Refactor to no longer feature gate imu driver modules

firmware/Cargo.toml

@@ -65,9 +65,9 @@ net-ble = ["esp-wifi/ble", "dep:bleps"]
 net-stubbed = []                            # Stubs out network
 
 # Supported IMUs
-imu-bmi160 = ["dep:bmi160"]
-imu-mpu6050 = ["dep:mpu6050-dmp"]
-imu-stubbed = []                  # Stubs out the IMU
+imu-bmi160 = []
+imu-mpu6050 = []
+imu-stubbed = [] # Stubs out the IMU
 
 # Supported defmt loggers
 log-rtt = ["dep:defmt-rtt"]
@@ -191,8 +191,8 @@ panic_defmt = { path = "crates/panic_defmt" }
 defmt-bbq = { version = "0.1", optional = true }
 
 # Peripheral drivers
-mpu6050-dmp = { version = "0.2", optional = true }
-bmi160 = { version = "0.1", optional = true }
+mpu6050-dmp = "0.2"
+bmi160 = "0.1"
 
 # Other crates
 static_cell = "1"

firmware/src/imu/drivers/bmi160/mod.rs

@@ -99,6 +99,7 @@ impl<I: I2c> FusedImu for Bmi160<I> {
 	}
 }
 
+#[allow(dead_code)]
 pub fn new_imu(
 	i2c: impl crate::aliases::I2c,
 	delay: &mut impl DelayMs<u32>,

firmware/src/imu/drivers/mod.rs

@@ -1,14 +1,3 @@
-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;
+pub mod bmi160;
+pub mod mpu6050;
+pub mod stubbed;

firmware/src/imu/drivers/mpu6050.rs

@@ -73,9 +73,10 @@ impl<I: I2c> FusedImu for Mpu6050<I> {
 	}
 }
 
+#[allow(dead_code)]
 pub fn new_imu(
 	i2c: impl crate::aliases::I2c,
 	delay: &mut impl DelayMs<u32>,
 ) -> impl crate::imu::FusedImu {
-	Mpu6050::new(i2c, delay).expect("Failed to initialize MPU6050")
+	Mpu6050::new(i2c, delay).expect("Failed to create mpu6050")
 }

firmware/src/imu/mod.rs

@@ -39,7 +39,7 @@ async fn imu_task_inner(
 	mut delay: impl crate::aliases::Delay,
 ) -> ! {
 	debug!("Imu task");
-	let mut imu = self::drivers::ඞ::new_imu(i2c, &mut delay);
+	let mut imu = new_imu(i2c, &mut delay);
 	info!("Initialized IMU!");
 
 	loop {
@@ -61,3 +61,17 @@ async fn imu_task_inner(
 		yield_now().await // Yield to ensure fairness
 	}
 }
+
+fn new_imu(
+	i2c: impl crate::aliases::I2c,
+	delay: &mut impl crate::aliases::Delay,
+) -> impl FusedImu {
+	use crate::imu::drivers as d;
+
+	#[cfg(feature = "imu-bmi160")]
+	return d::bmi160::new_imu(i2c, delay);
+	#[cfg(feature = "imu-mpu6050")]
+	return d::mpu6050::new_imu(i2c, delay);
+	#[cfg(feature = "imu-stubbed")]
+	return d::stubbed::new_imu(i2c, delay);
+}