🔀️ Merge branch 'yann/rename/imu/rename-corelsm6dsox-into-coreimu' in…

…to develop

app/os/main.cpp

@@ -21,13 +21,13 @@
 #include "CoreFont.hpp"
 #include "CoreGraphics.hpp"
 #include "CoreI2C.h"
+#include "CoreIMU.hpp"
 #include "CoreInterruptIn.h"
 #include "CoreJPEG.hpp"
 #include "CoreJPEGModeDMA.hpp"
 #include "CoreLCD.hpp"
 #include "CoreLCDDriverOTM8009A.hpp"
 #include "CoreLL.h"
-#include "CoreLSM6DSOX.hpp"
 #include "CoreLTDC.hpp"
 #include "CoreMCU.h"
 #include "CoreMotor.h"
@@ -265,11 +265,11 @@ namespace imu {
 
 	}	// namespace internal
 
-	auto lsm6dsox = CoreLSM6DSOX(internal::i2c, internal::drdy_irq);
+	auto coreimu = CoreIMU(internal::i2c, internal::drdy_irq);
 
 }	// namespace imu
 
-auto imukit = IMUKit {imu::lsm6dsox};
+auto imukit = IMUKit {imu::coreimu};
 
 namespace motion::internal {
 
@@ -540,7 +540,7 @@ namespace deep_sleep {
 		&motors::right::motor,
 		&display::internal::corelcd,
 		&rfid::reader,
-		&imu::lsm6dsox,
+		&imu::coreimu,
 	});
 }
 
@@ -578,7 +578,7 @@ auto main() -> int
 	commandkit.registerCommand(command::list);
 	activitykit.registerActivities(activities::activities);
 
-	imu::lsm6dsox.init();
+	imu::coreimu.init();
 	imukit.init();
 
 	robot::controller.initializeComponents();

drivers/CoreIMU/CMakeLists.txt

@@ -13,7 +13,7 @@ target_include_directories(CoreIMU
 target_sources(CoreIMU
 	PRIVATE
 	extern/source/lsm6dsox_reg.c
-	source/CoreLSM6DSOX.cpp
+	source/CoreIMU.cpp
 )
 
 target_link_libraries(CoreIMU
@@ -23,6 +23,6 @@ target_link_libraries(CoreIMU
 
 if(${CMAKE_PROJECT_NAME} STREQUAL "LekaOSUnitTests")
 	leka_unit_tests_sources(
-		tests/CoreLSM6DSOX_test.cpp
+		tests/CoreIMU_test.cpp
 	)
 endif()

drivers/CoreIMU/include/CoreLSM6DSOX.hpp → drivers/CoreIMU/include/CoreIMU.hpp

@@ -8,17 +8,17 @@
 
 #include "CoreEventQueue.h"
 #include "CoreInterruptIn.h"
-#include "interface/LSM6DSOX.hpp"
 #include "interface/drivers/DeepSleepEnabled.h"
 #include "interface/drivers/I2C.h"
+#include "interface/drivers/IMU.hpp"
 #include "lsm6dsox_reg.h"
 
 namespace leka {
 
-class CoreLSM6DSOX : public interface::LSM6DSOX, public interface::DeepSleepEnabled
+class CoreIMU : public interface::IMU, public interface::DeepSleepEnabled
 {
   public:
-	explicit CoreLSM6DSOX(interface::I2C &i2c, CoreInterruptIn &drdy_irq);
+	explicit CoreIMU(interface::I2C &i2c, CoreInterruptIn &drdy_irq);
 
 	void init() final;
 
@@ -33,9 +33,9 @@ class CoreLSM6DSOX : public interface::LSM6DSOX, public interface::DeepSleepEnab
 	auto read(uint8_t register_address, uint16_t number_bytes_to_read, uint8_t *p_buffer) -> int32_t;
 	auto write(uint8_t register_address, uint16_t number_bytes_to_write, uint8_t *p_buffer) -> int32_t;
 
-	static auto ptr_io_write(CoreLSM6DSOX *handle, uint8_t write_address, uint8_t *p_buffer,
+	static auto ptr_io_write(CoreIMU *handle, uint8_t write_address, uint8_t *p_buffer,
 							 uint16_t number_bytes_to_write) -> int32_t;
-	static auto ptr_io_read(CoreLSM6DSOX *handle, uint8_t read_address, uint8_t *p_buffer,
+	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);

drivers/CoreIMU/source/CoreLSM6DSOX.cpp → drivers/CoreIMU/source/CoreIMU.cpp

@@ -2,11 +2,11 @@
 // Copyright 2022 APF France handicap
 // SPDX-License-Identifier: Apache-2.0
 
-#include "CoreLSM6DSOX.hpp"
+#include "CoreIMU.hpp"
 
 namespace leka {
 
-CoreLSM6DSOX::CoreLSM6DSOX(interface::I2C &i2c, CoreInterruptIn &drdy_irq) : _i2c(i2c), _drdy_irq(drdy_irq)
+CoreIMU::CoreIMU(interface::I2C &i2c, CoreInterruptIn &drdy_irq) : _i2c(i2c), _drdy_irq(drdy_irq)
 {
 	// ? NOLINTNEXTLINE - allow reinterpret_cast as there are no alternatives
 	_register_io_function.write_reg = reinterpret_cast<stmdev_write_ptr>(ptr_io_write);
@@ -15,7 +15,7 @@ CoreLSM6DSOX::CoreLSM6DSOX(interface::I2C &i2c, CoreInterruptIn &drdy_irq) : _i2
 	_register_io_function.handle   = static_cast<void *>(this);
 }
 
-void CoreLSM6DSOX::init()
+void CoreIMU::init()
 {
 	_event_queue.dispatch_forever();
 
@@ -33,7 +33,7 @@ void CoreLSM6DSOX::init()
 	setGyrDataReadyInterrupt();
 }
 
-void CoreLSM6DSOX::setPowerMode(PowerMode mode)
+void CoreIMU::setPowerMode(PowerMode mode)
 {
 	auto xl_power_mode = lsm6dsox_xl_hm_mode_t {};
 	auto gy_power_mode = lsm6dsox_g_hm_mode_t {};
@@ -71,12 +71,12 @@ void CoreLSM6DSOX::setPowerMode(PowerMode mode)
 	lsm6dsox_gy_data_rate_set(&_register_io_function, gy_odr);
 }
 
-void CoreLSM6DSOX::registerOnGyDataReadyCallback(drdy_callback_t const &callback)
+void CoreIMU::registerOnGyDataReadyCallback(drdy_callback_t const &callback)
 {
 	_on_gy_data_ready_callback = callback;
 }
 
-void CoreLSM6DSOX::onGyrDataReadyHandler(auto timestamp)
+void CoreIMU::onGyrDataReadyHandler(auto timestamp)
 {
 	static constexpr auto _1k = float {1000.F};
 
@@ -97,17 +97,17 @@ void CoreLSM6DSOX::onGyrDataReadyHandler(auto timestamp)
 	}
 }
 
-void CoreLSM6DSOX::enableDeepSleep()
+void CoreIMU::enableDeepSleep()
 {
-	setPowerMode(interface::LSM6DSOX::PowerMode::Off);
+	setPowerMode(interface::IMU::PowerMode::Off);
 }
 
-void CoreLSM6DSOX::disableDeepSleep()
+void CoreIMU::disableDeepSleep()
 {
-	setPowerMode(interface::LSM6DSOX::PowerMode::Normal);
+	setPowerMode(interface::IMU::PowerMode::Normal);
 }
 
-auto CoreLSM6DSOX::read(uint8_t register_address, uint16_t number_bytes_to_read, uint8_t *p_buffer) -> int32_t
+auto CoreIMU::read(uint8_t register_address, uint16_t number_bytes_to_read, uint8_t *p_buffer) -> int32_t
 {
 	// Send component address, without STOP condition
 	auto ret = _i2c.write(_address, &register_address, 1, true);
@@ -119,7 +119,7 @@ auto CoreLSM6DSOX::read(uint8_t register_address, uint16_t number_bytes_to_read,
 	return ret;
 }
 
-auto CoreLSM6DSOX::write(uint8_t register_address, uint16_t number_bytes_to_write, uint8_t *p_buffer) -> int32_t
+auto CoreIMU::write(uint8_t register_address, uint16_t number_bytes_to_write, uint8_t *p_buffer) -> int32_t
 {
 	if (number_bytes_to_write >= kMaxBufferLength) {
 		return 1;
@@ -131,19 +131,19 @@ auto CoreLSM6DSOX::write(uint8_t register_address, uint16_t number_bytes_to_writ
 	return ret;
 }
 
-auto CoreLSM6DSOX::ptr_io_write(CoreLSM6DSOX *handle, uint8_t write_address, uint8_t *p_buffer,
-								uint16_t number_bytes_to_write) -> int32_t
+auto CoreIMU::ptr_io_write(CoreIMU *handle, uint8_t write_address, uint8_t *p_buffer,
+						   uint16_t number_bytes_to_write) -> int32_t
 {
 	return handle->write(write_address, number_bytes_to_write, p_buffer);
 }
 
-auto CoreLSM6DSOX::ptr_io_read(CoreLSM6DSOX *handle, uint8_t read_address, uint8_t *p_buffer,
-							   uint16_t number_bytes_to_read) -> int32_t
+auto CoreIMU::ptr_io_read(CoreIMU *handle, uint8_t read_address, uint8_t *p_buffer,
+						  uint16_t number_bytes_to_read) -> int32_t
 {
 	return handle->read(read_address, number_bytes_to_read, p_buffer);
 }
 
-void CoreLSM6DSOX::setGyrDataReadyInterrupt()
+void CoreIMU::setGyrDataReadyInterrupt()
 {
 	lsm6dsox_dataready_pulsed_t drdy_pulsed {LSM6DSOX_DRDY_PULSED};
 	lsm6dsox_data_ready_mode_set(&_register_io_function, drdy_pulsed);

drivers/CoreIMU/tests/CoreLSM6DSOX_test.cpp → drivers/CoreIMU/tests/CoreIMU_test.cpp

@@ -4,7 +4,7 @@
 
 #include <vector>
 
-#include "CoreLSM6DSOX.hpp"
+#include "CoreIMU.hpp"
 #include "gtest/gtest.h"
 #include "mocks/leka/CoreI2C.h"
 #include "mocks/leka/EventQueue.h"
@@ -16,91 +16,91 @@ using testing::_;
 using testing::AtLeast;
 using testing::MockFunction;
 
-class CoreLSM6DSOXTest : public ::testing::Test
+class CoreIMUTest : public ::testing::Test
 {
   protected:
-	CoreLSM6DSOXTest() = default;
+	CoreIMUTest() = default;
 
 	void SetUp() override
 	{
 		EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
 		EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
 
-		lsm6dsox.init();
+		coreimu.init();
 	}
 	// void TearDown() override {}
 
 	mock::CoreI2C mocki2c {};
 	CoreInterruptIn drdy_irq {NC};
 
-	CoreLSM6DSOX lsm6dsox {mocki2c, drdy_irq};
+	CoreIMU coreimu {mocki2c, drdy_irq};
 
 	// ? Instantiation of mock::EventQueue is needed to setup the underlying stubs that will make the mock work
 	// ? correctly. Without it UT are failing
 	// TODO (@ladislas) - review mocks/stubs to remove the need of the object, replace with setup/teardown functions
 	mock::EventQueue _ {};
 };
 
-TEST_F(CoreLSM6DSOXTest, initialization)
+TEST_F(CoreIMUTest, initialization)
 {
-	ASSERT_NE(&lsm6dsox, nullptr);
+	ASSERT_NE(&coreimu, nullptr);
 }
 
-TEST_F(CoreLSM6DSOXTest, setPowerMode)
+TEST_F(CoreIMUTest, setPowerMode)
 {
 	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
 	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
-	lsm6dsox.setPowerMode(CoreLSM6DSOX::PowerMode::Off);
+	coreimu.setPowerMode(CoreIMU::PowerMode::Off);
 
 	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
 	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
-	lsm6dsox.setPowerMode(CoreLSM6DSOX::PowerMode::UltraLow);
+	coreimu.setPowerMode(CoreIMU::PowerMode::UltraLow);
 
 	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
 	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
-	lsm6dsox.setPowerMode(CoreLSM6DSOX::PowerMode::Normal);
+	coreimu.setPowerMode(CoreIMU::PowerMode::Normal);
 
 	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
 	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
-	lsm6dsox.setPowerMode(CoreLSM6DSOX::PowerMode::High);
+	coreimu.setPowerMode(CoreIMU::PowerMode::High);
 }
 
-TEST_F(CoreLSM6DSOXTest, onGyrDRDY)
+TEST_F(CoreIMUTest, onGyrDRDY)
 {
-	MockFunction<void(const leka::interface::LSM6DSOX::SensorData &data)> mock_callback;
+	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);
 
-	lsm6dsox.registerOnGyDataReadyCallback(mock_callback.AsStdFunction());
+	coreimu.registerOnGyDataReadyCallback(mock_callback.AsStdFunction());
 
 	auto on_rise_callback = spy_InterruptIn_getRiseCallback();
 	on_rise_callback();
 }
 
-TEST_F(CoreLSM6DSOXTest, emptyOnGyrDrdyCallback)
+TEST_F(CoreIMUTest, emptyOnGyrDrdyCallback)
 {
-	lsm6dsox.registerOnGyDataReadyCallback({});
+	coreimu.registerOnGyDataReadyCallback({});
 
 	auto on_rise_callback = spy_InterruptIn_getRiseCallback();
 	on_rise_callback();
 }
 
-TEST_F(CoreLSM6DSOXTest, enableDeepSleep)
+TEST_F(CoreIMUTest, enableDeepSleep)
 {
 	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
 	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
-	lsm6dsox.setPowerMode(CoreLSM6DSOX::PowerMode::Off);
+	coreimu.setPowerMode(CoreIMU::PowerMode::Off);
 
-	lsm6dsox.enableDeepSleep();
+	coreimu.enableDeepSleep();
 }
 
-TEST_F(CoreLSM6DSOXTest, disableDeepSleep)
+TEST_F(CoreIMUTest, disableDeepSleep)
 {
 	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
 	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
-	lsm6dsox.setPowerMode(CoreLSM6DSOX::PowerMode::Normal);
+	coreimu.setPowerMode(CoreIMU::PowerMode::Normal);
 
-	lsm6dsox.disableDeepSleep();
+	coreimu.disableDeepSleep();
 }

drivers/CoreIMU/include/interface/LSM6DSOX.hpp → include/interface/drivers/IMU.hpp

@@ -10,10 +10,10 @@
 
 namespace leka::interface {
 
-class LSM6DSOX
+class IMU
 {
   public:
-	virtual ~LSM6DSOX() = default;
+	virtual ~IMU() = default;
 
 	enum class PowerMode
 	{

libs/IMUKit/include/IMUKit.hpp

@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include "interface/LSM6DSOX.hpp"
+#include "interface/drivers/IMU.hpp"
 #include "interface/libs/IMUKit.hpp"
 
 namespace leka {
 
 class IMUKit : public interface::IMUKit
 {
   public:
-	explicit IMUKit(interface::LSM6DSOX &lsm6dsox) : _lsm6dsox(lsm6dsox) {}
+	explicit IMUKit(interface::IMU &imu) : _imu(imu) {}
 
 	void init();
 	void start() final;
@@ -23,9 +23,9 @@ class IMUKit : public interface::IMUKit
 	[[nodiscard]] auto getEulerAngles() const -> EulerAngles final;
 
   private:
-	void drdy_callback(interface::LSM6DSOX::SensorData data);
+	void drdy_callback(interface::IMU::SensorData data);
 
-	interface::LSM6DSOX &_lsm6dsox;
+	interface::IMU &_imu;
 	EulerAngles _euler_angles {};
 	angles_ready_callback_t _on_euler_angles_rdy_callback {};
 };