cedric hugo/feature/Add CoreIMU #1092

HPezz · 2022-10-28T10:46:12Z

Add CoreIMU driver, which includes :

CoreLMS6DSOX : process communication between MCU and LSM6DSOX to get acceleration and angular speed data
CoreAccelerometer & CoreGyroscope : take LMS6DSOX as dependancy and get their related data, respectively acceleration in mg and angular speed in dps

Next step : Adding CoreMagnetometer when hardware will allow it (see #1114).

codecov · 2022-10-28T10:54:15Z

Codecov Report

Merging #1092 (647c2b4) into develop (bbd431e) will decrease coverage by 0.00%.
The diff coverage is 95.89%.

❗ Current head 647c2b4 differs from pull request most recent head 47b1961. Consider uploading reports for the commit 47b1961 to get more accurate results

@@             Coverage Diff             @@
##           develop    #1092      +/-   ##
===========================================
- Coverage    96.04%   96.03%   -0.01%     
===========================================
  Files          133      138       +5     
  Lines         3182     3256      +74     
===========================================
+ Hits          3056     3127      +71     
- Misses         126      129       +3

Impacted Files	Coverage Δ
drivers/CoreIMU/source/CoreLSM6DSOX.cpp	`95.38% <95.38%> (ø)`
drivers/CoreIMU/include/CoreAccelerometer.h	`100.00% <100.00%> (ø)`
drivers/CoreIMU/include/CoreGyroscope.h	`100.00% <100.00%> (ø)`
drivers/CoreIMU/source/CoreAccelerometer.cpp	`100.00% <100.00%> (ø)`
drivers/CoreIMU/source/CoreGyroscope.cpp	`100.00% <100.00%> (ø)`
libs/LogKit/include/LogKit.h	`100.00% <0.00%> (ø)`

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

github-actions · 2022-10-28T10:57:18Z

File comparision analysis report

🔖 Info

base: develop / 66d092f + mbed-os-6.15.1+fixes+gcc-11-support + -std=c++20
head: cedric-hugo/feature/Add-CoreIMU / 66d092f + 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	181964 (69%)	80180 (30%)	37520 (7%)
os	451828 (28%)	1112844 (71%)	86728 (16%)

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	✔️	✅	✅	451828 (21%)	ø	86728 (16%)	ø
bootloader	✔️	✅	✅	181964 (8%)	ø	37520 (7%)	ø
functional_ut_boost_ut	✔️	✅	✅	396128 (18%)	ø	27152 (5%)	ø
functional_ut_file_manager	✔️	✅	✅	385864 (18%)	ø	27400 (5%)	ø
functional_ut_imu	✨	-	-	381260 (18%)	-	27120 (5%)	-
functional_ut_io_expander	✔️	✅	✅	371832 (17%)	ø	27120 (5%)	ø
functional_ut_qdac	✔️	✅	✅	373080 (17%)	ø	27120 (5%)	ø
spike_lk_accel_gyro	✨	-	-	93984 (4%)	-	18472 (3%)	-
spike_lk_audio	✔️	✅	✅	135196 (6%)	ø	21048 (4%)	ø
spike_lk_behavior_kit	✔️	✅	✅	198316 (9%)	ø	54600 (10%)	ø
spike_lk_ble	✔️	✅	✅	236716 (11%)	ø	34920 (6%)	ø
spike_lk_bluetooth	✔️	✅	✅	92364 (4%)	ø	18128 (3%)	ø
spike_lk_cg_animations	✔️	✅	✅	152328 (7%)	ø	53128 (10%)	ø
spike_lk_color_kit	✔️	✅	✅	88416 (4%)	ø	20280 (3%)	ø
spike_lk_command_kit	✔️	✅	✅	202844 (9%)	ø	57936 (11%)	ø
spike_lk_config_kit	✔️	✅	✅	138932 (6%)	ø	21040 (4%)	ø
spike_lk_coreled	✔️	✅	✅	87980 (4%)	ø	20168 (3%)	ø
spike_lk_core_touch_sensor	✔️	✅	✅	92820 (4%)	ø	18736 (3%)	ø
spike_lk_event_queue	✔️	✅	✅	84152 (4%)	ø	18808 (3%)	ø
spike_lk_file_manager_kit	✔️	✅	✅	154048 (7%)	ø	21400 (4%)	ø
spike_lk_file_reception	✔️	✅	✅	331308 (15%)	ø	34136 (6%)	ø
spike_lk_flash_memory	✔️	✅	✅	86776 (4%)	ø	18120 (3%)	ø
spike_lk_fs	✔️	✅	✅	173976 (8%)	ø	47976 (9%)	ø
spike_lk_lcd	✔️	✅	✅	171916 (8%)	ø	53352 (10%)	ø
spike_lk_led_kit	✔️	✅	✅	115772 (5%)	ø	21088 (4%)	ø
spike_lk_log_kit	✔️	✅	✅	84776 (4%)	ø	19312 (3%)	ø
spike_lk_motors	✔️	✅	✅	86072 (4%)	ø	18152 (3%)	ø
spike_lk_qdac	✔️	✅	✅	91572 (4%)	ø	18680 (3%)	ø
spike_lk_reinforcer	✔️	✅	✅	112252 (5%)	ø	21088 (4%)	ø
spike_lk_rfid	✔️	✅	✅	84764 (4%)	ø	18088 (3%)	ø
spike_lk_sensors_battery	✔️	✅	✅	87120 (4%)	ø	19184 (3%)	ø
spike_lk_sensors_light	✔️	✅	✅	84072 (4%)	ø	18120 (3%)	ø
spike_lk_sensors_microphone	✔️	✅	✅	84760 (4%)	ø	18120 (3%)	ø
spike_lk_sensors_temperature_humidity	✔️	✅	✅	90400 (4%)	ø	18096 (3%)	ø
spike_lk_sensors_touch	✔️	✅	✅	91672 (4%)	ø	18360 (3%)	ø
spike_lk_serial_number	✔️	✅	✅	136252 (6%)	ø	20960 (3%)	ø
spike_lk_ticker_timeout	✔️	✅	✅	82712 (3%)	ø	18136 (3%)	ø
spike_lk_update_process_app_base	✔️	✅	✅	147980 (7%)	ø	21968 (4%)	ø
spike_lk_update_process_app_update	✔️	✅	✅	100392 (4%)	ø	19144 (3%)	ø
spike_lk_watchdog_isr	✔️	✅	✅	88068 (4%)	ø	20024 (3%)	ø
spike_lk_wifi	✔️	✅	✅	130832 (6%)	ø	21432 (4%)	ø
spike_mbed_blinky	✔️	✅	✅	57616 (2%)	ø	11496 (2%)	ø
spike_mbed_watchdog_ticker_vs_thread	✔️	✅	✅	84176 (4%)	ø	18984 (3%)	ø
spike_stl_cxxsupport	✔️	✅	✅	83488 (3%)	ø	18208 (3%)	ø

🗺️ Map files diff output

Click to show diff list

functional_ut_imu (click to expand)

Flash used: 381260&nbsp;(18%) / total: 2097152
SRAM used: 27120&nbsp;(5%) / total: 524288

spike_lk_accel_gyro (click to expand)

Flash used: 93984&nbsp;(4%) / total: 2097152
SRAM used: 18472&nbsp;(3%) / total: 524288

github-actions · 2022-10-28T10:57:21Z

File comparision analysis report

🔖 Info

base: develop / 66d092f + mbed-os-6.15.1+fixes+gcc-11-support + -std=c++20
head: cedric-hugo/feature/Add-CoreIMU / 66d092f + 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	169508 (64%)	92636 (35%)	30920 (5%)
os	410792 (26%)	1153880 (73%)	79608 (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	✔️	✅	✅	410792 (19%)	ø	79608 (15%)	ø
bootloader	✔️	✅	✅	169508 (8%)	ø	30920 (5%)	ø
functional_ut_boost_ut	✔️	✅	✅	384496 (18%)	ø	20424 (3%)	ø
functional_ut_file_manager	✔️	✅	✅	373280 (17%)	ø	20664 (3%)	ø
functional_ut_imu	✨	-	-	369644 (17%)	-	20392 (3%)	-
functional_ut_io_expander	✔️	✅	✅	360200 (17%)	ø	20392 (3%)	ø
functional_ut_qdac	✔️	✅	✅	361448 (17%)	ø	20392 (3%)	ø
spike_lk_accel_gyro	✨	-	-	71184 (3%)	-	11808 (2%)	-
spike_lk_audio	✔️	✅	✅	125076 (5%)	ø	14568 (2%)	ø
spike_lk_behavior_kit	✔️	✅	✅	189752 (9%)	ø	48120 (9%)	ø
spike_lk_ble	✔️	✅	✅	228768 (10%)	ø	28200 (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	✔️	✅	✅	192520 (9%)	ø	50944 (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	✔️	✅	✅	174616 (8%)	ø	47888 (9%)	ø
spike_lk_lcd	✔️	✅	✅	162236 (7%)	ø	46616 (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	✔️	✅	✅	62600 (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	✔️	✅	✅	80920 (3%)	ø	11520 (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	✔️	✅	✅	114244 (5%)	ø	14056 (2%)	ø
spike_lk_ticker_timeout	✔️	✅	✅	69052 (3%)	ø	11632 (2%)	ø
spike_lk_update_process_app_base	✔️	✅	✅	126092 (6%)	ø	15296 (2%)	ø
spike_lk_update_process_app_update	✔️	✅	✅	77632 (3%)	ø	12352 (2%)	ø
spike_lk_watchdog_isr	✔️	✅	✅	82032 (3%)	ø	13288 (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 (click to expand)

Flash used: 369644&nbsp;(17%) / total: 2097152
SRAM used: 20392&nbsp;(3%) / total: 524288

spike_lk_accel_gyro (click to expand)

Flash used: 71184&nbsp;(3%) / total: 2097152
SRAM used: 11808&nbsp;(2%) / total: 524288

ladislas

First review, much better than yesterday! 👍

Did you investigate the ODR/fifo/data read we were talking about?

drivers/CoreIMU/include/CoreIMULSM6DSOX.h

drivers/CoreIMU/CMakeLists.txt

drivers/CoreIMU/include/CoreAccelerometer.h

drivers/CoreIMU/include/CoreGyroscope.h

drivers/CoreIMU/source/CoreAccelerometer.cpp

drivers/CoreIMU/source/CoreGyroscope.cpp

spikes/CMakeLists.txt

spikes/lk_imu_app/main.cpp

YannLocatelli

Thank you for your work!

drivers/CoreIMU/source/CoreLSM6DSOX.cpp

drivers/CoreIMU/include/CoreLSM6DSOX.h

drivers/CoreIMU/source/CoreLSM6DSOX.cpp

drivers/CoreIMU/include/CoreLSM6DSOX.h

drivers/CoreIMU/include/CoreAccelerometer.h

drivers/CoreIMU/CMakeLists.txt

ladislas

deuxième passage :) quelques retours mais c'est beaucoup mieux!

drivers/CoreIMU/include/CoreAccelerometer.h

drivers/CoreIMU/include/CoreGyroscope.h

drivers/CoreIMU/include/CoreLSM6DSOX.h

drivers/CoreIMU/tests/CoreLSM6DSOX_test.cpp

spikes/lk_imu_app/main.cpp

spikes/lk_imu_app/CMakeLists.txt

tests/functional/CMakeLists.txt

drivers/CoreIMU/include/CoreLSM6DSOX.h

drivers/CoreIMU/include/interface/LSM6DSOX.h

ladislas

Excellent work! 👍

YannLocatelli

I suggest to give some credit to Cedric and Camelia. Please add them as co-authors.

tests/functional/tests/imu/suite_lsm6dsox.cpp

drivers/CoreIMU/source/CoreLSM6DSOX.cpp

drivers/CoreIMU/tests/CoreLSM6DSOX_test.cpp

drivers/CoreIMU/source/CoreLSM6DSOX.cpp

drivers/CoreIMU/CMakeLists.txt

Co-authored-by: CedricDia <diavorini.cedric.dev@gmail.com> Co-authored-by: CameliaB2 <camelia.bennamane@gmail.com>

sonarcloud · 2022-11-16T22:01:30Z

Kudos, SonarCloud Quality Gate passed!

0 Bugs
0 Vulnerabilities
0 Security Hotspots
0 Code Smells

92.4% Coverage
0.0% Duplication

HPezz force-pushed the cedric-hugo/feature/Add-CoreIMU branch 4 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 YannLocatelli and ladislas November 3, 2022 15:26

ladislas requested changes Nov 3, 2022

View reviewed changes

YannLocatelli requested changes Nov 3, 2022

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HPezz force-pushed the cedric-hugo/feature/Add-CoreIMU branch from c851851 to 575ba3d Compare November 4, 2022 17:52

ladislas requested changes Nov 4, 2022

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HPezz force-pushed the cedric-hugo/feature/Add-CoreIMU branch 7 times, most recently from b269203 to 9f57f7f Compare November 9, 2022 16:53

ladislas requested changes Nov 10, 2022

View reviewed changes

HPezz force-pushed the cedric-hugo/feature/Add-CoreIMU branch 5 times, most recently from 2f522f5 to a742451 Compare November 10, 2022 15:35

HPezz force-pushed the cedric-hugo/feature/Add-CoreIMU branch 2 times, most recently from 647c2b4 to 3eff285 Compare November 10, 2022 15:43

HPezz requested review from ladislas and YannLocatelli November 14, 2022 09:51

ladislas approved these changes Nov 15, 2022

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YannLocatelli approved these changes Nov 15, 2022

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HPezz force-pushed the cedric-hugo/feature/Add-CoreIMU branch 2 times, most recently from 79ad0a7 to 389c207 Compare November 16, 2022 14:11

HPezz and others added 6 commits November 16, 2022 22:24

✨ (extern): Add ST lib lsm6dsox_reg

b7bed66

Co-authored-by: CedricDia <diavorini.cedric.dev@gmail.com> Co-authored-by: CameliaB2 <camelia.bennamane@gmail.com>

✨ (driver): Add CoreLSM6DSOX driver

0f8d54d

Co-authored-by: CedricDia <diavorini.cedric.dev@gmail.com> Co-authored-by: CameliaB2 <camelia.bennamane@gmail.com>

✨ (driver): Add CoreAccelerometer

7dd749b

Co-authored-by: CedricDia <diavorini.cedric.dev@gmail.com> Co-authored-by: CameliaB2 <camelia.bennamane@gmail.com>

✨ (driver): Add CoreGyroscope

382fee0

Co-authored-by: CedricDia <diavorini.cedric.dev@gmail.com> Co-authored-by: CameliaB2 <camelia.bennamane@gmail.com>

✨ (spike): Add lk_accel_gyro spike

34ea26e

Co-authored-by: CedricDia <diavorini.cedric.dev@gmail.com> Co-authored-by: CameliaB2 <camelia.bennamane@gmail.com>

✅ (functional): Add imu functional tests

47b1961

Co-authored-by: CedricDia <diavorini.cedric.dev@gmail.com> Co-authored-by: CameliaB2 <camelia.bennamane@gmail.com>

ladislas force-pushed the cedric-hugo/feature/Add-CoreIMU branch from 389c207 to 47b1961 Compare November 16, 2022 21:39

ladislas merged commit 66d092f into develop Nov 16, 2022

ladislas deleted the cedric-hugo/feature/Add-CoreIMU branch November 16, 2022 21:42

HPezz mentioned this pull request Nov 17, 2022

cedricdia hugo/feature/Add CoreIMULSM6DSOX #1060

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cedric hugo/feature/Add CoreIMU #1092

cedric hugo/feature/Add CoreIMU #1092

HPezz commented Oct 28, 2022 •

edited by YannLocatelli

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sonarcloud bot commented Nov 16, 2022

cedric hugo/feature/Add CoreIMU #1092

cedric hugo/feature/Add CoreIMU #1092

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🗺️ Map files diff output

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🗺️ Map files diff output

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