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leka · Jul 24, 2024 · bd9b04f · bd9b04f
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commit bd9b04f
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diff --git a/drivers/CoreIMU/include/CoreIMU.hpp b/drivers/CoreIMU/include/CoreIMU.hpp
@@ -28,6 +28,7 @@ class CoreIMU : public interface::IMU, public interface::DeepSleepEnabled
 
 	void registerOnWakeUpCallback(std::function<void()> const &callback) final;
 	void enableOnWakeUpInterrupt() final;
+	void disableOnWakeUpInterrupt() final;
 
 	void setPowerMode(PowerMode mode) final;
 

diff --git a/drivers/CoreIMU/source/CoreIMU.cpp b/drivers/CoreIMU/source/CoreIMU.cpp
@@ -176,6 +176,16 @@ void CoreIMU::enableOnWakeUpInterrupt()
 	setDataReadyInterruptCallback(on_wake_up_callback);
 }
 
+void CoreIMU::disableOnWakeUpInterrupt()
+{
+	lsm6dsox_pin_int1_route_t lsm6dsox_int1 {
+		.sleep_change = PROPERTY_DISABLE,
+	};
+	lsm6dsox_pin_int1_route_set(&_register_io_function, lsm6dsox_int1);
+
+	setDataReadyInterruptCallback({});
+}
+
 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

diff --git a/include/interface/drivers/IMU.hpp b/include/interface/drivers/IMU.hpp
@@ -56,6 +56,7 @@ class IMU
 
 	virtual void registerOnWakeUpCallback(std::function<void()> const &callback) = 0;
 	virtual void enableOnWakeUpInterrupt()										 = 0;
+	virtual void disableOnWakeUpInterrupt()										 = 0;
 
 	virtual void setPowerMode(PowerMode) = 0;
 };

diff --git a/tests/unit/mocks/mocks/leka/IMU.h b/tests/unit/mocks/mocks/leka/IMU.h
@@ -21,6 +21,7 @@ class IMU : public interface::IMU
 
 	void registerOnWakeUpCallback(std::function<void()> const &cb) override { wake_up_callback = cb; }
 	MOCK_METHOD(void, enableOnWakeUpInterrupt, (), (override));
+	MOCK_METHOD(void, disableOnWakeUpInterrupt, (), (override));
 
 	void call_data_ready_callback(const SensorData &data) { data_ready_callback(data); }
 	void call_wake_up_callback() { wake_up_callback(); }