Maintanance + no alloc adjustment.

.cargo/config.toml

@@ -1,6 +1,3 @@
-[build]
-target = "aarch64-unknown-linux-gnu"
-
 [alias]
 re = "run --example"
 rre = "run --release --example"

.github/workflows/rust.yml

@@ -0,0 +1,22 @@
+name: Rust
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v4
+    - name: Build
+      run: cargo build --verbose
+    - name: Run tests
+      run: cargo test --verbose

.gitignore

@@ -0,0 +1,21 @@
+# Generated by Cargo
+# will have compiled files and executables
+debug/
+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
+
+# These are backup files generated by rustfmt
+**/*.rs.bk
+
+# MSVC Windows builds of rustc generate these, which store debugging information
+*.pdb
+
+# RustRover
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/

.vscode/settings.json

@@ -1,5 +1,5 @@
 {
-    "rust-analyzer.cargo.target": "aarch64-unknown-linux-gnu",
+    "rust-analyzer.cargo.features": ["alloc"],
     "editor.bracketPairColorization.enabled": true,
     "editor.guides.bracketPairs":"active"
 }

Cargo.toml

@@ -2,29 +2,34 @@
 authors = ["florian.leon <[email protected]>"]
 name = "datafusion_imu"
 description = "Performs datafusion for 6 or 9 DOF sensors"
-version = "0.1.3"
+version = "0.2.0"
 edition = "2021"
 license = "0BSD"
 readme = "README.md"
 exclude = ["/.cargo", "/.vscode", "*.code-workspace"]
-keywords = ["no-std", "datafusion", "IMU", "Kalman"]
+keywords = ["no-std", "datafusion", "IMU", "Kalman", "sensor-fusion"]
 categories = ["no-std"]
 repository = "https://github.com/SII-Public-Research/Datafusion"
 
+[dependencies]
+
 [dependencies.nalgebra]
-version = "0.31.0"
+version = "0.33.0"
 default-features = false
-features = ["libm-force"]
 
 [dependencies.micromath]
 version = "2.0.0"
 
 [dev-dependencies.rppal]
-version = "0.13.1"
+version = "0.18.0"
 features = ["hal"]
 
 [dev-dependencies.embedded-hal]
-version = "0.2.7"
+version = "1.0.0"
 
 [dev-dependencies.adafruit_nxp]
 version = "0.1.2"
+
+[features]
+default = ["alloc"]
+alloc = []

README.md

@@ -49,7 +49,7 @@ use rppal::i2c::I2c;
 use embedded_hal::blocking::delay::*;
 
 use adafruit::*;
-use datafusion::{self as _, Fusion};
+use datafusion::{self as _, filters::Smooth, Fusion};
 
 fn main() -> Result<(), SensorError<rppal::i2c::Error>> {
 
@@ -89,7 +89,7 @@ fn main() -> Result<(), SensorError<rppal::i2c::Error>> {
     let mag_rz = sensor.mag_sensor.get_scaled_z();
 
     // Create a datafusion object
-    let mut fusion = Fusion::new(0.05, 20., 50);
+    let mut fusion = Fusion::new(0.05, 20., Smooth::new(50), Smooth::new(50), Smooth::new(50));
     fusion.set_mode(datafusion::Mode::Dof9);
 
     // Set data to the fusion object

examples/auto_reset.rs

@@ -3,14 +3,12 @@ use std::time::Instant;
 use rppal::hal::Delay;
 use rppal::i2c::I2c;
 
-use embedded_hal::blocking::delay::*;
+use embedded_hal::delay::*;
 
 use adafruit_nxp::*;
-use datafusion_imu::{self as _, Fusion, Mode};
-
+use datafusion_imu::{self as _, filters::Smooth, Fusion, Mode};
 
 fn main() -> Result<(), SensorError<rppal::i2c::Error>> {
-
     // Init a delay used in certain functions and between each loop.
     let mut delay = Delay::new();
 
@@ -43,20 +41,20 @@ fn main() -> Result<(), SensorError<rppal::i2c::Error>> {
     let gyro_y = sensor.gyro_sensor.get_scaled_y();
     let gyro_z = sensor.gyro_sensor.get_scaled_z();
 
-    /* Mode DOF9 
+    /* Mode DOF9
     let mag_rx = sensor.mag_sensor.get_scaled_x();
     let mag_ry = sensor.mag_sensor.get_scaled_y();
     let mag_rz = sensor.mag_sensor.get_scaled_z();
     */
 
     // Create a datafusion object
-    let mut fusion = Fusion::new(0.05, 20., 50);
+    let mut fusion = Fusion::new(0.05, 20., Smooth::new(50), Smooth::new(50), Smooth::new(50));
     fusion.set_mode(Mode::Dof6);
 
     /* DOF9
     // Set data to the fusion object DOF9
     //fusion.set_data_dof9(acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z, mag_rx, mag_ry, mag_rz);
-    */
+     */
 
     // Set data to the fusion object DOF6
     fusion.set_data_dof6(acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z);
@@ -65,11 +63,11 @@ fn main() -> Result<(), SensorError<rppal::i2c::Error>> {
     fusion.init();
 
     // Distance auto reset variables
-    let mut distance= 0.0;
-    let mut old_distance:f32;
+    let mut distance = 0.0;
+    let mut old_distance: f32;
     let mut counter_reset_distance = 0;
 
-    // Angle auto reset variables --> DOF6 Only 
+    // Angle auto reset variables --> DOF6 Only
     let mut angle_z = 0.0;
     let mut old_angle_z: f32;
     let mut counter_reset_angle_z = 0;
@@ -78,7 +76,6 @@ fn main() -> Result<(), SensorError<rppal::i2c::Error>> {
     let mut time = Instant::now();
 
     loop {
-
         // Calculate delta time in seconds
         let dt = time.elapsed().as_micros() as f32 / 1_000_000.;
         time = Instant::now();
@@ -138,6 +135,6 @@ fn main() -> Result<(), SensorError<rppal::i2c::Error>> {
         std::println!("Angle Z: {} °", angle_z);
         std::println!("Total distance traveled: {} cm", distance);
 
-        delay.delay_ms(5_u8);
+        delay.delay_ms(5_u32);
     }
 }

examples/rasp.rs

@@ -3,13 +3,12 @@ use std::time::Instant;
 use rppal::hal::Delay;
 use rppal::i2c::I2c;
 
-use embedded_hal::blocking::delay::*;
+use embedded_hal::delay::*;
 
 use adafruit_nxp::*;
-use datafusion_imu::{self as _, Fusion};
+use datafusion_imu::{self as _, filters::Smooth, Fusion};
 
 fn main() -> Result<(), SensorError<rppal::i2c::Error>> {
-
     // Init a delay used in certain functions and between each loop.
     let mut delay = Delay::new();
 
@@ -47,11 +46,13 @@ fn main() -> Result<(), SensorError<rppal::i2c::Error>> {
     let mag_rz = sensor.mag_sensor.get_scaled_z();
 
     // Create a datafusion object
-    let mut fusion = Fusion::new(0.05, 20., 50);
+    let mut fusion = Fusion::new(0.05, 20., Smooth::new(50), Smooth::new(50), Smooth::new(50));
     fusion.set_mode(datafusion_imu::Mode::Dof9);
 
     // Set data to the fusion object
-    fusion.set_data_dof9(acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z, mag_rx, mag_ry, mag_rz);
+    fusion.set_data_dof9(
+        acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z, mag_rx, mag_ry, mag_rz,
+    );
 
     // Initialize the datafusion object
     fusion.init();
@@ -63,7 +64,6 @@ fn main() -> Result<(), SensorError<rppal::i2c::Error>> {
     let mut time = Instant::now();
 
     loop {
-
         // Calculate delta time in seconds
         let dt = time.elapsed().as_micros() as f32 / 1_000_000.;
         time = Instant::now();
@@ -86,7 +86,9 @@ fn main() -> Result<(), SensorError<rppal::i2c::Error>> {
         let mag_rz = sensor.mag_sensor.get_scaled_z();
 
         // Set data to the fusion object
-        fusion.set_data_dof9(acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z, mag_rx, mag_ry, mag_rz);
+        fusion.set_data_dof9(
+            acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z, mag_rx, mag_ry, mag_rz,
+        );
 
         // Perform a step of the algorithm
         fusion.step(dt);
@@ -103,6 +105,6 @@ fn main() -> Result<(), SensorError<rppal::i2c::Error>> {
         std::println!(" Angle Z: {} °", angle_z);
         std::println!("Total distance traveled: {} cm", distance);
 
-        delay.delay_ms(5_u8);
+        delay.delay_ms(5_u32);
     }
-}
+}