datafusion_imu 0.1.3

Performs datafusion for 6 or 9 DOF sensors
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143

use std::time::Instant;

use rppal::hal::Delay;
use rppal::i2c::I2c;

use embedded_hal::blocking::delay::*;

use adafruit_nxp::*;
use datafusion_imu::{self as _, 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();

    // Setup the raspberry's I2C interface to create the sensor.
    let i2c = I2c::new().unwrap();

    // Create an Adafruit object
    let mut sensor = AdafruitNXP::new(0x8700A, 0x8700B, 0x0021002C, i2c);

    // Check if the sensor is ready to go
    let ready = sensor.begin()?;
    if !ready {
        std::eprintln!("Sensor not detected, check your wiring!");
        std::process::exit(1);
    }

    sensor.set_accel_range(config::AccelMagRange::Range2g)?;
    sensor.set_gyro_range(config::GyroRange::Range500dps)?;
    sensor.set_accelmag_output_data_rate(config::AccelMagODR::ODR200HZ)?;
    sensor.set_gyro_output_data_rate(config::GyroODR::ODR200HZ)?;

    // Initialize the sensor
    sensor.read_data()?;

    let acc_x = sensor.accel_sensor.get_scaled_x();
    let acc_y = sensor.accel_sensor.get_scaled_y();
    let acc_z = sensor.accel_sensor.get_scaled_z();

    let gyro_x = sensor.gyro_sensor.get_scaled_x();
    let gyro_y = sensor.gyro_sensor.get_scaled_y();
    let gyro_z = sensor.gyro_sensor.get_scaled_z();

    /* 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);
    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);

    // Initialize the datafusion object
    fusion.init();

    // Distance auto reset variables
    let mut distance= 0.0;
    let mut old_distance:f32;
    let mut counter_reset_distance = 0;

    // 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;

    // Setting up the delta time
    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();

        // Update old values for the next loop
        fusion.set_old_values(acc_x, acc_y);

        sensor.read_data()?;

        let acc_x = sensor.accel_sensor.get_scaled_x();
        let acc_y = sensor.accel_sensor.get_scaled_y();
        let acc_z = sensor.accel_sensor.get_scaled_z();

        let gyro_x = sensor.gyro_sensor.get_scaled_x();
        let gyro_y = sensor.gyro_sensor.get_scaled_y();
        let gyro_z = sensor.gyro_sensor.get_scaled_z();

        // Set data to the fusion object
        fusion.set_data_dof6(acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z);

        // Update old variables
        old_distance = distance;
        old_angle_z = angle_z;

        // Perform a step of the algorithm
        fusion.step(dt);

        // Collect outputs
        angle_z = fusion.get_z_angle();
        distance = fusion.get_final_distance();

        // Compare data for distance
        if (old_distance - distance).abs() == 0.0 {
            if counter_reset_distance == 500 {
                counter_reset_distance = 0;
                fusion.reset_distance();
            } else {
                counter_reset_distance += 1;
            }
        } else {
            counter_reset_distance = 0;
        }

        // Compare data for angle_z --> DOF6 Only
        if (old_angle_z - angle_z).abs() == 0.0 {
            if counter_reset_angle_z == 500 {
                counter_reset_angle_z = 0;
                fusion.reset_angle_z();
            } else {
                counter_reset_angle_z += 1;
            }
        } else {
            counter_reset_angle_z = 0;
        }

        // Print data
        std::println!("Angle Z: {} °", angle_z);
        std::println!("Total distance traveled: {} cm", distance);

        delay.delay_ms(5_u8);
    }
}