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Refactor to use FusedImu trait and driver module #160

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Merged
TheButlah merged 1 commit into from
Jan 26, 2023
Merged

Refactor to use FusedImu trait and driver module #160

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0 firmware/src/imu/bmi160/math.rs → firmware/src/imu/drivers/bmi160/math.rs
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12 changes: 6 additions & 6 deletions firmware/src/imu/bmi160/mod.rs → firmware/src/imu/drivers/bmi160/mod.rs
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Original file line number Diff line number Diff line change
@@ -1,11 +1,11 @@
mod math;

use self::math::discrete_to_radians;
use super::{Imu, Quat};
use self::math::{discrete_to_radians, GyroFsr};
use crate::aliases::I2c;
use crate::imu::{FusedImu, Quat};
use crate::utils;
use crate::{aliases::I2c, imu::ඞ::math::GyroFsr};

use bmi160::{AccelerometerPowerMode, GyroscopePowerMode, SensorSelector};
use ::bmi160::{AccelerometerPowerMode, GyroscopePowerMode, SensorSelector};
use defmt::{debug, trace};
use embedded_hal::blocking::delay::DelayMs;
use firmware_protocol::ImuType;
Expand Down Expand Up @@ -76,7 +76,7 @@ impl<I: I2c> Bmi160<I> {
}
}

impl<I: I2c> Imu for Bmi160<I> {
impl<I: I2c> FusedImu for Bmi160<I> {
type Error = BmiError<I>;

const IMU_TYPE: ImuType = ImuType::Bmi160;
Expand All @@ -102,6 +102,6 @@ impl<I: I2c> Imu for Bmi160<I> {
pub fn new_imu(
i2c: impl crate::aliases::I2c,
delay: &mut impl DelayMs<u32>,
) -> impl crate::imu::Imu {
) -> impl crate::imu::FusedImu {
Bmi160::new(i2c, delay).expect("Failed to initialize BMI160")
}
14 changes: 14 additions & 0 deletions firmware/src/imu/drivers/mod.rs
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Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
mod stubbed;

#[cfg(feature = "imu-stubbed")]
pub mod ඞ {
pub use crate::imu::drivers::stubbed::*;
}

#[cfg(feature = "imu-mpu6050")]
#[path = "mpu6050.rs"]
pub mod ඞ;

#[cfg(feature = "imu-bmi160")]
#[path = "bmi160/mod.rs"]
pub mod ඞ;
6 changes: 3 additions & 3 deletions firmware/src/imu/mpu6050.rs → firmware/src/imu/drivers/mpu6050.rs
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
use super::{Imu, Quat};
use crate::aliases::I2c;
use crate::imu::{FusedImu, Quat};
use crate::utils;

use defmt::{debug, trace, warn};
Expand Down Expand Up @@ -49,7 +49,7 @@ impl<I: I2c> Mpu6050<I> {
}
}

impl<I: I2c> Imu for Mpu6050<I> {
impl<I: I2c> FusedImu for Mpu6050<I> {
type Error = mpu6050_dmp::error::Error<I>;

const IMU_TYPE: ImuType = ImuType::Mpu6050;
Expand All @@ -76,6 +76,6 @@ impl<I: I2c> Imu for Mpu6050<I> {
pub fn new_imu(
i2c: impl crate::aliases::I2c,
delay: &mut impl DelayMs<u32>,
) -> impl crate::imu::Imu {
) -> impl crate::imu::FusedImu {
Mpu6050::new(i2c, delay).expect("Failed to initialize MPU6050")
}
6 changes: 3 additions & 3 deletions firmware/src/imu/stubbed.rs → firmware/src/imu/drivers/stubbed.rs
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
use super::{Imu, Quat};
use crate::imu::{FusedImu, Quat};

use defmt::debug;
use embedded_hal::blocking::delay::DelayMs;
Expand All @@ -7,7 +7,7 @@ use firmware_protocol::ImuType;
/// Fakes an IMU for easier testing.
struct FakeImu;

impl Imu for FakeImu {
impl FusedImu for FakeImu {
type Error = ();

const IMU_TYPE: ImuType = ImuType::Unknown(0xFF);
Expand All @@ -21,7 +21,7 @@ impl Imu for FakeImu {
pub fn new_imu(
_i2c: impl crate::aliases::I2c,
_delay: &mut impl DelayMs<u32>,
) -> impl crate::imu::Imu {
) -> impl crate::imu::FusedImu {
debug!("Created FakeImu");
FakeImu
}
1 change: 1 addition & 0 deletions firmware/src/imu/fusion/mod.rs
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Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
//! TODO: Add fusion
20 changes: 4 additions & 16 deletions firmware/src/imu/mod.rs
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Original file line number Diff line number Diff line change
@@ -1,17 +1,5 @@
mod stubbed;

#[cfg(feature = "imu-stubbed")]
mod ඞ {
pub use crate::imu::stubbed::*;
}

#[cfg(feature = "imu-mpu6050")]
#[path = "mpu6050.rs"]
mod ඞ;

#[cfg(feature = "imu-bmi160")]
#[path = "bmi160/mod.rs"]
mod ඞ;
mod drivers;
mod fusion;

use defmt::{debug, info, trace, warn};
use embassy_executor::task;
Expand All @@ -25,7 +13,7 @@ use crate::{

pub type Quat = nalgebra::UnitQuaternion<f32>;

pub trait Imu {
pub trait FusedImu {
type Error: core::fmt::Debug;

const IMU_TYPE: ImuType;
Expand All @@ -51,7 +39,7 @@ async fn imu_task_inner(
mut delay: impl crate::aliases::Delay,
) -> ! {
debug!("Imu task");
let mut imu = ඞ::new_imu(i2c, &mut delay);
let mut imu = self::drivers::ඞ::new_imu(i2c, &mut delay);
info!("Initialized IMU!");

loop {
Expand Down