🔀 Merge branch 'ladislas/feature/ahrs-fusion' into develop

.clang-tidy

@@ -96,6 +96,8 @@ CheckOptions:
     value: true
   - key: readability-magic-numbers.IgnoredIntegerValues
     value: "1;2;3;4;10;100;1000;60;80;3600;9600;57600;115200;128;255;1000000"
+  - key: readability-magic-numbers.IgnoredFloatingPointValues
+    value: "1;2;3;4;10;100;1000;"
   - key: readability-identifier-length.IgnoredVariableNames
     value: "^(fs|c|ms|fh|t|bd|s|hz|id|[abcijkxyz])$"
   - key: readability-identifier-length.IgnoredParameterNames

spikes/CMakeLists.txt

@@ -2,7 +2,6 @@
 # Copyright 2020 APF France handicap
 # SPDX-License-Identifier: Apache-2.0
 
-add_subdirectory(${SPIKES_DIR}/lk_accel_gyro)
 add_subdirectory(${SPIKES_DIR}/lk_audio)
 add_subdirectory(${SPIKES_DIR}/lk_behavior_kit)
 add_subdirectory(${SPIKES_DIR}/lk_ble)
@@ -28,6 +27,8 @@ add_subdirectory(${SPIKES_DIR}/lk_qdac)
 add_subdirectory(${SPIKES_DIR}/lk_reinforcer)
 add_subdirectory(${SPIKES_DIR}/lk_rfid)
 add_subdirectory(${SPIKES_DIR}/lk_sensors_battery)
+add_subdirectory(${SPIKES_DIR}/lk_sensors_imu_lsm6dsox)
+add_subdirectory(${SPIKES_DIR}/lk_sensors_imu_lsm6dsox_fusion_calibration)
 add_subdirectory(${SPIKES_DIR}/lk_sensors_light)
 add_subdirectory(${SPIKES_DIR}/lk_sensors_microphone)
 add_subdirectory(${SPIKES_DIR}/lk_sensors_temperature_humidity)
@@ -47,7 +48,6 @@ add_subdirectory(${SPIKES_DIR}/stl_cxxsupport)
 
 add_custom_target(spikes_leka)
 add_dependencies(spikes_leka
-	spike_lk_accel_gyro
 	spike_lk_ble
 	spike_lk_bluetooth
 	spike_lk_cg_animations
@@ -69,6 +69,8 @@ add_dependencies(spikes_leka
 	spike_lk_reinforcer
 	spike_lk_rfid
 	spike_lk_sensors_battery
+	spike_lk_sensors_imu_lsm6dsox
+	spike_lk_sensors_imu_lsm6dsox_fusion_calibration
 	spike_lk_sensors_light
 	spike_lk_sensors_microphone
 	spike_lk_sensors_temperature_humidity

spikes/lk_sensors_imu_lsm6dsox/CMakeLists.txt

@@ -0,0 +1,22 @@
+# Leka - LekaOS
+# Copyright 2022 APF France handicap
+# SPDX-License-Identifier: Apache-2.0
+
+add_mbed_executable(spike_lk_sensors_imu_lsm6dsox)
+
+target_include_directories(spike_lk_sensors_imu_lsm6dsox
+	PRIVATE
+	.
+)
+
+target_sources(spike_lk_sensors_imu_lsm6dsox
+	PRIVATE
+	main.cpp
+)
+
+target_link_libraries(spike_lk_sensors_imu_lsm6dsox
+	CoreIMU
+	CoreI2C
+)
+
+target_link_custom_leka_targets(spike_lk_sensors_imu_lsm6dsox)

spikes/lk_sensors_imu_lsm6dsox_fusion_calibration/CMakeLists.txt

@@ -0,0 +1,25 @@
+# Leka - LekaOS
+# Copyright 2023 APF France handicap
+# SPDX-License-Identifier: Apache-2.0
+
+add_mbed_executable(spike_lk_sensors_imu_lsm6dsox_fusion_calibration)
+
+add_subdirectory(fusion)
+
+target_include_directories(spike_lk_sensors_imu_lsm6dsox_fusion_calibration
+	PRIVATE
+	.
+)
+
+target_sources(spike_lk_sensors_imu_lsm6dsox_fusion_calibration
+	PRIVATE
+	main.cpp
+)
+
+target_link_libraries(spike_lk_sensors_imu_lsm6dsox_fusion_calibration
+	CoreIMU
+	CoreI2C
+	Fusion
+)
+
+target_link_custom_leka_targets(spike_lk_sensors_imu_lsm6dsox_fusion_calibration)

spikes/lk_sensors_imu_lsm6dsox_fusion_calibration/fusion/CMakeLists.txt

@@ -0,0 +1,11 @@
+# ? Note the following code has been heavily inspired from:
+# ? https://github.com/xioTechnologies/Fusion/blob/main/Examples/Advanced
+# ? For more information, see https://github.com/xioTechnologies/Fusion
+
+file(GLOB_RECURSE files "*.c")
+
+add_library(Fusion ${files})
+
+if(UNIX AND NOT APPLE)
+	target_link_libraries(Fusion m) # link math library for Linux
+endif()

spikes/lk_sensors_imu_lsm6dsox_fusion_calibration/fusion/Fusion.h

@@ -0,0 +1,31 @@
+/**
+ * @file Fusion.h
+ * @author Seb Madgwick
+ * @brief Main header file for the Fusion library.  This is the only file that
+ * needs to be included when using the library.
+ */
+
+#ifndef FUSION_H
+#define FUSION_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "FusionAhrs.h"
+#include "FusionAxes.h"
+#include "FusionCalibration.h"
+#include "FusionCompass.h"
+#include "FusionMath.h"
+#include "FusionOffset.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+//------------------------------------------------------------------------------
+// End of file