🔀️ Merge branch 'yann/refactor/imu/standardize-naming' into develop

app/os/main.cpp

@@ -260,12 +260,12 @@ namespace imu {
 
 	namespace internal {
 
-		auto drdy_irq = CoreInterruptIn {PinName::SENSOR_IMU_IRQ};
-		auto i2c	  = CoreI2C(PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL);
+		auto irq = CoreInterruptIn {PinName::SENSOR_IMU_IRQ};
+		auto i2c = CoreI2C(PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL);
 
 	}	// namespace internal
 
-	auto coreimu = CoreIMU(internal::i2c, internal::drdy_irq);
+	auto coreimu = CoreIMU(internal::i2c, internal::irq);
 
 }	// namespace imu
 

drivers/CoreIMU/include/CoreIMU.hpp

@@ -18,11 +18,13 @@ namespace leka {
 class CoreIMU : public interface::IMU, public interface::DeepSleepEnabled
 {
   public:
-	explicit CoreIMU(interface::I2C &i2c, CoreInterruptIn &drdy_irq);
+	explicit CoreIMU(interface::I2C &i2c, CoreInterruptIn &irq);
 
 	void init() final;
 
-	void registerOnGyDataReadyCallback(drdy_callback_t const &callback) final;
+	void registerOnDataReadyCallback(data_ready_callback_t const &callback) final;
+	void enableOnDataReadyInterrupt() final;
+	void disableOnDataReadyInterrupt() final;
 
 	void setPowerMode(PowerMode mode) final;
 
@@ -38,20 +40,21 @@ class CoreIMU : public interface::IMU, public interface::DeepSleepEnabled
 	static auto ptr_io_read(CoreIMU *handle, uint8_t read_address, uint8_t *p_buffer,
 							uint16_t number_bytes_to_read) -> int32_t;
 
-	void onGyrDataReadyHandler(auto timestamp);
-	void setGyrDataReadyInterrupt();
+	void onDataReadyHandler(auto timestamp);
+
+	void setDataReadyInterruptCallback(std::function<void()> const &callback);
 
 	interface::I2C &_i2c;
 	CoreEventQueue _event_queue {};
 	lsm6dsox_md_t _config {};
 	stmdev_ctx_t _register_io_function {};
 	SensorData _sensor_data {};
-	CoreInterruptIn &_drdy_irq;
+	CoreInterruptIn &_irq;
 	const char _address = LSM6DSOX_I2C_ADD_L;
 
 	std::array<int16_t, 3> data_raw_xl {};
 	std::array<int16_t, 3> data_raw_gy {};
-	drdy_callback_t _on_gy_data_ready_callback {};
+	data_ready_callback_t _on_data_ready_callback {};
 
 	static constexpr uint8_t kMaxBufferLength = 32;
 	std::array<uint8_t, kMaxBufferLength> _rx_buffer {};

drivers/CoreIMU/source/CoreIMU.cpp

@@ -6,7 +6,7 @@
 
 namespace leka {
 
-CoreIMU::CoreIMU(interface::I2C &i2c, CoreInterruptIn &drdy_irq) : _i2c(i2c), _drdy_irq(drdy_irq)
+CoreIMU::CoreIMU(interface::I2C &i2c, CoreInterruptIn &irq) : _i2c(i2c), _irq(irq)
 {
 	// ? NOLINTNEXTLINE - allow reinterpret_cast as there are no alternatives
 	_register_io_function.write_reg = reinterpret_cast<stmdev_write_ptr>(ptr_io_write);
@@ -30,7 +30,10 @@ void CoreIMU::init()
 
 	lsm6dsox_mode_set(&_register_io_function, nullptr, &_config);
 
-	setGyrDataReadyInterrupt();
+	lsm6dsox_dataready_pulsed_t data_ready_pulsed {LSM6DSOX_DRDY_PULSED};
+	lsm6dsox_data_ready_mode_set(&_register_io_function, data_ready_pulsed);
+
+	enableOnDataReadyInterrupt();
 }
 
 void CoreIMU::setPowerMode(PowerMode mode)
@@ -71,12 +74,12 @@ void CoreIMU::setPowerMode(PowerMode mode)
 	lsm6dsox_gy_data_rate_set(&_register_io_function, gy_odr);
 }
 
-void CoreIMU::registerOnGyDataReadyCallback(drdy_callback_t const &callback)
+void CoreIMU::registerOnDataReadyCallback(data_ready_callback_t const &callback)
 {
-	_on_gy_data_ready_callback = callback;
+	_on_data_ready_callback = callback;
 }
 
-void CoreIMU::onGyrDataReadyHandler(auto timestamp)
+void CoreIMU::onDataReadyHandler(auto timestamp)
 {
 	static constexpr auto _1k = float {1000.F};
 
@@ -92,11 +95,38 @@ void CoreIMU::onGyrDataReadyHandler(auto timestamp)
 	_sensor_data.xl.y = lsm6dsox_from_fs4_to_mg(data_raw_xl.at(1)) / _1k;
 	_sensor_data.xl.z = lsm6dsox_from_fs4_to_mg(data_raw_xl.at(2)) / _1k;
 
-	if (_on_gy_data_ready_callback) {
-		_on_gy_data_ready_callback(_sensor_data);
+	if (_on_data_ready_callback) {
+		_on_data_ready_callback(_sensor_data);
 	}
 }
 
+void CoreIMU::enableOnDataReadyInterrupt()
+{
+	lsm6dsox_pin_int1_route_t lsm6dsox_int1 {
+		.drdy_xl  = PROPERTY_ENABLE,
+		.den_flag = PROPERTY_ENABLE,
+	};
+	lsm6dsox_pin_int1_route_set(&_register_io_function, lsm6dsox_int1);
+
+	auto on_data_ready_callback = [this] {
+		auto timestamp = rtos::Kernel::Clock::now();
+		_event_queue.call([this, timestamp] { onDataReadyHandler(timestamp); });
+	};
+
+	setDataReadyInterruptCallback(on_data_ready_callback);
+}
+
+void CoreIMU::disableOnDataReadyInterrupt()
+{
+	lsm6dsox_pin_int1_route_t lsm6dsox_int1 {
+		.drdy_xl  = PROPERTY_DISABLE,
+		.den_flag = PROPERTY_DISABLE,
+	};
+	lsm6dsox_pin_int1_route_set(&_register_io_function, lsm6dsox_int1);
+
+	setDataReadyInterruptCallback({});
+}
+
 void CoreIMU::enableDeepSleep()
 {
 	setPowerMode(interface::IMU::PowerMode::Off);
@@ -143,23 +173,11 @@ auto CoreIMU::ptr_io_read(CoreIMU *handle, uint8_t read_address, uint8_t *p_buff
 	return handle->read(read_address, number_bytes_to_read, p_buffer);
 }
 
-void CoreIMU::setGyrDataReadyInterrupt()
+void CoreIMU::setDataReadyInterruptCallback(std::function<void()> const &callback)
 {
-	lsm6dsox_dataready_pulsed_t drdy_pulsed {LSM6DSOX_DRDY_PULSED};
-	lsm6dsox_data_ready_mode_set(&_register_io_function, drdy_pulsed);
-
-	lsm6dsox_pin_int1_route_t gyro_int1 {
-		.drdy_xl  = PROPERTY_ENABLE,
-		.den_flag = PROPERTY_ENABLE,
-	};
-	lsm6dsox_pin_int1_route_set(&_register_io_function, gyro_int1);
-
-	auto gyr_drdy_callback = [this] {
-		auto timestamp = rtos::Kernel::Clock::now();
-		_event_queue.call([this, timestamp] { onGyrDataReadyHandler(timestamp); });
-	};
-
-	_drdy_irq.onRise(gyr_drdy_callback);
+	if (callback) {
+		_irq.onRise(callback);
+	}
 }
 
 }	// namespace leka

drivers/CoreIMU/tests/CoreIMU_test.cpp

@@ -31,9 +31,9 @@ class CoreIMUTest : public ::testing::Test
 	// void TearDown() override {}
 
 	mock::CoreI2C mocki2c {};
-	CoreInterruptIn drdy_irq {NC};
+	CoreInterruptIn irq {NC};
 
-	CoreIMU coreimu {mocki2c, drdy_irq};
+	CoreIMU coreimu {mocki2c, irq};
 
 	// ? Instantiation of mock::EventQueue is needed to setup the underlying stubs that will make the mock work
 	// ? correctly. Without it UT are failing
@@ -65,28 +65,44 @@ TEST_F(CoreIMUTest, setPowerMode)
 	coreimu.setPowerMode(CoreIMU::PowerMode::High);
 }
 
-TEST_F(CoreIMUTest, onGyrDRDY)
+TEST_F(CoreIMUTest, onDataReady)
 {
 	MockFunction<void(const leka::interface::IMU::SensorData &data)> mock_callback;
 
 	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
 	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
 	EXPECT_CALL(mock_callback, Call).Times(1);
 
-	coreimu.registerOnGyDataReadyCallback(mock_callback.AsStdFunction());
+	coreimu.registerOnDataReadyCallback(mock_callback.AsStdFunction());
 
 	auto on_rise_callback = spy_InterruptIn_getRiseCallback();
 	on_rise_callback();
 }
 
-TEST_F(CoreIMUTest, emptyOnGyrDrdyCallback)
+TEST_F(CoreIMUTest, emptyOnDataReadyCallback)
 {
-	coreimu.registerOnGyDataReadyCallback({});
+	coreimu.registerOnDataReadyCallback({});
 
 	auto on_rise_callback = spy_InterruptIn_getRiseCallback();
 	on_rise_callback();
 }
 
+TEST_F(CoreIMUTest, enableOnDataReadyInterrupt)
+{
+	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
+	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
+
+	coreimu.enableOnDataReadyInterrupt();
+}
+
+TEST_F(CoreIMUTest, disableOnDataReadyInterrupt)
+{
+	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
+	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
+
+	coreimu.disableOnDataReadyInterrupt();
+}
+
 TEST_F(CoreIMUTest, enableDeepSleep)
 {
 	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));

include/interface/drivers/IMU.hpp

@@ -45,10 +45,15 @@ class IMU
 		time_point_t timestamp {};
 	};
 
-	using drdy_callback_t = std::function<void(const SensorData)>;
+	using data_ready_callback_t = std::function<void(const SensorData)>;
 
-	virtual void init()															= 0;
-	virtual void registerOnGyDataReadyCallback(drdy_callback_t const &callback) = 0;
-	virtual void setPowerMode(PowerMode)										= 0;
+	virtual void init() = 0;
+
+	virtual void registerOnDataReadyCallback(data_ready_callback_t const &callback) = 0;
+
+	virtual void enableOnDataReadyInterrupt()  = 0;
+	virtual void disableOnDataReadyInterrupt() = 0;
+
+	virtual void setPowerMode(PowerMode) = 0;
 };
 }	// namespace leka::interface

libs/IMUKit/include/IMUKit.hpp

@@ -23,7 +23,7 @@ class IMUKit : public interface::IMUKit
 	[[nodiscard]] auto getEulerAngles() const -> EulerAngles final;
 
   private:
-	void drdy_callback(interface::IMU::SensorData data);
+	void data_ready_callback(interface::IMU::SensorData data);
 
 	interface::IMU &_imu;
 	EulerAngles _euler_angles {};

libs/IMUKit/source/IMUKit.cpp

@@ -55,9 +55,9 @@ void IMUKit::init()
 		FusionOffsetInitialise(&fusion::global_offset, fusion::kODR_HZ);
 	}
 
-	auto on_drdy_callback = [this](const interface::IMU::SensorData &data) { drdy_callback(data); };
+	auto on_data_ready_callback = [this](const interface::IMU::SensorData &data) { data_ready_callback(data); };
 
-	_imu.registerOnGyDataReadyCallback(on_drdy_callback);
+	_imu.registerOnDataReadyCallback(on_data_ready_callback);
 }
 
 void IMUKit::start()
@@ -88,7 +88,7 @@ void IMUKit::onEulerAnglesReady(angles_ready_callback_t const &callback)
 	_on_euler_angles_rdy_callback = callback;
 }
 
-void IMUKit::drdy_callback(const interface::IMU::SensorData data)
+void IMUKit::data_ready_callback(const interface::IMU::SensorData data)
 {
 	// ? Note: For a detailed explanation on the code below, checkout
 	// ? https://github.com/leka/LekaOS/tree/develop/spikes/lk_sensors_imu_imu_fusion_calibration

libs/IMUKit/tests/IMUKit_test.cpp

@@ -75,7 +75,7 @@ TEST_F(IMUKitTest, onDataReady)
 
 	EXPECT_CALL(mock_callback, Call);
 
-	mock_imu.call_drdy_callback(data_initial);
+	mock_imu.call_data_ready_callback(data_initial);
 
 	const auto angles_initial = imukit.getEulerAngles();
 
@@ -86,7 +86,7 @@ TEST_F(IMUKitTest, onDataReady)
 
 	EXPECT_CALL(mock_callback, Call);
 
-	mock_imu.call_drdy_callback(data_updated);
+	mock_imu.call_data_ready_callback(data_updated);
 
 	auto angles_updated = imukit.getEulerAngles();
 
@@ -102,7 +102,7 @@ TEST_F(IMUKitTest, onDataReadyEmptyEulerAngleCallback)
 	const auto data_initial =
 		interface::IMU::SensorData {.xl = {.x = 0.F, .y = 0.F, .z = 0.F}, .gy = {.x = 0.F, .y = 0.F, .z = 0.F}};
 
-	mock_imu.call_drdy_callback(data_initial);
+	mock_imu.call_data_ready_callback(data_initial);
 
 	const auto angles_initial = imukit.getEulerAngles();
 
@@ -111,7 +111,7 @@ TEST_F(IMUKitTest, onDataReadyEmptyEulerAngleCallback)
 	const auto data_updated =
 		interface::IMU::SensorData {.xl = {.x = 1.F, .y = 2.F, .z = 3.F}, .gy = {.x = 1.F, .y = 2.F, .z = 3.F}};
 
-	mock_imu.call_drdy_callback(data_updated);
+	mock_imu.call_data_ready_callback(data_updated);
 
 	auto angles_updated = imukit.getEulerAngles();
 

spikes/lk_activity_kit/main.cpp

@@ -190,12 +190,12 @@ namespace imu {
 
 	namespace internal {
 
-		auto drdy_irq = CoreInterruptIn {PinName::SENSOR_IMU_IRQ};
-		auto i2c	  = CoreI2C(PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL);
+		auto irq = CoreInterruptIn {PinName::SENSOR_IMU_IRQ};
+		auto i2c = CoreI2C(PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL);
 
 	}	// namespace internal
 
-	auto coreimu = CoreIMU(internal::i2c, internal::drdy_irq);
+	auto coreimu = CoreIMU(internal::i2c, internal::irq);
 
 }	// namespace imu
 

spikes/lk_command_kit/main.cpp

@@ -99,12 +99,12 @@ auto right = CoreMotor {internal::right::dir_1, internal::right::dir_2, internal
 namespace imu {
 namespace internal {
 
-	auto drdy_irq = CoreInterruptIn {PinName::SENSOR_IMU_IRQ};
-	auto i2c	  = CoreI2C(PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL);
+	auto irq = CoreInterruptIn {PinName::SENSOR_IMU_IRQ};
+	auto i2c = CoreI2C(PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL);
 
 }	// namespace internal
 
-CoreIMU coreimu(internal::i2c, internal::drdy_irq);
+CoreIMU coreimu(internal::i2c, internal::irq);
 
 }	// namespace imu
 

spikes/lk_imu_kit/main.cpp

@@ -19,12 +19,12 @@ namespace imu {
 
 	namespace internal {
 
-		auto drdy_irq = CoreInterruptIn {PinName::SENSOR_IMU_IRQ};
-		auto i2c	  = CoreI2C(PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL);
+		auto irq = CoreInterruptIn {PinName::SENSOR_IMU_IRQ};
+		auto i2c = CoreI2C(PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL);
 
 	}	// namespace internal
 
-	CoreIMU coreimu(internal::i2c, internal::drdy_irq);
+	CoreIMU coreimu(internal::i2c, internal::irq);
 
 }	// namespace imu
 

spikes/lk_motion_kit/main.cpp

@@ -59,13 +59,13 @@ namespace imu {
 
 	namespace internal {
 
-		auto drdy_irq = CoreInterruptIn {PinName::SENSOR_IMU_IRQ};
+		auto irq = CoreInterruptIn {PinName::SENSOR_IMU_IRQ};
 		CoreI2C i2c(PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL);
 		auto event_queue = CoreEventQueue();
 
 	}	// namespace internal
 
-	CoreIMU coreimu(internal::i2c, internal::drdy_irq);
+	CoreIMU coreimu(internal::i2c, internal::irq);
 
 }	// namespace imu
 

spikes/lk_reinforcer/main.cpp

@@ -137,12 +137,12 @@ namespace imu {
 
 	namespace internal {
 
-		auto drdy_irq = CoreInterruptIn {PinName::SENSOR_IMU_IRQ};
-		auto i2c	  = CoreI2C(PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL);
+		auto irq = CoreInterruptIn {PinName::SENSOR_IMU_IRQ};
+		auto i2c = CoreI2C(PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL);
 
 	}	// namespace internal
 
-	CoreIMU coreimu(internal::i2c, internal::drdy_irq);
+	CoreIMU coreimu(internal::i2c, internal::irq);
 
 }	// namespace imu