_ms (u32): Gyro calibration dwell time in ms (default 0 = disabled).
• gyro_sample_delay_ms (u32): Delay between calibration samples in ms (default 10).

Linux embedded-hal usage

Enable the linux-embedded-hal feature to talk to MPU9250 via spidev and a gpio-cdev chip-select.

Config fields:

• spi_path (string, default /dev/spidev0.0): spidev bus path.
• spi_hz (u32, default 1_000_000): SPI bus speed.
• gpio_chip (string, default /dev/gpiochip0): GPIO chip for the CS line.
• cs_line (u32, required): Line offset within the GPIO chip to drive CS.
• gyro_cal_ms / gyro_sample_delay_ms: same calibration knobs as the RP backend.