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steps struct for filtering, more clear

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juliangaal 2019-04-24 16:07:22 +02:00
commit c7c9accec7
2 changed files with 20 additions and 21 deletions
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16
example/src/main.rs
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@ -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);
}
}

25
src/lib.rs
View file

@ -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)
}