Architecture

everything-imu is a Rust workspace: a set of focused crates behind a Tauri 2 desktop shell, plus small console-side companion apps for devices that can’t be driven directly.

Crate dependency graph

                    ┌──────────────┐
                    │  tauri-app   │
                    └──────┬───────┘
                           │
                    ┌──────▼───────┐
                    │     core     │
                    └──┬─────┬─────┘
                       │     │
        ┌──────────────┼─────┴──────────┬───────────────┐
        │              │                │               │
   ┌────▼────┐  ┌──────▼──────┐  ┌──────▼──────┐  ┌─────▼──────┐
   │device-* │  │slime-tracker│  │ imu-fusion  │  │persistence │
   └────┬────┘  └─────────────┘  └──────┬──────┘  └────────────┘
        │                               │
   ┌────▼────────┐                ┌──────▼──────┐
   │device-traits│                │  imu-math   │
   └─────────────┘                └─────────────┘

Crate responsibilities

slime-tracker - SlimeVR UDP wire protocol (handshake, sensor info, rotation, accel, BUNDLE, feature flags) with BUNDLE auto-fallback gating and wire-compat tests against reference fixtures.
imu-math - quaternion ops, coordinate transforms, and calibration application. Pure, deterministic, nalgebra-based.
imu-fusion - VQF (rest-bias estimation), Madgwick, and BasicVQF. Tested against reference output within ε < 1e-6 rad.
device-traits - the Device / DeviceFactory interfaces shared by every driver.
device-joycon - Joy-Con 1, Joy-Con 2, and Pro Controllers. JC1/Pro over HID with SPI calibration; JC2 over BLE with GATT services and commands.
device-dualsense - DualSense, DualSense Edge, and DualShock 4 over USB and Bluetooth (HID over Bluetooth Classic, not BLE). Gyro/accel/battery, PS-button reset, RGB lightbar, and the DS5 hardware sensor timestamp.
device-psmove - PS Move ZCM1 and ZCM2 over USB and Bluetooth.
device-wii - TCP listener for the Wii Remote Wi-Fi forwarder.
device-3ds / device-vita - UDP listeners for the 3DS and PS Vita homebrew forwarders.
device-steam-deck / device-steam-controller - Valve HID IMUs over USB.
device-tesla - synthesises IMU from a vehicle’s heading and speed via the Fleet API.
device-hopx - HOPX / Triki BLE IMU over the Nordic UART Service, discovered by advertised name prefix.
device-remote - UDP ingest for the eimu remote-hub protocol (phone/watch).
osc-haptics - VRChat OSC → rumble bridge.
persistence - SQLite settings and calibration store via rusqlite.
core - AppState, device-discovery Supervisor, and the per-device Pipeline (IMU events → fusion → SlimeVR UDP).

Data flow

[BLE/HID device] → device-* crate → ChannelInfo stream
                                          │
                                          ▼
                                  imu-fusion (VQF)
                                          │
                                          ▼ Quaternion + accel
                                  slime-tracker
                                          │
                                          ▼ UDP packet
                                  SlimeVR-Server (port 6969)

Parallel:  core::AppState → Tauri event "tracker_update"
           → throttled 30 Hz → React store (Zustand) → Dashboard UI

IPC (UI ↔ core)

tauri-specta generates TypeScript types from Rust as a single source of truth. High-frequency tracker pose (60-200 Hz) is emitted as a tracker_update event; the UI subscribes and throttles its render loop to 30-60 Hz.

Frontend stack

React 19 + Vite + TypeScript, Tailwind, Radix primitives, a cmdk command palette, live charts, and Zustand stores that mirror the Rust core state via Tauri events.

Distribution

Target	Bundle
Windows	NSIS `.exe` installer (Tauri bundler)
Linux	`.deb`, `.AppImage` (Tauri bundler)