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Yann/feature/imu/add event detection interrupt #1405

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Aug 26, 2024
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Yann/feature/imu/add event detection interrupt #1405

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6 changes: 6 additions & 0 deletions drivers/CoreIMU/include/CoreIMU.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,10 @@ class CoreIMU : public interface::IMU, public interface::DeepSleepEnabled
void enableOnDataReadyInterrupt() final;
void disableOnDataReadyInterrupt() final;

void registerOnWakeUpCallback(std::function<void()> const &callback) final;
void enableOnWakeUpInterrupt() final;
void disableOnWakeUpInterrupt() final;

void setPowerMode(PowerMode mode) final;

void enableDeepSleep() final;
Expand Down Expand Up @@ -58,6 +62,8 @@ class CoreIMU : public interface::IMU, public interface::DeepSleepEnabled

static constexpr uint8_t kMaxBufferLength = 32;
std::array<uint8_t, kMaxBufferLength> _rx_buffer {};

std::function<void()> _on_wake_up_callback {};
};

} // namespace leka
51 changes: 51 additions & 0 deletions drivers/CoreIMU/source/CoreIMU.cpp
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Expand Up @@ -137,6 +137,55 @@ void CoreIMU::disableDeepSleep()
setPowerMode(interface::IMU::PowerMode::Normal);
}

void CoreIMU::registerOnWakeUpCallback(std::function<void()> const &callback)
{
_on_wake_up_callback = callback;
}
Comment on lines +140 to +143
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à mon sens le register il doit enable directement.

quel est le cas d'usage où on a besoin de faire les deux séparément ?

si on a un enable, je m'attends à avoir un disable aussi


void CoreIMU::enableOnWakeUpInterrupt()
{
// ? Set filter and disable user offset
lsm6dsox_xl_hp_path_internal_set(&_register_io_function, LSM6DSOX_USE_SLOPE);
lsm6dsox_xl_usr_offset_on_wkup_set(&_register_io_function, 0);

// ? Set Wakeup config
lsm6dsox_wkup_threshold_set(&_register_io_function, 2);
lsm6dsox_wkup_ths_weight_set(&_register_io_function, LSM6DSOX_LSb_FS_DIV_64);
lsm6dsox_wkup_dur_set(&_register_io_function, 0x02);

// ? Set Activity config
lsm6dsox_act_sleep_dur_set(&_register_io_function, 0x02);
lsm6dsox_act_mode_set(&_register_io_function, LSM6DSOX_XL_AND_GY_NOT_AFFECTED);

lsm6dsox_pin_int1_route_t lsm6dsox_int1 {
.sleep_change = PROPERTY_ENABLE,
};
lsm6dsox_pin_int1_route_set(&_register_io_function, lsm6dsox_int1);

auto on_wake_up_callback = [this] {
_event_queue.call([this] {
lsm6dsox_all_sources_t all_source;
lsm6dsox_all_sources_get(&_register_io_function, &all_source);

if (all_source.sleep_change && all_source.sleep_state == 0 && _on_wake_up_callback != nullptr) {
_on_wake_up_callback();
}
});
};

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
Expand Down Expand Up @@ -177,6 +226,8 @@ void CoreIMU::setDataReadyInterruptCallback(std::function<void()> const &callbac
{
if (callback) {
_irq.onRise(callback);
} else {
_irq.onRise([] {});
}
}

Expand Down
88 changes: 88 additions & 0 deletions drivers/CoreIMU/tests/CoreIMU_test.cpp
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Expand Up @@ -13,6 +13,7 @@
using namespace leka;

using testing::_;
using testing::AnyNumber;
using testing::AtLeast;
using testing::MockFunction;

Expand Down Expand Up @@ -120,3 +121,90 @@ TEST_F(CoreIMUTest, disableDeepSleep)

coreimu.disableDeepSleep();
}

TEST_F(CoreIMUTest, onWakeUpCallback)
{
MockFunction<void()> mock_callback;

EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
EXPECT_CALL(mock_callback, Call).Times(AnyNumber());

coreimu.registerOnWakeUpCallback(mock_callback.AsStdFunction());

auto on_rise_callback = spy_InterruptIn_getRiseCallback();
on_rise_callback();
}

TEST_F(CoreIMUTest, emptyOnWakeUpCallback)
{
coreimu.registerOnWakeUpCallback({});

auto on_rise_callback = spy_InterruptIn_getRiseCallback();
on_rise_callback();
}

TEST_F(CoreIMUTest, enableOnWakeUpInterrupt)
{
EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
EXPECT_CALL(mocki2c, read).Times(AtLeast(1));

coreimu.enableOnWakeUpInterrupt();
}

TEST_F(CoreIMUTest, disableOnWakeUpInterrupt)
{
EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
EXPECT_CALL(mocki2c, read).Times(AtLeast(1));

coreimu.disableOnWakeUpInterrupt();
}

TEST_F(CoreIMUTest, switchCallbacks)
{
auto mock_data_available_callback = MockFunction<void(const leka::interface::IMU::SensorData &data)> {};
auto mock_wake_up_callback = MockFunction<void()> {};
auto on_rise_callback = mbed::Callback<void()> {};

EXPECT_CALL(mocki2c, write).Times(AnyNumber());
EXPECT_CALL(mocki2c, read).Times(AnyNumber());

coreimu.registerOnDataReadyCallback(mock_data_available_callback.AsStdFunction());
coreimu.registerOnWakeUpCallback(mock_wake_up_callback.AsStdFunction());

{
// Enable Data Available
EXPECT_CALL(mock_data_available_callback, Call).Times(1);
EXPECT_CALL(mock_wake_up_callback, Call).Times(0);
coreimu.enableOnDataReadyInterrupt();
on_rise_callback = spy_InterruptIn_getRiseCallback();
on_rise_callback();
}

{
// Disable Data Available
EXPECT_CALL(mock_data_available_callback, Call).Times(0);
EXPECT_CALL(mock_wake_up_callback, Call).Times(0);
coreimu.disableOnDataReadyInterrupt();
on_rise_callback = spy_InterruptIn_getRiseCallback();
on_rise_callback();
}

{
// Enable Wake Up
EXPECT_CALL(mock_data_available_callback, Call).Times(0);
EXPECT_CALL(mock_wake_up_callback, Call).Times(AnyNumber());
coreimu.enableOnWakeUpInterrupt();
on_rise_callback = spy_InterruptIn_getRiseCallback();
on_rise_callback();
}

{
// Disable Wake Up
EXPECT_CALL(mock_data_available_callback, Call).Times(0);
EXPECT_CALL(mock_wake_up_callback, Call).Times(0);
coreimu.disableOnWakeUpInterrupt();
on_rise_callback = spy_InterruptIn_getRiseCallback();
on_rise_callback();
}
}
4 changes: 4 additions & 0 deletions include/interface/drivers/IMU.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,10 @@ class IMU
virtual void enableOnDataReadyInterrupt() = 0;
virtual void disableOnDataReadyInterrupt() = 0;

virtual void registerOnWakeUpCallback(std::function<void()> const &callback) = 0;
virtual void enableOnWakeUpInterrupt() = 0;
virtual void disableOnWakeUpInterrupt() = 0;

virtual void setPowerMode(PowerMode) = 0;
};
} // namespace leka::interface
6 changes: 6 additions & 0 deletions tests/unit/mocks/mocks/leka/IMU.h
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Expand Up @@ -19,10 +19,16 @@ class IMU : public interface::IMU
MOCK_METHOD(void, enableOnDataReadyInterrupt, (), (override));
MOCK_METHOD(void, disableOnDataReadyInterrupt, (), (override));

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(); }

private:
data_ready_callback_t data_ready_callback {};
std::function<void()> wake_up_callback {};
};

} // namespace leka::mock