From 1ca32fedf35055f87770886bd49846e27e109fb0 Mon Sep 17 00:00:00 2001
From: Julian Gaal <juliangaal@users.noreply.github.com>
Date: Sat, 27 Apr 2019 17:37:52 +0200
Subject: [PATCH 01/22] Update README.md

---
 README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 3bf2d9b..20c5aff 100644
--- a/README.md
+++ b/README.md
@@ -9,7 +9,8 @@ Platform agnostic driver for [MPU 6050 6-axis IMU](https://www.invensense.com/pr
 
 Visualization options for testing and development in [viz branch](https://github.com/juliangaal/mpu6050/tree/viz/viz)
 
-### Basic usage - [`linux_embedded_hal`](https://github.com/rust-embedded/linux-embedded-hal) example
+### Basic usage 
+[`linux_embedded_hal`](https://github.com/rust-embedded/linux-embedded-hal) example
 ```rust
 use mpu6050::*;
 use linux_embedded_hal::{I2cdev, Delay};
@@ -64,7 +65,6 @@ fn main() -> Result<(), Error<LinuxI2CError>> {
 
 }
 ```
-*Note*: this example uses API of version on local master branch. Some functions may not be available on published crate yet.
 
 #### Compile linux example (Raspberry Pi 3B)
 files [here](https://github.com/juliangaal/mpu6050/blob/master/example/)

From c85ae24e119996b71a274e87b4d29a2748eae30f Mon Sep 17 00:00:00 2001
From: juliangaal <juliangaal@protonmail.com>
Date: Mon, 29 Apr 2019 09:14:55 +0200
Subject: [PATCH 02/22] Makefile for easier testing

---
 Makefile | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)
 create mode 100644 Makefile

diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..8531891
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,19 @@
+target = armv7-unknown-linux-gnueabihf
+mode = release
+home = $(shell pwd)
+
+.DEFAULT_GOAL = build
+
+build:
+	cargo build
+
+ext:
+	cd $(home)/example && cargo build --$(mode) --target $(target) 
+
+viz:
+	cd $(home)/viz/viz && cargo build --$(mode) --target $(target) 
+	
+deploy: ext
+	scp $(home)/example/target/$(target)/$(mode)/example pi@192.168.1.136:
+	
+.PHONY: deploy build ext viz

From 29efdc29d7c1727e2d2ab8dff60523c25ce307cb Mon Sep 17 00:00:00 2001
From: Julian Gaal <juliangaal@users.noreply.github.com>
Date: Wed, 1 May 2019 09:30:56 +0200
Subject: [PATCH 03/22] remove image

---
 README.md | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 20c5aff..af2f02b 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,4 @@
-# MPU 6050 Rust Driver 
-<img align="right" width="250" height="190" src="https://www.invensense.com/wp-content/uploads/2015/01/rp-mpu-6500.png">
+# MPU 6050 Rust Driver
 
 Platform agnostic driver for [MPU 6050 6-axis IMU](https://www.invensense.com/products/motion-tracking/6-axis/mpu-6500/) using [`embedded_hal`](https://github.com/rust-embedded/embedded-hal).
 

From 44a67e8fdd1ecafa03338dd9e715fa1e9b49e083 Mon Sep 17 00:00:00 2001
From: Julian Gaal <gjulian@uos.de>
Date: Wed, 8 May 2019 18:50:47 +0200
Subject: [PATCH 04/22] make registers dedicated enum

---
 src/lib.rs       | 31 +++++++++++++---------
 src/registers.rs | 68 +++++++++++++++++++++++++-----------------------
 2 files changed, 53 insertions(+), 46 deletions(-)

diff --git a/src/lib.rs b/src/lib.rs
index deb7f1d..26d353f 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,12 +1,12 @@
 #![no_std]
 
-pub mod registers;
-
 ///! Mpu6050 sensor driver.
 ///! Register sheet: https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf
 ///! Data sheet: https://www.invensense.com/wp-content/uploads/2015/02/MPU-6500-Datasheet2.pdf 
 
-use crate::registers::*;
+pub mod registers;
+
+use crate::registers::Registers::*;
 use libm::{powf, atan2f, sqrtf};
 use embedded_hal::{
     blocking::delay::DelayMs,
@@ -15,6 +15,11 @@ use embedded_hal::{
 
 /// pi, taken straight from C
 pub const PI: f32 = 3.14159265358979323846;
+/// Gyro Sensitivity
+pub const FS_SEL: (f32, f32, f32, f32) = (131., 65.5, 32.8, 16.4);
+/// Calcelerometer Sensitivity
+pub const AFS_SEL: (f32, f32, f32, f32) = (16384., 8192., 4096., 2048.);
+
 
 /// Operations trait for sensor readings
 pub trait MutOps {
@@ -302,7 +307,7 @@ where
 
     /// Wakes MPU6050 with all sensors enabled (default)
     pub fn wake(&mut self) -> Result<(), Mpu6050Error<E>> {
-        self.write_u8(POWER_MGMT_1, 0)?;
+        self.write_u8(POWER_MGMT_1.addr(), 0)?;
         self.delay.delay_ms(100u8);
         Ok(())
     }
@@ -314,10 +319,10 @@ where
         Ok(())
     }
 
-    /// Verifies device to address 0x68 with WHOAMI Register
+    /// Verifies device to address 0x68 with WHOAMI.addr() Register
     pub fn verify(&mut self) -> Result<(), Mpu6050Error<E>> {
-        let address = self.read_u8(WHOAMI)?;
-        if address != SLAVE_ADDR {
+        let address = self.read_u8(WHOAMI.addr())?;
+        if address != SLAVE_ADDR.addr() {
             return Err(Mpu6050Error::InvalidChipId(address));
         }
         Ok(())
@@ -431,7 +436,7 @@ where
 
     /// Accelerometer readings in m/s^2
     pub fn get_acc(&mut self) -> Result<AccReading, Mpu6050Error<E>> {
-        let mut acc = self.read_rot(ACC_REGX_H)?;
+        let mut acc = self.read_rot(ACC_REGX_H.addr())?;
         
         acc.x /= self.acc_sensitivity;
         acc.y /= self.acc_sensitivity;
@@ -458,7 +463,7 @@ where
 
     /// Gyro readings in rad/s
     pub fn get_gyro(&mut self) -> Result<GyroReading, Mpu6050Error<E>> {
-        let mut gyro = self.read_rot(GYRO_REGX_H)?;
+        let mut gyro = self.read_rot(GYRO_REGX_H.addr())?;
 
         gyro.x *= PI / (180.0 * self.gyro_sensitivity);
         gyro.y *= PI / (180.0 * self.gyro_sensitivity);
@@ -486,7 +491,7 @@ where
     /// Temp in degrees celcius
     pub fn get_temp(&mut self) -> Result<f32, Mpu6050Error<E>> {
         let mut buf: [u8; 2] = [0; 2];
-        self.read_bytes(TEMP_OUT_H, &mut buf)?;
+        self.read_bytes(TEMP_OUT_H.addr(), &mut buf)?;
         let raw_temp = self.read_word_2c(&buf[0..2]) as f32;
 
         Ok((raw_temp / 340.) + 36.53)
@@ -503,7 +508,7 @@ where
 
     /// Writes byte to register
     pub fn write_u8(&mut self, reg: u8, byte: u8) -> Result<(), Mpu6050Error<E>> {
-        self.i2c.write(SLAVE_ADDR, &[reg, byte])
+        self.i2c.write(SLAVE_ADDR.addr(), &[reg, byte])
             .map_err(Mpu6050Error::I2c)?;
         self.delay.delay_ms(10u8);
         Ok(())
@@ -512,14 +517,14 @@ where
     /// Reads byte from register
     pub fn read_u8(&mut self, reg: u8) -> Result<u8, Mpu6050Error<E>> {
         let mut byte: [u8; 1] = [0; 1];
-        self.i2c.write_read(SLAVE_ADDR, &[reg], &mut byte)
+        self.i2c.write_read(SLAVE_ADDR.addr(), &[reg], &mut byte)
             .map_err(Mpu6050Error::I2c)?;
         Ok(byte[0])
     }
 
     /// Reads series of bytes into buf from specified reg
     pub fn read_bytes(&mut self, reg: u8, buf: &mut [u8]) -> Result<(), Mpu6050Error<E>> {
-        self.i2c.write_read(SLAVE_ADDR, &[reg], buf)
+        self.i2c.write_read(SLAVE_ADDR.addr(), &[reg], buf)
             .map_err(Mpu6050Error::I2c)?;
         Ok(())
     }
diff --git a/src/registers.rs b/src/registers.rs
index 468a8b4..b090bc8 100644
--- a/src/registers.rs
+++ b/src/registers.rs
@@ -1,42 +1,44 @@
 //! All constants used in the driver, mostly register addresses
 
-/// Slave address of Mpu6050
-pub const SLAVE_ADDR: u8 = 0x68;
-/// Internal register to check slave addr
-pub const WHOAMI: u8 = 0x75;
+#[allow(non_camel_case_types)]
+#[derive(Copy, Clone, Debug)]
+pub enum Registers {
+    /// Slave address of Mpu6050
+    SLAVE_ADDR = 0x68,
+    /// Internal register to check slave addr
+    WHOAMI = 0x75,
 
-/// High Bytle Register Gyro x orientation
-pub const GYRO_REGX_H: u8 = 0x43;
-/// High Bytle Register Gyro y orientation
-pub const GYRO_REGY_H: u8 = 0x45;
-/// High Bytle Register Gyro z orientation
-pub const GYRO_REGZ_H: u8 = 0x47;
+    /// High Bytle Register Gyro x orientation
+    GYRO_REGX_H = 0x43,
+    /// High Bytle Register Gyro y orientation
+    GYRO_REGY_H = 0x45,
+    /// High Bytle Register Gyro z orientation
+    GYRO_REGZ_H = 0x47,
  
-/// High Byte Register Calc roll
-pub const ACC_REGX_H: u8 = 0x3b;
-/// High Byte Register Calc pitch
-pub const ACC_REGY_H: u8 = 0x3d;
-/// High Byte Register Calc yaw
-pub const ACC_REGZ_H: u8 = 0x3f;
+    /// High Byte Register Calc roll
+    ACC_REGX_H = 0x3b,
+    /// High Byte Register Calc pitch
+    ACC_REGY_H = 0x3d,
+    /// High Byte Register Calc yaw
+    ACC_REGZ_H = 0x3f,
 
-/// High Byte Register Temperature
-pub const TEMP_OUT_H: u8 = 0x41;
+    /// High Byte Register Temperature
+    TEMP_OUT_H = 0x41,
 
-/// Register to control chip waking from sleep, enabling sensors, default: sleep
-pub const POWER_MGMT_1: u8 = 0x6b; 
-/// Internal clock
-pub const POWER_MGMT_2: u8 = 0x6c; 
+    /// Register to control chip waking from sleep, enabling sensors, default: sleep
+    POWER_MGMT_1 = 0x6b, 
+    /// Internal clock
+    POWER_MGMT_2 = 0x6c, 
 
-/// Gyro Sensitivity
-pub const FS_SEL: (f32, f32, f32, f32) = (131., 65.5, 32.8, 16.4);
-/// Calcelerometer Sensitivity
-pub const AFS_SEL: (f32, f32, f32, f32) = (16384., 8192., 4096., 2048.);
+    /// Accelerometer config register
+    ACCEL_CONFIG  = 0x1c,
 
-/// Accelerometer config register
-pub const ACCEL_CONFIG: u8  = 0x1c;
+    /// gyro config register
+    GYRO_CONFIG = 0x1b,
+}
 
-/// gyro config register
-pub const GYRO_CONFIG: u8 = 0x1b;
-
-/// pi
-pub const PI: f32 = 3.14159265358979323846;
+impl Registers {
+    pub fn addr(&self) -> u8 {
+        *self as u8
+    } 
+}

From b9dbcf889612f8f566cfe8376fc86f3eac31d0ef Mon Sep 17 00:00:00 2001
From: Julian Gaal <gjulian@uos.de>
Date: Wed, 8 May 2019 19:02:28 +0200
Subject: [PATCH 05/22] remove unnecessary spaces

---
 src/registers.rs | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/registers.rs b/src/registers.rs
index b090bc8..f9b2998 100644
--- a/src/registers.rs
+++ b/src/registers.rs
@@ -7,32 +7,26 @@ pub enum Registers {
     SLAVE_ADDR = 0x68,
     /// Internal register to check slave addr
     WHOAMI = 0x75,
-
     /// High Bytle Register Gyro x orientation
     GYRO_REGX_H = 0x43,
     /// High Bytle Register Gyro y orientation
     GYRO_REGY_H = 0x45,
     /// High Bytle Register Gyro z orientation
     GYRO_REGZ_H = 0x47,
- 
     /// High Byte Register Calc roll
     ACC_REGX_H = 0x3b,
     /// High Byte Register Calc pitch
     ACC_REGY_H = 0x3d,
     /// High Byte Register Calc yaw
     ACC_REGZ_H = 0x3f,
-
     /// High Byte Register Temperature
     TEMP_OUT_H = 0x41,
-
     /// Register to control chip waking from sleep, enabling sensors, default: sleep
     POWER_MGMT_1 = 0x6b, 
     /// Internal clock
     POWER_MGMT_2 = 0x6c, 
-
     /// Accelerometer config register
     ACCEL_CONFIG  = 0x1c,
-
     /// gyro config register
     GYRO_CONFIG = 0x1b,
 }

From 61b8b62b506cfd41118972ec7ba7632e46227ed3 Mon Sep 17 00:00:00 2001
From: Julian Gaal <gjulian@uos.de>
Date: Wed, 8 May 2019 19:02:51 +0200
Subject: [PATCH 06/22] documentation improvements

---
 src/lib.rs | 49 +++++++++++++++++++++++++++++++++++++++++++++----
 1 file changed, 45 insertions(+), 4 deletions(-)

diff --git a/src/lib.rs b/src/lib.rs
index 26d353f..214ee6a 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,8 +1,49 @@
-#![no_std]
+//! Mpu6050 sensor driver.
+//!
+//! Register sheet [here](https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf),
+//! Data sheet [here](https://www.invensense.com/wp-content/uploads/2015/02/MPU-6500-Datasheet2.pdf)
+//! 
+//! To use this driver you must provide a concrete `embedded_hal` implementation.//! This example uses `linux_embedded_hal`
+//! ```
+//! let i2c = I2cdev::new("/dev/i2c-1")
+//!     .map_err(Mpu6050Error::I2c)?;
+//!
+//! let delay = Delay;
+//!
+//! let mut mpu = Mpu6050::new(i2c, delay);
+//! mpu.init()?;
+//! mpu.soft_calib(Steps(100))?;
+//! mpu.calc_variance(Steps(50))?;
+//!
+//! println!("Calibrated with bias: {:?}", mpu.get_bias().unwrap());
+//! println!("Calculated variance: {:?}", mpu.get_variance().unwrap());
+//!
+//! // get roll and pitch estimate
+//! let acc = mpu.get_acc_angles()?;
+//!
+//! // get roll and pitch estimate - averaged accross n readings (steps)
+//! let acc = mpu.get_acc_angles_avg(Steps(5))?;
+//!
+//! // get temp
+//! let temp = mpu.get_temp()?;
+//!
+//! // get temp - averages across n readings (steps)
+//! let temp = mpu.get_temp_avg(Steps(5))?;
+//!
+//! // get gyro data, scaled with sensitivity 
+//! let gyro = mpu.get_gyro()?;
+//! 
+//! // get gyro data, scaled with sensitivity - averaged across n readings (steps) 
+//! let gyro = mpu.get_gyro_avg(Steps(5))?;
+//! 
+//! // get accelerometer data, scaled with sensitivity
+//! let acc = mpu.get_acc()?;
+//! 
+//! // get accelerometer data, scaled with sensitivity - averages across n readings (steps)
+//! let acc = mpu.get_acc_avg(Steps(5))?;
+//! 
 
-///! Mpu6050 sensor driver.
-///! Register sheet: https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf
-///! Data sheet: https://www.invensense.com/wp-content/uploads/2015/02/MPU-6500-Datasheet2.pdf 
+#![no_std]
 
 pub mod registers;
 

From 7ab5fc90f4970bc31901bd432a9d13c8e8decd45 Mon Sep 17 00:00:00 2001
From: Julian Gaal <gjulian@uos.de>
Date: Thu, 16 May 2019 13:09:30 +0200
Subject: [PATCH 07/22] enable nalgebra with no_std support

---
 Cargo.toml | 4 ++++
 src/lib.rs | 1 +
 2 files changed, 5 insertions(+)

diff --git a/Cargo.toml b/Cargo.toml
index 01c4367..ed8c0d1 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -13,3 +13,7 @@ license = "MIT"
 [dependencies]
 embedded-hal = "0.2.2"
 libm = "0.1.2"
+
+[dependencies.nalgebra]
+default-features = false
+version = "0.18"
diff --git a/src/lib.rs b/src/lib.rs
index 214ee6a..977d871 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -49,6 +49,7 @@ pub mod registers;
 
 use crate::registers::Registers::*;
 use libm::{powf, atan2f, sqrtf};
+use nalgebra as na;
 use embedded_hal::{
     blocking::delay::DelayMs,
     blocking::i2c::{Write, WriteRead},

From c1aa3c1f8bd2b6b08b6ffb2ec1f322c7ee251544 Mon Sep 17 00:00:00 2001
From: juliangaal <juliangaal@protonmail.com>
Date: Mon, 20 May 2019 16:00:24 +0200
Subject: [PATCH 08/22] migrate to nalgebra

---
 Cargo.toml |   2 +-
 src/lib.rs | 316 ++++++++++++++++++++++++++---------------------------
 2 files changed, 156 insertions(+), 162 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index ed8c0d1..47892e5 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -16,4 +16,4 @@ libm = "0.1.2"
 
 [dependencies.nalgebra]
 default-features = false
-version = "0.18"
+version = "0.18.0"
diff --git a/src/lib.rs b/src/lib.rs
index 977d871..f0bd123 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -41,7 +41,7 @@
 //! 
 //! // get accelerometer data, scaled with sensitivity - averages across n readings (steps)
 //! let acc = mpu.get_acc_avg(Steps(5))?;
-//! 
+//! ```
 
 #![no_std]
 
@@ -49,7 +49,7 @@ pub mod registers;
 
 use crate::registers::Registers::*;
 use libm::{powf, atan2f, sqrtf};
-use nalgebra as na;
+use nalgebra::{Vector3, Vector2};
 use embedded_hal::{
     blocking::delay::DelayMs,
     blocking::i2c::{Write, WriteRead},
@@ -71,6 +71,16 @@ pub trait MutOps {
     fn scale(&mut self, n: u8);
 }
 
+/// Helpers for sensor readings
+pub trait Access<T> {
+    fn x(&self) -> T;
+    fn set_x(&mut self, val: T);
+    fn y(&self) -> T;
+    fn set_y(&mut self, val: T);
+    fn z(&self) -> T;
+    fn set_z(&mut self, val: T);
+}
+
 /// Trait for conversion from/to radians/degree
 pub trait UnitConv<T> {
     /// get radians from degree
@@ -101,45 +111,89 @@ impl UnitConv<f32> for f32 {
     }   
 }
 
+impl Access<f32> for Vector3<f32> {
+    fn x(&self) -> f32 {
+        self[0]
+    }
+
+    fn set_x(&mut self, val: f32) {
+        self[0] = val;
+    }
+
+    fn y(&self) -> f32 {
+        self[1]
+    }
+
+    fn set_y(&mut self, val: f32) {
+        self[1] = val;
+    }
+
+    fn z(&self) -> f32 {
+        self[2]
+    }
+
+    fn set_z(&mut self, val: f32) {
+        self[2] = val
+    }
+}
+
+impl Access<f32> for Vector2<f32> {
+    fn x(&self) -> f32 {
+        self[0]
+    }
+
+    fn set_x(&mut self, val: f32) {
+        self[0] = val;
+    }
+
+    fn y(&self) -> f32 {
+        self[1]
+    }
+
+    fn set_y(&mut self, val: f32) {
+        self[1] = val;
+    }
+
+    fn z(&self) -> f32 { 
+        -1.0
+    }
+
+    fn set_z(&mut self, _val: f32) {}
+}
+
 /// Used for bias calculation of chip in mpu::soft_calib
-#[derive(Default, Debug, Clone)]
+#[derive(Debug, Clone)]
 pub struct Bias {
-    /// accelerometer x axis bias
-    ax: f32,
-    /// accelerometer y axis bias
-    ay: f32,
-    /// accelerometer z axis bias
-    az: f32,
+    /// accelerometer axis bias
+    acc: Vector3<f32>,
     /// gyro x axis bias
-    gx: f32,
-    /// gyro y axis bias
-    gy: f32,
-    /// gyro z axis bias
-    gz: f32,
+    gyro: Vector3<f32>,
     /// temperature AVERAGE: can't get bias!
-    t: f32,
+    temp: f32,
+}
+
+impl Default for Bias {
+    fn default() -> Bias {
+        Bias {
+            acc: Vector3::<f32>::zeros(),
+            gyro: Vector3::<f32>::zeros(),
+            temp: 0.0,
+        }
+    }
 }
 
 impl Bias {
-    fn add(&mut self, acc: RotReading, gyro: RotReading, temp: f32) {
-        self.ax += acc.x;
-        self.ay += acc.y;
-        self.az += acc.z;
-        self.gx += gyro.x;
-        self.gy += gyro.y;
-        self.gz += gyro.z;
-        self.t += temp; 
+    fn add(&mut self, acc: Vector3<f32>, gyro: Vector3<f32>, temp: f32) {
+        self.acc += acc;
+        self.gyro += gyro;
+        self.temp += temp; 
     }
 
     fn scale(&mut self, n: u8) {
         let n = n as f32;
-        self.ax /= n;
-        self.ay /= n;
-        self.az /= n;
-        self.gx /= n;
-        self.gy /= n;
-        self.gz /= n;
-        self.t /= n;
+        self.acc /= n;
+        self.gyro /= n;
+        self.temp /= n;
     }
 }
 
@@ -147,108 +201,37 @@ impl Bias {
 pub type Variance = Bias;
 
 impl Variance {
-    fn add_diff(&mut self, acc_diff: (f32, f32, f32), gyro_diff: (f32, f32, f32), temp_diff: f32) {
-        self.ax += acc_diff.0;
-        self.ay += acc_diff.1;
-        self.az += acc_diff.2;
-        self.gx += gyro_diff.0;
-        self.gy += gyro_diff.1;
-        self.gz += gyro_diff.2;
-        self.t += temp_diff; 
+    fn add_diff(&mut self, acc_diff: Vector3<f32>, gyro_diff: Vector3<f32>, temp_diff: f32) {
+        self.acc += acc_diff;
+        self.gyro += gyro_diff;
+        self.temp += temp_diff; 
     }
 }
 
-/// Struct for rotation reading: gyro or accelerometer.
-/// see indivisual type definitions
-#[derive(Debug)]
-pub struct RotReading {
-    pub x: f32,
-    pub y: f32,
-    pub z: f32,
-}
-
-/// Accelerometer reading
-pub type AccReading = RotReading;
-/// Gyro Reading
-pub type GyroReading = RotReading;
-
-impl RotReading {
-    fn new(x: f32, y: f32, z: f32) -> Self {
-        RotReading {
-            x, 
-            y, 
-            z,
-        }
-    }
-}
-
-impl MutOps for RotReading {
-    fn add(&mut self, operand: &Self) {
-        self.x += operand.x;
-        self.y += operand.y;
-        self.z += operand.z;
-    }
-
-    fn scale(&mut self, n: u8) {
-        let n = n as f32;
-        self.x /= n;
-        self.y /= n;
-        self.z /= n;
-    }
-}
-
-/// struct for Roll/Pitch Reading
-#[derive(Debug)]
-pub struct RPReading {
-    pub roll: f32,
-    pub pitch: f32,
-}
-
-impl RPReading {
-    fn new(roll: f32, pitch: f32) -> Self {
-        RPReading {
-            roll,
-            pitch,
-        }
-    }
-}
-
-impl MutOps for RPReading {
-    fn add(&mut self, operand: &Self) {
-        self.roll += operand.roll;
-        self.pitch += operand.pitch;
-    }
-
-    fn scale(&mut self, n: u8) {
-        let n = n as f32;
-        self.roll /= n;
-        self.pitch /= n;
-    }
-}
-
-impl UnitConv<RPReading> for RPReading {
-    fn to_rad(&self) -> RPReading {
-        RPReading {
-            roll: self.roll.to_rad(),
-            pitch: self.pitch.to_rad(),
-        }
+/// Vector2 for Roll/Pitch Reading
+impl UnitConv<Vector2<f32>> for Vector2<f32> {
+    fn to_rad(&self) -> Vector2<f32> {
+        Vector2::<f32>::new(
+            self.x().to_rad(),
+            self.y().to_rad(),
+        )
     }
 
     fn to_rad_mut(&mut self) {
-        self.roll.to_rad_mut();
-        self.pitch.to_rad_mut();
+        self[0].to_rad_mut();
+        self[1].to_rad_mut();
     }
 
-    fn to_deg(&self) -> RPReading {
-        RPReading {
-            roll: self.roll.to_deg(),
-            pitch: self.pitch.to_deg(),
-        }
+    fn to_deg(&self) -> Vector2<f32> {
+        Vector2::<f32>::new(
+            self.x().to_deg(),
+            self.y().to_deg(),
+        )
     }
 
     fn to_deg_mut(&mut self) {
-        self.roll.to_deg_mut();
-        self.pitch.to_deg_mut();
+        self[0].to_deg_mut();
+        self[1].to_deg_mut();
     }
 }
 
@@ -381,7 +364,7 @@ where
         }   
 
         bias.scale(steps.0);
-        bias.az -= 1.0; // gravity compensation
+        bias.acc[2] -= 1.0; // gravity compensation
         self.bias = Some(bias);
 
         Ok(())
@@ -404,15 +387,19 @@ where
         let mut acc = self.get_acc()?;
         let mut gyro = self.get_gyro()?;
         let mut temp = self.get_temp()?;
-        let mut acc_diff: (f32, f32, f32); 
-        let mut gyro_diff: (f32, f32, f32);
+        let mut acc_diff = Vector3::<f32>::zeros(); 
+        let mut gyro_diff = Vector3::<f32>::zeros();
         let mut temp_diff: f32;
         let bias = self.bias.clone().unwrap();
 
         for _ in 0..iterations {
-           acc_diff = (powf(acc.x - bias.ax, 2.0), powf(acc.y - bias.ay, 2.0), powf(acc.z - bias.az, 2.0)); 
-           gyro_diff = (powf(gyro.x - bias.gx, 2.0), powf(gyro.y - bias.gy, 2.0), powf(gyro.z - bias.gz, 2.0));
-           temp_diff = powf(temp - bias.t, 2.0);
+           acc_diff.set_x(powf(acc.x() - bias.acc.x(), 2.0));
+           acc_diff.set_y(powf(acc.y() - bias.acc.y(), 2.0));
+           acc_diff.set_z(powf(acc.z() - bias.acc.z(), 2.0)); 
+           gyro_diff.set_x(powf(gyro.x() - bias.gyro.x(), 2.0));
+           gyro_diff.set_y(powf(gyro.y() - bias.gyro.y(), 2.0));
+           gyro_diff.set_z(powf(gyro.z() - bias.gyro.z(), 2.0));
+           temp_diff = powf(temp - bias.temp, 2.0);
            variance.add_diff(acc_diff, gyro_diff, temp_diff);
            acc = self.get_acc()?;
            gyro = self.get_gyro()?;
@@ -420,7 +407,7 @@ where
         }
 
         variance.scale(iterations-1);
-        variance.az -= 1.0; // gravity compensation
+        variance.acc[2] -= 1.0; // gravity compensation
         self.variance = Some(variance);
 
         Ok(())
@@ -433,20 +420,21 @@ where
 
     /// Roll and pitch estimation from raw accelerometer readings
     /// NOTE: no yaw! no magnetometer present on MPU6050
-    pub fn get_acc_angles(&mut self) -> Result<RPReading, Mpu6050Error<E>> {
+    pub fn get_acc_angles(&mut self) -> Result<Vector2<f32>, Mpu6050Error<E>> {
         let acc = self.get_acc()?;
-        let roll: f32 = atan2f(acc.y, sqrtf(powf(acc.x, 2.) + powf(acc.z, 2.)));
-        let pitch: f32 = atan2f(-acc.x, sqrtf(powf(acc.y, 2.) + powf(acc.z, 2.)));
-        Ok(RPReading::new(roll, pitch))
+        Ok(Vector2::<f32>::new(
+            atan2f(acc.y(), sqrtf(powf(acc.x(), 2.) + powf(acc.z(), 2.))),
+            atan2f(-acc.x(), sqrtf(powf(acc.y(), 2.) + powf(acc.z(), 2.)))
+        ))
     }
 
     /// Roll and pitch estimation from raw accelerometer - averaged across window readings
-    pub fn get_acc_angles_avg(&mut self, steps: Steps) -> Result<RPReading, Mpu6050Error<E>> {
+    pub fn get_acc_angles_avg(&mut self, steps: Steps) -> Result<Vector2<f32>, Mpu6050Error<E>> {
         let mut acc = self.get_acc_angles()?;
         for _ in 0..steps.0-1 {
-            acc.add(&self.get_acc_angles()?);
+            acc += self.get_acc_angles()?;
         }
-        acc.scale(steps.0);
+        acc /= steps.0 as f32;
         Ok(acc)
     }
 
@@ -465,68 +453,61 @@ where
     }
 
     /// Reads rotation (gyro/acc) from specified register
-    fn read_rot(&mut self, reg: u8) -> Result<RotReading, Mpu6050Error<E>> {
+    fn read_rot(&mut self, reg: u8) -> Result<Vector3<f32>, Mpu6050Error<E>> {
         let mut buf: [u8; 6] = [0; 6];
         self.read_bytes(reg, &mut buf)?;
 
-        let xr = self.read_word_2c(&buf[0..2]);
-        let yr = self.read_word_2c(&buf[2..4]);
-        let zr = self.read_word_2c(&buf[4..6]);
-        
-        Ok(RotReading::new(xr as f32, yr as f32, zr as f32)) // returning as f32 makes future calculations easier
+        Ok(Vector3::<f32>::new(
+            self.read_word_2c(&buf[0..2]) as f32,
+            self.read_word_2c(&buf[2..4]) as f32,
+            self.read_word_2c(&buf[4..6]) as f32
+        ))
     }
 
     /// Accelerometer readings in m/s^2
-    pub fn get_acc(&mut self) -> Result<AccReading, Mpu6050Error<E>> {
+    pub fn get_acc(&mut self) -> Result<Vector3<f32>, Mpu6050Error<E>> {
         let mut acc = self.read_rot(ACC_REGX_H.addr())?;
         
-        acc.x /= self.acc_sensitivity;
-        acc.y /= self.acc_sensitivity;
-        acc.z /= self.acc_sensitivity;
+        acc /= self.acc_sensitivity;
 
         if let Some(ref bias) = self.bias { 
-            acc.x -= bias.ax;
-            acc.y -= bias.ay;
-            acc.z -= bias.az;
+            acc -= bias.acc;
         }
 
         Ok(acc)
     }
 
     /// Accelerometer readings in m/s^2 - averaged
-    pub fn get_acc_avg(&mut self, steps: Steps) -> Result<AccReading, Mpu6050Error<E>> {
+    pub fn get_acc_avg(&mut self, steps: Steps) -> Result<Vector3<f32>, Mpu6050Error<E>> {
         let mut acc = self.get_acc()?;
         for _ in 0..steps.0-1 {
-            acc.add(&self.get_acc()?);
+            acc += self.get_acc()?;
         }
-        acc.scale(steps.0);
+        acc /= steps.0 as f32;
         Ok(acc)
     }
 
     /// Gyro readings in rad/s
-    pub fn get_gyro(&mut self) -> Result<GyroReading, Mpu6050Error<E>> {
+    pub fn get_gyro(&mut self) -> Result<Vector3<f32>, Mpu6050Error<E>> {
         let mut gyro = self.read_rot(GYRO_REGX_H.addr())?;
 
-        gyro.x *= PI / (180.0 * self.gyro_sensitivity);
-        gyro.y *= PI / (180.0 * self.gyro_sensitivity);
-        gyro.z *= PI / (180.0 * self.gyro_sensitivity);
+        gyro *= PI / (180.0 * self.gyro_sensitivity);
 
         if let Some(ref bias) = self.bias {
-            gyro.x -= bias.gx;
-            gyro.y -= bias.gy;
-            gyro.z -= bias.gz;
+            gyro -= bias.gyro;
         }
 
         Ok(gyro)
     }
     
     /// Gyro readings in rad/s
-    pub fn get_gyro_avg(&mut self, steps: Steps) -> Result<GyroReading, Mpu6050Error<E>> {
+    pub fn get_gyro_avg(&mut self, steps: Steps) -> Result<Vector3<f32>, Mpu6050Error<E>> {
         let mut gyro = self.get_gyro()?;
         for _ in 0..steps.0-1 {
-            gyro.add(&self.get_gyro()?);
+            gyro += self.get_gyro()?;
         }
-        gyro.scale(steps.0);
+
+        gyro /= steps.0 as f32;
         Ok(gyro)
     }
 
@@ -575,6 +556,7 @@ where
 #[cfg(test)]
 mod tests {
     use super::*;
+    use nalgebra as na;
 
     #[test]
     fn test_unit_conv() {
@@ -590,4 +572,16 @@ mod tests {
         rad.to_deg_mut();
         assert_eq!(rad, 57.295776);
     }
+
+    #[test]
+    fn test_nalgebra() {
+        let mut v = Vector3::<f32>::new(1., 1., 1.);
+        let o = v.clone();
+        v *= 3.;
+        assert_eq!(Vector3::<f32>::new(3., 3., 3.), v);
+        v /= 3.;
+        assert_eq!(o, v);
+        v -= o;
+        assert_eq!(Vector3::<f32>::new(0., 0., 0.), v);
+    }
 }

From 3708b3c35e6480482b411eba209fe9fe51cd87f7 Mon Sep 17 00:00:00 2001
From: juliangaal <juliangaal@protonmail.com>
Date: Mon, 20 May 2019 16:20:34 +0200
Subject: [PATCH 09/22] build example in base cargo.toml with dev-dependencies

---
 {example/.cargo => .cargo}/config |  0
 Cargo.toml                        |  6 ++++
 examples/.cargo/config            |  2 ++
 {example => examples}/Cargo.toml  |  0
 examples/main.rs                  | 52 +++++++++++++++++++++++++++++++
 {example => examples}/src/main.rs |  0
 6 files changed, 60 insertions(+)
 rename {example/.cargo => .cargo}/config (100%)
 create mode 100644 examples/.cargo/config
 rename {example => examples}/Cargo.toml (100%)
 create mode 100644 examples/main.rs
 rename {example => examples}/src/main.rs (100%)

diff --git a/example/.cargo/config b/.cargo/config
similarity index 100%
rename from example/.cargo/config
rename to .cargo/config
diff --git a/Cargo.toml b/Cargo.toml
index 47892e5..6d2d91e 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -17,3 +17,9 @@ libm = "0.1.2"
 [dependencies.nalgebra]
 default-features = false
 version = "0.18.0"
+
+[dev-dependencies]
+i2cdev = "0.4.1"
+linux-embedded-hal = "0.2.2"
+
+
diff --git a/examples/.cargo/config b/examples/.cargo/config
new file mode 100644
index 0000000..0c1c209
--- /dev/null
+++ b/examples/.cargo/config
@@ -0,0 +1,2 @@
+[target.armv7-unknown-linux-gnueabihf]
+linker = "arm-linux-gnueabihf-gcc"
diff --git a/example/Cargo.toml b/examples/Cargo.toml
similarity index 100%
rename from example/Cargo.toml
rename to examples/Cargo.toml
diff --git a/examples/main.rs b/examples/main.rs
new file mode 100644
index 0000000..13a2989
--- /dev/null
+++ b/examples/main.rs
@@ -0,0 +1,52 @@
+use mpu6050::*;
+use linux_embedded_hal::{I2cdev, Delay};
+use i2cdev::linux::LinuxI2CError;
+
+fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
+    let i2c = I2cdev::new("/dev/i2c-1")
+        .map_err(Mpu6050Error::I2c)?;
+
+    let delay = Delay;
+
+    let mut mpu = Mpu6050::new(i2c, delay);
+    mpu.init()?;
+    mpu.soft_calib(Steps(100))?;
+    mpu.calc_variance(Steps(50))?;
+
+    println!("Calibrated with bias: {:?}", mpu.get_bias().unwrap());
+    println!("Calculated variance: {:?}", mpu.get_variance().unwrap());
+
+    loop {
+        // get roll and pitch estimate
+        let acc = mpu.get_acc_angles()?;
+        println!("r/p: {}", acc);
+        
+        // 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 (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 (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 (steps)
+        let acc = mpu.get_acc_avg(Steps(5))?;
+        println!("acc avg: {}", acc);
+    }
+}
diff --git a/example/src/main.rs b/examples/src/main.rs
similarity index 100%
rename from example/src/main.rs
rename to examples/src/main.rs

From e8db6c2423a24bd7600b370d52212acec5998cc4 Mon Sep 17 00:00:00 2001
From: Julian Gaal <juliangaal@users.noreply.github.com>
Date: Mon, 20 May 2019 17:52:29 +0200
Subject: [PATCH 10/22] Update README.md

---
 README.md | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index af2f02b..9a906e6 100644
--- a/README.md
+++ b/README.md
@@ -88,8 +88,10 @@ $ cargo build --target=armv7-unknown-linux-gnueabihf
 ## TODO
 - [x] init with default settings
 - [ ] init with custom settings
+  - [x] custom sensitivity
+  - [ ] custom device initialization
 - [x] device verification
-- [ ] basic feature support as described [here](https://github.com/Tijndagamer/mpu6050/blob/master/mpu6050/mpu6050.py)
+- [x] basic feature support as described [here](https://github.com/Tijndagamer/mpu6050/blob/master/mpu6050/mpu6050.py)
 - [x] read gyro data
 - [x] read acc data
 - [x] software calibration

From ef3779db94fc70d1484e6516b2f4e7adbff701f7 Mon Sep 17 00:00:00 2001
From: Julian Gaal <juliangaal@users.noreply.github.com>
Date: Tue, 21 May 2019 08:57:45 +0200
Subject: [PATCH 11/22] add crates.io badge

---
 README.md | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index 9a906e6..98e760b 100644
--- a/README.md
+++ b/README.md
@@ -1,11 +1,8 @@
-# MPU 6050 Rust Driver
-
-Platform agnostic driver for [MPU 6050 6-axis IMU](https://www.invensense.com/products/motion-tracking/6-axis/mpu-6500/) using [`embedded_hal`](https://github.com/rust-embedded/embedded-hal).
+# `mpu6050` ![crates.io](https://img.shields.io/crates/v/mpu6050.svg)
+> no_std driver for the MPU6050 6-axis IMU
 
 [Datasheet](https://www.invensense.com/wp-content/uploads/2015/02/MPU-6500-Datasheet2.pdf) | [Register Map Sheet](https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf)
 
-[Docs](https://docs.rs/mpu6050/0.1.2/mpu6050/) | [Crate](https://crates.io/crates/mpu6050)
-
 Visualization options for testing and development in [viz branch](https://github.com/juliangaal/mpu6050/tree/viz/viz)
 
 ### Basic usage 

From aadf2e6c532d1e541b3f5ab11c0d6202a5aa54fa Mon Sep 17 00:00:00 2001
From: juliangaal <juliangaal@protonmail.com>
Date: Tue, 21 May 2019 09:18:27 +0200
Subject: [PATCH 12/22] bump libm version

---
 Cargo.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Cargo.toml b/Cargo.toml
index 47892e5..b06215e 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -12,7 +12,7 @@ license = "MIT"
 
 [dependencies]
 embedded-hal = "0.2.2"
-libm = "0.1.2"
+libm = "0.1.3"
 
 [dependencies.nalgebra]
 default-features = false

From 55b07342a02ba6c85f4eda583a013fb9ad6f624b Mon Sep 17 00:00:00 2001
From: juliangaal <juliangaal@protonmail.com>
Date: Tue, 21 May 2019 09:19:06 +0200
Subject: [PATCH 13/22] formatting

---
 Makefile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Makefile b/Makefile
index 8531891..880b951 100644
--- a/Makefile
+++ b/Makefile
@@ -8,10 +8,10 @@ build:
 	cargo build
 
 ext:
-	cd $(home)/example && cargo build --$(mode) --target $(target) 
+	cd $(home)/example && cargo build --$(mode) --target=$(target) 
 
 viz:
-	cd $(home)/viz/viz && cargo build --$(mode) --target $(target) 
+	cd $(home)/viz/viz && cargo build --$(mode) --target=$(target) 
 	
 deploy: ext
 	scp $(home)/example/target/$(target)/$(mode)/example pi@192.168.1.136:

From 59f7834c61f5f1822d37b6a689d7e1978e6d68d8 Mon Sep 17 00:00:00 2001
From: juliangaal <juliangaal@protonmail.com>
Date: Tue, 21 May 2019 09:30:18 +0200
Subject: [PATCH 14/22] use cargo examples structure

---
 examples/Cargo.toml            | 10 -------
 examples/{main.rs => linux.rs} |  0
 examples/src/main.rs           | 52 ----------------------------------
 3 files changed, 62 deletions(-)
 delete mode 100644 examples/Cargo.toml
 rename examples/{main.rs => linux.rs} (100%)
 delete mode 100644 examples/src/main.rs

diff --git a/examples/Cargo.toml b/examples/Cargo.toml
deleted file mode 100644
index 76a2d21..0000000
--- a/examples/Cargo.toml
+++ /dev/null
@@ -1,10 +0,0 @@
-[package]
-name = "example"
-version = "0.1.0"
-authors = ["Julian Gaal <juliangaal@protonmail.com>"]
-edition = "2018"
-
-[dependencies]
-mpu6050 = { path = "../" } 
-i2cdev = "0.4.1"
-linux-embedded-hal = "0.2.2"
diff --git a/examples/main.rs b/examples/linux.rs
similarity index 100%
rename from examples/main.rs
rename to examples/linux.rs
diff --git a/examples/src/main.rs b/examples/src/main.rs
deleted file mode 100644
index ae4386a..0000000
--- a/examples/src/main.rs
+++ /dev/null
@@ -1,52 +0,0 @@
-use mpu6050::*;
-use linux_embedded_hal::{I2cdev, Delay};
-use i2cdev::linux::LinuxI2CError;
-
-fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
-    let i2c = I2cdev::new("/dev/i2c-1")
-        .map_err(Mpu6050Error::I2c)?;
-
-    let delay = Delay;
-
-    let mut mpu = Mpu6050::new(i2c, delay);
-    mpu.init()?;
-    mpu.soft_calib(Steps(100))?;
-    mpu.calc_variance(Steps(50))?;
-
-    println!("Calibrated with bias: {:?}", mpu.get_bias().unwrap());
-    println!("Calculated variance: {:?}", mpu.get_variance().unwrap());
-
-    loop {
-        // get roll and pitch estimate
-        let acc = mpu.get_acc_angles()?;
-        println!("r/p: {:?}", acc);
-
-        // 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 (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 (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 (steps)
-        let acc = mpu.get_acc_avg(Steps(5))?;
-        println!("acc avg: {:?}", acc);
-    }
-}

From 182e7b5eca0600915ac67ffdb0f256eb8549be9c Mon Sep 17 00:00:00 2001
From: Julian Gaal <gjulian@uos.de>
Date: Thu, 23 May 2019 08:40:59 +0200
Subject: [PATCH 15/22] apply nix patch

---
 Cargo.toml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/Cargo.toml b/Cargo.toml
index b3357c6..875dcb0 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -22,4 +22,6 @@ version = "0.18.0"
 i2cdev = "0.4.1"
 linux-embedded-hal = "0.2.2"
 
-
+# nix version bump, to fix https://github.com/nix-rust/nix/issues/1057#event-2356640839
+[patch.crates-io]
+i2cdev = { git = "https://github.com/juliangaal/rust-i2cdev" }

From cefa081630439a481cd5aff70a761ac52d46acb8 Mon Sep 17 00:00:00 2001
From: Julian Gaal <gjulian@uos.de>
Date: Thu, 23 May 2019 08:42:42 +0200
Subject: [PATCH 16/22] adapt Makefile to example structure

---
 Makefile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Makefile b/Makefile
index 880b951..acb475f 100644
--- a/Makefile
+++ b/Makefile
@@ -8,7 +8,7 @@ build:
 	cargo build
 
 ext:
-	cd $(home)/example && cargo build --$(mode) --target=$(target) 
+	cargo build --examples --$(mode) --target=$(target) 
 
 viz:
 	cd $(home)/viz/viz && cargo build --$(mode) --target=$(target) 

From f42bd47882ea5e9894e72f0663e7339959293a4a Mon Sep 17 00:00:00 2001
From: Julian Gaal <gjulian@uos.de>
Date: Thu, 23 May 2019 08:52:56 +0200
Subject: [PATCH 17/22] rm ununsed imports

---
 src/lib.rs | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/lib.rs b/src/lib.rs
index f0bd123..46bdfcc 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -556,7 +556,6 @@ where
 #[cfg(test)]
 mod tests {
     use super::*;
-    use nalgebra as na;
 
     #[test]
     fn test_unit_conv() {

From f8b64f8fcaafe916477901bdfeb2656d2a9ce51e Mon Sep 17 00:00:00 2001
From: Julian Gaal <gjulian@uos.de>
Date: Thu, 23 May 2019 08:53:52 +0200
Subject: [PATCH 18/22] delete .cargo

---
 examples/.cargo/config | 2 --
 1 file changed, 2 deletions(-)
 delete mode 100644 examples/.cargo/config

diff --git a/examples/.cargo/config b/examples/.cargo/config
deleted file mode 100644
index 0c1c209..0000000
--- a/examples/.cargo/config
+++ /dev/null
@@ -1,2 +0,0 @@
-[target.armv7-unknown-linux-gnueabihf]
-linker = "arm-linux-gnueabihf-gcc"

From c4083ea87de0d88dede8cbea01a21563a3e925e8 Mon Sep 17 00:00:00 2001
From: Julian Gaal <gjulian@uos.de>
Date: Wed, 29 May 2019 16:14:20 +0200
Subject: [PATCH 19/22] remove i2cdev patch - fixed in i2cdev 4.1.2 with nix
 0.14

---
 Cargo.toml | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index 875dcb0..d8c9086 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -19,9 +19,5 @@ default-features = false
 version = "0.18.0"
 
 [dev-dependencies]
-i2cdev = "0.4.1"
+i2cdev = "0.4.2"
 linux-embedded-hal = "0.2.2"
-
-# nix version bump, to fix https://github.com/nix-rust/nix/issues/1057#event-2356640839
-[patch.crates-io]
-i2cdev = { git = "https://github.com/juliangaal/rust-i2cdev" }

From b86b9d77c1975d37b6b42e2b6682cad739e9233f Mon Sep 17 00:00:00 2001
From: juliangaal <juliangaal@protonmail.com>
Date: Thu, 6 Jun 2019 19:29:17 +0200
Subject: [PATCH 20/22] adjust to example restructuring

---
 Makefile | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Makefile b/Makefile
index acb475f..391f1a4 100644
--- a/Makefile
+++ b/Makefile
@@ -7,13 +7,13 @@ home = $(shell pwd)
 build:
 	cargo build
 
-ext:
+linux:
 	cargo build --examples --$(mode) --target=$(target) 
 
 viz:
 	cd $(home)/viz/viz && cargo build --$(mode) --target=$(target) 
 	
-deploy: ext
-	scp $(home)/example/target/$(target)/$(mode)/example pi@192.168.1.136:
+upload: linux 
+	scp $(home)/target/armv7-unknown-linux-gnueabihf/release/examples/linux pi@192.168.1.136:
 	
 .PHONY: deploy build ext viz

From e25c04d782ff129a1144b596106c6cfd2818d946 Mon Sep 17 00:00:00 2001
From: juliangaal <juliangaal@protonmail.com>
Date: Thu, 6 Jun 2019 19:29:35 +0200
Subject: [PATCH 21/22] update linux example compilation instructions

---
 README.md | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index 98e760b..aa42ddc 100644
--- a/README.md
+++ b/README.md
@@ -63,23 +63,21 @@ fn main() -> Result<(), Error<LinuxI2CError>> {
 ```
 
 #### Compile linux example (Raspberry Pi 3B)
-files [here](https://github.com/juliangaal/mpu6050/blob/master/example/)
 
 Requirements: 
 ```bash
-$ apt-get install -qq gcc-armv7-linux-gnueabihf libc6-armhf-cross libc6-dev-armhf-cross
+$ apt-get install -qq gcc-arm-linux-gnueabihf libc6-armhf-cross libc6-dev-armhf-cross
 ```
-and all dependencies in `example/Cargo.toml`
 
 Rustup:
 ```bash
 $ rustup target add armv7-unknown-linux-gnueabihf
 ```
-To configure the linker use `example/.cargo/config`
+To configure the linker use `.cargo/config` file
 
 cross-compile with 
 ```bash
-$ cargo build --target=armv7-unknown-linux-gnueabihf
+$ cargo build --examples --target=armv7-unknown-linux-gnueabihf
 ```
 
 ## TODO

From dd1d0a176c56142a4c64617a79b9cfadd2dab0b7 Mon Sep 17 00:00:00 2001
From: juliangaal <juliangaal@protonmail.com>
Date: Thu, 6 Jun 2019 19:40:51 +0200
Subject: [PATCH 22/22] bump version: nalgebra migration

---
 Cargo.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Cargo.toml b/Cargo.toml
index d8c9086..8302425 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "mpu6050"
-version = "0.1.2"
+version = "0.1.3"
 authors = ["Julian Gaal <gjulian@uos.de>"]
 edition = "2018"