hugo/feature/Add IMUKit #1066

HPezz · 2022-10-14T14:51:14Z

Introduce IMUKit which compute angles from LSM6DSOX data through Mahony algorithm [Link to Git repo inspiration].

Allows to get a correct image of Leka's orientation for approximatively 10 seconds until Earth rotation interferes too much.

github-actions · 2022-10-14T15:05:46Z

File comparision analysis report

🔖 Info

base: develop / 50698ea + mbed-os-6.15.1+fixes+gcc-11-support + -std=c++20
head: hugo/feature/Add-IMUKit / ab0ce00 + mbed-os-6.15.1+fixes+gcc-11-support + -std=c++20
toolchain: GNU Arm Embedded Toolchain 10.3-2021.10 - 10.3.1 20210824
enable_log_debug: OFF

Target	Flash Used (%)	Flash Available (%)	Static RAM (%)
bootloader	169972 (64%)	92172 (35%)	30928 (5%)
os	420792 (26%)	1143880 (73%)	80696 (15%)

Click to show memory sections

| -          |      Hex |     Bytes |  KiB |
|------------|---------:|----------:|-----:|
| Flash      | 0x200000 | 2 097 152 | 2048 |
| SRAM       |  0x80000 |   524 288 |  512 |
| Bootloader |  0x40000 |   262 144 |  256 |
| Header     |   0x1000 |     4 096 |    4 |
| OS         | 0x17E000 | 1 564 672 | 1528 |
| Tail       |   0x1000 |     4 096 |    4 |
| Scratch    |  0x40000 |   262 144 |  256 |

📝 Summary

Click to show summary

✔️ - existing target
✨ - new target
⚰️ - deleted target
✅ - files are the same
❌ - files are different

Target	Status	.bin	.map	Total Flash (base/head)	Total Flash Δ	Static RAM (base/head)	Static RAM Δ
LekaOS	✔️	✅	✅	420792 (20%)	ø	80696 (15%)	ø
bootloader	✔️	✅	✅	169972 (8%)	ø	30928 (5%)	ø
functional_ut_boost_ut	✔️	✅	✅	394076 (18%)	ø	20456 (3%)	ø
functional_ut_core_imu	✔️	✅	✅	377068 (17%)	ø	20432 (3%)	ø
functional_ut_deep_sleep_core_buffered_serial	✔️	✅	✅	360236 (17%)	ø	20440 (3%)	ø
functional_ut_deep_sleep_core_motor	✔️	✅	✅	364412 (17%)	ø	20480 (3%)	ø
functional_ut_deep_sleep_core_pwm	✔️	✅	✅	366612 (17%)	ø	20480 (3%)	ø
functional_ut_deep_sleep_log_kit	✔️	✅	✅	352504 (16%)	ø	20408 (3%)	ø
functional_ut_deep_sleep_mbed_hal	✔️	✅	✅	354216 (16%)	ø	20408 (3%)	ø
functional_ut_file_manager	✔️	✅	✅	374536 (17%)	ø	20696 (3%)	ø
functional_ut_imu_kit	✨	-	-	382560 (18%)	-	20424 (3%)	-
functional_ut_io_expander	✔️	✅	✅	359232 (17%)	ø	20424 (3%)	ø
functional_ut_qdac	✔️	✅	✅	360400 (17%)	ø	20424 (3%)	ø
spike_lk_accel_gyro	✔️	✅	✅	71184 (3%)	ø	11808 (2%)	ø
spike_lk_audio	✔️	✅	✅	125076 (5%)	ø	14568 (2%)	ø
spike_lk_behavior_kit	✔️	✅	✅	190200 (9%)	ø	48144 (9%)	ø
spike_lk_ble	✔️	✅	✅	228960 (10%)	ø	28320 (5%)	ø
spike_lk_bluetooth	✔️	✅	✅	82948 (3%)	ø	11544 (2%)	ø
spike_lk_cg_animations	✔️	✅	✅	144696 (6%)	ø	46528 (8%)	ø
spike_lk_color_kit	✔️	✅	✅	65776 (3%)	ø	13744 (2%)	ø
spike_lk_command_kit	✔️	✅	✅	193048 (9%)	ø	50968 (9%)	ø
spike_lk_config_kit	✔️	✅	✅	126956 (6%)	ø	14312 (2%)	ø
spike_lk_coreled	✔️	✅	✅	76164 (3%)	ø	13688 (2%)	ø
spike_lk_core_touch_sensor	✔️	✅	✅	80228 (3%)	ø	12256 (2%)	ø
spike_lk_event_queue	✔️	✅	✅	74800 (3%)	ø	12072 (2%)	ø
spike_lk_file_manager_kit	✔️	✅	✅	139016 (6%)	ø	14416 (2%)	ø
spike_lk_file_reception	✔️	✅	✅	327112 (15%)	ø	27576 (5%)	ø
spike_lk_flash_memory	✔️	✅	✅	63880 (3%)	ø	11448 (2%)	ø
spike_lk_fs	✔️	✅	✅	174872 (8%)	ø	47904 (9%)	ø
spike_lk_imu_kit	✨	-	-	87700 (4%)	-	12176 (2%)	-
spike_lk_lcd	✔️	✅	✅	162492 (7%)	ø	46632 (8%)	ø
spike_lk_led_kit	✔️	✅	✅	103992 (4%)	ø	14608 (2%)	ø
spike_lk_log_kit	✔️	✅	✅	63288 (3%)	ø	12256 (2%)	ø
spike_lk_motors	✔️	✅	✅	62864 (2%)	ø	11488 (2%)	ø
spike_lk_qdac	✔️	✅	✅	78628 (3%)	ø	11816 (2%)	ø
spike_lk_reinforcer	✔️	✅	✅	103480 (4%)	ø	14608 (2%)	ø
spike_lk_rfid	✔️	✅	✅	78956 (3%)	ø	11504 (2%)	ø
spike_lk_sensors_battery	✔️	✅	✅	78196 (3%)	ø	12568 (2%)	ø
spike_lk_sensors_light	✔️	✅	✅	60056 (2%)	ø	11440 (2%)	ø
spike_lk_sensors_microphone	✔️	✅	✅	72496 (3%)	ø	11504 (2%)	ø
spike_lk_sensors_temperature_humidity	✔️	✅	✅	67048 (3%)	ø	11424 (2%)	ø
spike_lk_sensors_touch	✔️	✅	✅	68600 (3%)	ø	11432 (2%)	ø
spike_lk_serial_number	✔️	✅	✅	114308 (5%)	ø	14056 (2%)	ø
spike_lk_ticker_timeout	✔️	✅	✅	69052 (3%)	ø	11632 (2%)	ø
spike_lk_update_process_app_base	✔️	✅	✅	143188 (6%)	ø	15552 (2%)	ø
spike_lk_update_process_app_update	✔️	✅	✅	77632 (3%)	ø	12352 (2%)	ø
spike_lk_watchdog_isr	✔️	✅	✅	80068 (3%)	ø	13272 (2%)	ø
spike_lk_wifi	✔️	✅	✅	116392 (5%)	ø	14808 (2%)	ø
spike_mbed_blinky	✔️	✅	✅	58032 (2%)	ø	11400 (2%)	ø
spike_mbed_watchdog_ticker_vs_thread	✔️	✅	✅	63208 (3%)	ø	12448 (2%)	ø
spike_stl_cxxsupport	✔️	✅	✅	58456 (2%)	ø	11400 (2%)	ø

🗺️ Map files diff output

Click to show diff list

functional_ut_imu_kit (click to expand)

Flash used: 382560&nbsp;(18%) / total: 2097152
SRAM used: 20424&nbsp;(3%) / total: 524288

spike_lk_imu_kit (click to expand)

Flash used: 87700&nbsp;(4%) / total: 2097152
SRAM used: 12176&nbsp;(2%) / total: 524288

github-actions · 2022-10-14T15:06:01Z

File comparision analysis report

🔖 Info

base: develop / 50698ea + mbed-os-6.15.1+fixes+gcc-11-support + -std=c++20
head: hugo/feature/Add-IMUKit / ab0ce00 + mbed-os-6.15.1+fixes+gcc-11-support + -std=c++20
toolchain: GNU Arm Embedded Toolchain 10.3-2021.10 - 10.3.1 20210824
enable_log_debug: ON

Target	Flash Used (%)	Flash Available (%)	Static RAM (%)
bootloader	182476 (69%)	79668 (30%)	41624 (7%)
os	472084 (30%)	1092588 (69%)	91912 (17%)

Click to show memory sections

| -          |      Hex |     Bytes |  KiB |
|------------|---------:|----------:|-----:|
| Flash      | 0x200000 | 2 097 152 | 2048 |
| SRAM       |  0x80000 |   524 288 |  512 |
| Bootloader |  0x40000 |   262 144 |  256 |
| Header     |   0x1000 |     4 096 |    4 |
| OS         | 0x17E000 | 1 564 672 | 1528 |
| Tail       |   0x1000 |     4 096 |    4 |
| Scratch    |  0x40000 |   262 144 |  256 |

📝 Summary

Click to show summary

✔️ - existing target
✨ - new target
⚰️ - deleted target
✅ - files are the same
❌ - files are different

Target	Status	.bin	.map	Total Flash (base/head)	Total Flash Δ	Static RAM (base/head)	Static RAM Δ
LekaOS	✔️	✅	✅	472084 (22%)	ø	91912 (17%)	ø
bootloader	✔️	✅	✅	182476 (8%)	ø	41624 (7%)	ø
functional_ut_boost_ut	✔️	✅	✅	409116 (19%)	ø	30608 (5%)	ø
functional_ut_core_imu	✔️	✅	✅	389100 (18%)	ø	30584 (5%)	ø
functional_ut_deep_sleep_core_buffered_serial	✔️	✅	✅	368060 (17%)	ø	30560 (5%)	ø
functional_ut_deep_sleep_core_motor	✔️	✅	✅	375996 (17%)	ø	30632 (5%)	ø
functional_ut_deep_sleep_core_pwm	✔️	✅	✅	378196 (18%)	ø	30632 (5%)	ø
functional_ut_deep_sleep_log_kit	✔️	✅	✅	365188 (17%)	ø	30976 (5%)	ø
functional_ut_deep_sleep_mbed_hal	✔️	✅	✅	366568 (17%)	ø	30560 (5%)	ø
functional_ut_file_manager	✔️	✅	✅	386340 (18%)	ø	30856 (5%)	ø
functional_ut_imu_kit	✨	-	-	391308 (18%)	-	30576 (5%)	-
functional_ut_io_expander	✔️	✅	✅	370816 (17%)	ø	30576 (5%)	ø
functional_ut_qdac	✔️	✅	✅	371984 (17%)	ø	30576 (5%)	ø
spike_lk_accel_gyro	✔️	✅	✅	94048 (4%)	ø	22568 (4%)	ø
spike_lk_audio	✔️	✅	✅	135196 (6%)	ø	25144 (4%)	ø
spike_lk_behavior_kit	✔️	✅	✅	198764 (9%)	ø	58720 (11%)	ø
spike_lk_ble	✔️	✅	✅	237196 (11%)	ø	39264 (7%)	ø
spike_lk_bluetooth	✔️	✅	✅	92364 (4%)	ø	22224 (4%)	ø
spike_lk_cg_animations	✔️	✅	✅	152392 (7%)	ø	57224 (10%)	ø
spike_lk_color_kit	✔️	✅	✅	88480 (4%)	ø	24376 (4%)	ø
spike_lk_command_kit	✔️	✅	✅	203372 (9%)	ø	62056 (11%)	ø
spike_lk_config_kit	✔️	✅	✅	138932 (6%)	ø	25136 (4%)	ø
spike_lk_coreled	✔️	✅	✅	88044 (4%)	ø	24264 (4%)	ø
spike_lk_core_touch_sensor	✔️	✅	✅	92884 (4%)	ø	22832 (4%)	ø
spike_lk_event_queue	✔️	✅	✅	84152 (4%)	ø	22904 (4%)	ø
spike_lk_file_manager_kit	✔️	✅	✅	154048 (7%)	ø	25496 (4%)	ø
spike_lk_file_reception	✔️	✅	✅	331308 (15%)	ø	38232 (7%)	ø
spike_lk_flash_memory	✔️	✅	✅	86776 (4%)	ø	22216 (4%)	ø
spike_lk_fs	✔️	✅	✅	174168 (8%)	ø	47992 (9%)	ø
spike_lk_imu_kit	✨	-	-	97920 (4%)	-	22896 (4%)	-
spike_lk_lcd	✔️	✅	✅	172332 (8%)	ø	57464 (10%)	ø
spike_lk_led_kit	✔️	✅	✅	115772 (5%)	ø	25184 (4%)	ø
spike_lk_log_kit	✔️	✅	✅	84776 (4%)	ø	23408 (4%)	ø
spike_lk_motors	✔️	✅	✅	86336 (4%)	ø	22248 (4%)	ø
spike_lk_qdac	✔️	✅	✅	91572 (4%)	ø	22776 (4%)	ø
spike_lk_reinforcer	✔️	✅	✅	112316 (5%)	ø	25184 (4%)	ø
spike_lk_rfid	✔️	✅	✅	84088 (4%)	ø	22184 (4%)	ø
spike_lk_sensors_battery	✔️	✅	✅	87184 (4%)	ø	23280 (4%)	ø
spike_lk_sensors_light	✔️	✅	✅	84072 (4%)	ø	22216 (4%)	ø
spike_lk_sensors_microphone	✔️	✅	✅	84824 (4%)	ø	22216 (4%)	ø
spike_lk_sensors_temperature_humidity	✔️	✅	✅	90400 (4%)	ø	22192 (4%)	ø
spike_lk_sensors_touch	✔️	✅	✅	91672 (4%)	ø	22456 (4%)	ø
spike_lk_serial_number	✔️	✅	✅	136316 (6%)	ø	25056 (4%)	ø
spike_lk_ticker_timeout	✔️	✅	✅	82712 (3%)	ø	22232 (4%)	ø
spike_lk_update_process_app_base	✔️	✅	✅	154980 (7%)	ø	26256 (5%)	ø
spike_lk_update_process_app_update	✔️	✅	✅	100456 (4%)	ø	23240 (4%)	ø
spike_lk_watchdog_isr	✔️	✅	✅	87392 (4%)	ø	24120 (4%)	ø
spike_lk_wifi	✔️	✅	✅	130832 (6%)	ø	25528 (4%)	ø
spike_mbed_blinky	✔️	✅	✅	57616 (2%)	ø	11496 (2%)	ø
spike_mbed_watchdog_ticker_vs_thread	✔️	✅	✅	84176 (4%)	ø	23080 (4%)	ø
spike_stl_cxxsupport	✔️	✅	✅	83488 (3%)	ø	22304 (4%)	ø

🗺️ Map files diff output

Click to show diff list

functional_ut_imu_kit (click to expand)

Flash used: 391308&nbsp;(18%) / total: 2097152
SRAM used: 30576&nbsp;(5%) / total: 524288

spike_lk_imu_kit (click to expand)

Flash used: 97920&nbsp;(4%) / total: 2097152
SRAM used: 22896&nbsp;(4%) / total: 524288

codecov · 2022-11-08T17:46:00Z

Codecov Report

Merging #1066 (420a47d) into develop (50698ea) will increase coverage by 0.00%.
The diff coverage is 96.77%.

❗ Current head 420a47d differs from pull request most recent head ab0ce00. Consider uploading reports for the commit ab0ce00 to get more accurate results

@@            Coverage Diff            @@
##           develop    #1066    +/-   ##
=========================================
  Coverage    96.00%   96.01%            
=========================================
  Files          138      142     +4     
  Lines         3327     3435   +108     
=========================================
+ Hits          3194     3298   +104     
- Misses         133      137     +4

Impacted Files	Coverage Δ
libs/Utils/include/MathUtils.h	`100.00% <ø> (ø)`
libs/IMUKit/source/IMUKit.cpp	`92.85% <92.85%> (ø)`
libs/IMUKit/include/internal/Mahony.cpp	`97.53% <97.53%> (ø)`
libs/IMUKit/include/IMUKit.h	`100.00% <100.00%> (ø)`
libs/IMUKit/include/internal/Mahony.h	`100.00% <100.00%> (ø)`
libs/Utils/source/MathUtils.cpp	`100.00% <100.00%> (ø)`
libs/RobotKit/include/RobotController.h	`93.56% <0.00%> (-0.09%)`	⬇️
libs/FirmwareKit/include/FirmwareKit.h	`100.00% <0.00%> (ø)`
libs/FirmwareKit/source/FirmwareKit.cpp	`100.00% <0.00%> (ø)`

📣 We’re building smart automated test selection to slash your CI/CD build times. Learn more

YannLocatelli

Excellent! Thank you for you work 👏

libs/IMUKit/include/internal/Mahony.cpp

libs/Utils/tests/MathUtils_test_invSqrt.cpp

libs/IMUKit/include/IMUKit.h

ladislas

As a lot of things have changed, I've made a new detailed review. A few tweaks and fixes and we're good to go ;)

great work again on the coverage and the tests 👍

libs/IMUKit/include/internal/Mahony.cpp

libs/IMUKit/include/internal/Mahony.h

libs/Utils/source/MathUtils.cpp

libs/Utils/tests/MathUtils_test_invSqrt.cpp

spikes/lk_imu_kit/main.cpp

sonarcloud · 2022-12-01T15:48:39Z

Kudos, SonarCloud Quality Gate passed!

0 Bugs
0 Vulnerabilities
0 Security Hotspots
0 Code Smells

94.2% Coverage
0.0% Duplication

HPezz changed the base branch from develop to cedricdia-hugo/feature/Add-CoreIMULSM6DSOX October 14, 2022 14:51

HPezz force-pushed the cedricdia-hugo/feature/Add-CoreIMULSM6DSOX branch from acf7c1e to 9187eb6 Compare October 14, 2022 14:52

HPezz force-pushed the hugo/feature/Add-IMUKit branch 2 times, most recently from ae5127d to 5f535ee Compare October 14, 2022 15:48

HPezz force-pushed the hugo/feature/Add-IMUKit branch from 5f535ee to 0f0f38b Compare October 28, 2022 10:03

HPezz changed the base branch from cedricdia-hugo/feature/Add-CoreIMULSM6DSOX to cedric-hugo/feature/Add-CoreIMU November 2, 2022 15:40

HPezz force-pushed the hugo/feature/Add-IMUKit branch 2 times, most recently from 7f2fad4 to 7c60aa5 Compare November 2, 2022 15:48

HPezz force-pushed the cedric-hugo/feature/Add-CoreIMU branch 3 times, most recently from 57551af to 902cf1e Compare November 3, 2022 11:15

HPezz self-assigned this Nov 3, 2022

HPezz added the 01 - type: task Something to do label Nov 3, 2022

HPezz added this to the Future Release milestone Nov 3, 2022

HPezz force-pushed the cedric-hugo/feature/Add-CoreIMU branch from 902cf1e to c851851 Compare November 3, 2022 13:43

HPezz requested review from ladislas and YannLocatelli November 3, 2022 15:26

HPezz force-pushed the cedric-hugo/feature/Add-CoreIMU branch 3 times, most recently from 108e916 to 55869f7 Compare November 8, 2022 17:30

HPezz force-pushed the hugo/feature/Add-IMUKit branch from 7c60aa5 to 480687a Compare November 8, 2022 17:31

HPezz force-pushed the cedric-hugo/feature/Add-CoreIMU branch 6 times, most recently from 9f57f7f to 7abd27d Compare November 10, 2022 14:53

HPezz force-pushed the hugo/feature/Add-IMUKit branch 4 times, most recently from 7a51cbd to 3151e85 Compare November 30, 2022 10:48

HPezz requested review from YannLocatelli and ladislas November 30, 2022 10:48

HPezz changed the base branch from develop to hugo/refactor/Increase-run-functional-test-timeout November 30, 2022 10:49

HPezz force-pushed the hugo/feature/Add-IMUKit branch from 3151e85 to ac5d791 Compare November 30, 2022 14:28

YannLocatelli approved these changes Dec 1, 2022

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libs/IMUKit/include/internal/Mahony.cpp Outdated Show resolved Hide resolved

libs/Utils/tests/MathUtils_test_invSqrt.cpp Outdated Show resolved Hide resolved

libs/IMUKit/include/IMUKit.h Outdated Show resolved Hide resolved

HPezz force-pushed the hugo/refactor/Increase-run-functional-test-timeout branch from 82b1f85 to 4bb1896 Compare December 1, 2022 11:06

HPezz force-pushed the hugo/feature/Add-IMUKit branch from ac5d791 to fabfe61 Compare December 1, 2022 11:08

ladislas force-pushed the hugo/refactor/Increase-run-functional-test-timeout branch from 4bb1896 to e680e64 Compare December 1, 2022 12:27

Base automatically changed from hugo/refactor/Increase-run-functional-test-timeout to develop December 1, 2022 12:27

HPezz force-pushed the hugo/feature/Add-IMUKit branch 2 times, most recently from e9e3e24 to 7e9dcf2 Compare December 1, 2022 13:05

ladislas requested changes Dec 1, 2022

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HPezz force-pushed the hugo/feature/Add-IMUKit branch 3 times, most recently from 6f6bf06 to 36a0489 Compare December 1, 2022 15:13

HPezz added 4 commits December 1, 2022 16:17

✨ (utils): Add invSqrt math utils

2710e8f

✨ (IMUKit/internal): Add Mahony algorithm files

9ebbbae

✨ (IMUKit): Add IMU lib

60f1a74

✨ (spike): Add lk_imu_kit spike

4e85f8d

HPezz force-pushed the hugo/feature/Add-IMUKit branch from 36a0489 to 720d56a Compare December 1, 2022 15:18

✅ (ft): Add imu_kit functional test

ab0ce00

HPezz force-pushed the hugo/feature/Add-IMUKit branch from 720d56a to ab0ce00 Compare December 1, 2022 15:39

ladislas approved these changes Dec 1, 2022

View reviewed changes

ladislas merged commit 537aecf into develop Dec 1, 2022

ladislas deleted the hugo/feature/Add-IMUKit branch December 1, 2022 15:52

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hugo/feature/Add IMUKit #1066

hugo/feature/Add IMUKit #1066

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hugo/feature/Add IMUKit #1066

hugo/feature/Add IMUKit #1066

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🗺️ Map files diff output

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🗺️ Map files diff output

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