From 00cdf79b3587627fedb37289d440d54223a77af8 Mon Sep 17 00:00:00 2001
From: juliangaal <juliangaal@protonmail.com>
Date: Wed, 24 Apr 2019 16:00:48 +0200
Subject: [PATCH] steps struct to calrify filte size

---
 example/src/main.rs | 16 ++++++++--------
 src/lib.rs          | 25 ++++++++++++-------------
 2 files changed, 20 insertions(+), 21 deletions(-)

diff --git a/example/src/main.rs b/example/src/main.rs
index b6bc259..ae4386a 100644
--- a/example/src/main.rs
+++ b/example/src/main.rs
@@ -21,32 +21,32 @@ fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
         let acc = mpu.get_acc_angles()?;
         println!("r/p: {:?}", acc);
 
-        // get roll and pitch estimate - averaged accross n readings (mask)
-        let acc = mpu.get_acc_angles_avg(Mask(5))?;
+        // get roll and pitch estimate - averaged accross n readings (steps)
+        let acc = mpu.get_acc_angles_avg(Steps(5))?;
         println!("r/p avg: {:?}", acc);
 
         // get temp
         let temp = mpu.get_temp()?;
         println!("temp: {}c", temp);
 
-        // get temp - averages across n readings (mask)
-        let temp = mpu.get_temp_avg(Mask(5))?;
+        // get temp - averages across n readings (steps)
+        let temp = mpu.get_temp_avg(Steps(5))?;
         println!("temp avg: {}c", temp);
 
         // get gyro data, scaled with sensitivity 
         let gyro = mpu.get_gyro()?;
         println!("gyro: {:?}", gyro);
         
-        // get gyro data, scaled with sensitivity - averaged across n readings (mask) 
-        let gyro = mpu.get_gyro_avg(Mask(5))?;
+        // get gyro data, scaled with sensitivity - averaged across n readings (steps) 
+        let gyro = mpu.get_gyro_avg(Steps(5))?;
         println!("gyro avg: {:?}", gyro);
         
         // get accelerometer data, scaled with sensitivity
         let acc = mpu.get_acc()?;
         println!("acc: {:?}", acc);
         
-        // get accelerometer data, scaled with sensitivity - averages across n readings (mask)
-        let acc = mpu.get_acc_avg(Mask(5))?;
+        // get accelerometer data, scaled with sensitivity - averages across n readings (steps)
+        let acc = mpu.get_acc_avg(Steps(5))?;
         println!("acc avg: {:?}", acc);
     }
 }
diff --git a/src/lib.rs b/src/lib.rs
index ed663cf..9d48f6d 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -141,7 +141,6 @@ impl MutOps for RPReading {
 
 /// Helper struct used as number of steps for filtering
 pub struct Steps(pub u8);
-pub type Mask = Steps;
 
 // Helper struct to convert Sensor measurement range to appropriate values defined in datasheet
 struct Sensitivity(f32);
@@ -329,12 +328,12 @@ where
     }
 
     /// Roll and pitch estimation from raw accelerometer - averaged across window readings
-    pub fn get_acc_angles_avg(&mut self, mask: Mask) -> Result<RPReading, Mpu6050Error<E>> {
+    pub fn get_acc_angles_avg(&mut self, steps: Steps) -> Result<RPReading, Mpu6050Error<E>> {
         let mut acc = self.get_acc_angles()?;
-        for _ in 0..mask.0-1 {
+        for _ in 0..steps.0-1 {
             acc.add(&self.get_acc_angles()?);
         }
-        acc.scale(mask.0);
+        acc.scale(steps.0);
         Ok(acc)
     }
 
@@ -382,12 +381,12 @@ where
     }
 
     /// Accelerometer readings in m/s^2 - averaged
-    pub fn get_acc_avg(&mut self, mask: Mask) -> Result<RotReading, Mpu6050Error<E>> {
+    pub fn get_acc_avg(&mut self, steps: Steps) -> Result<RotReading, Mpu6050Error<E>> {
         let mut acc = self.get_acc()?;
-        for _ in 0..mask.0-1 {
+        for _ in 0..steps.0-1 {
             acc.add(&self.get_acc()?);
         }
-        acc.scale(mask.0);
+        acc.scale(steps.0);
         Ok(acc)
     }
 
@@ -409,12 +408,12 @@ where
     }
     
     /// Gyro readings in rad/s
-    pub fn get_gyro_avg(&mut self, mask: Mask) -> Result<RotReading, Mpu6050Error<E>> {
+    pub fn get_gyro_avg(&mut self, steps: Steps) -> Result<RotReading, Mpu6050Error<E>> {
         let mut gyro = self.get_gyro()?;
-        for _ in 0..mask.0-1 {
+        for _ in 0..steps.0-1 {
             gyro.add(&self.get_gyro()?);
         }
-        gyro.scale(mask.0);
+        gyro.scale(steps.0);
         Ok(gyro)
     }
 
@@ -427,12 +426,12 @@ where
         Ok((raw_temp / 340.) + 36.53)
     } 
     
-    pub fn get_temp_avg(&mut self, mask: Mask) -> Result<f32, Mpu6050Error<E>> {
+    pub fn get_temp_avg(&mut self, steps: Steps) -> Result<f32, Mpu6050Error<E>> {
         let mut temp = self.get_temp()?;
-        for _ in 0..mask.0-1 {
+        for _ in 0..steps.0-1 {
             temp += self.get_temp()?;
         }
-        temp /= mask.0 as f32;
+        temp /= steps.0 as f32;
         Ok(temp)
     }