✨ (spike): Add lk_imu_kit spike

spikes/CMakeLists.txt

@@ -18,6 +18,7 @@ add_subdirectory(${SPIKES_DIR}/lk_file_reception)
 add_subdirectory(${SPIKES_DIR}/lk_file_manager_kit)
 add_subdirectory(${SPIKES_DIR}/lk_flash_memory)
 add_subdirectory(${SPIKES_DIR}/lk_fs)
+add_subdirectory(${SPIKES_DIR}/lk_imu_kit)
 add_subdirectory(${SPIKES_DIR}/lk_lcd)
 add_subdirectory(${SPIKES_DIR}/lk_led_kit)
 add_subdirectory(${SPIKES_DIR}/lk_log_kit)
@@ -57,6 +58,7 @@ add_dependencies(spikes_leka
 	spike_lk_file_reception
 	spike_lk_file_manager_kit
 	spike_lk_flash_memory
+	spike_lk_imu_kit
 	spike_lk_lcd
 	spike_lk_led_kit
 	spike_lk_log_kit

spikes/lk_imu_kit/CMakeLists.txt

@@ -0,0 +1,23 @@
+# Leka - LekaOS
+# Copyright 2022 APF France handicap
+# SPDX-License-Identifier: Apache-2.0
+
+add_mbed_executable(spike_lk_imu_kit)
+
+target_include_directories(spike_lk_imu_kit
+	PRIVATE
+	.
+)
+
+target_sources(spike_lk_imu_kit
+	PRIVATE
+	main.cpp
+)
+
+target_link_libraries(spike_lk_imu_kit
+	CoreIMU
+	CoreI2C
+	IMUKit
+)
+
+target_link_custom_leka_targets(spike_lk_imu_kit)

spikes/lk_imu_kit/main.cpp

@@ -0,0 +1,58 @@
+// Leka - LekaOS
+// Copyright 2022 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+#include "rtos/ThisThread.h"
+
+#include "CoreAccelerometer.h"
+#include "CoreGyroscope.h"
+#include "CoreI2C.h"
+#include "CoreLSM6DSOX.h"
+#include "EventLoopKit.h"
+#include "HelloWorld.h"
+#include "IMUKit.h"
+#include "LogKit.h"
+
+using namespace std::chrono;
+using namespace leka;
+
+namespace {
+
+namespace imu {
+
+	namespace internal {
+
+		CoreI2C i2c(PinName::SENSOR_IMU_TH_I2C_SDA, PinName::SENSOR_IMU_TH_I2C_SCL);
+		CoreLSM6DSOX lsm6dsox(internal::i2c);
+		EventLoopKit event_loop {};
+
+	}	// namespace internal
+
+	CoreAccelerometer accel(internal::lsm6dsox);
+	CoreGyroscope gyro(internal::lsm6dsox);
+
+	IMUKit kit(internal::event_loop, accel, gyro);
+
+}	// namespace imu
+
+}	// namespace
+
+auto main() -> int
+{
+	logger::init();
+
+	HelloWorld hello;
+	hello.start();
+
+	imu::internal::lsm6dsox.init();
+
+	imu::kit.init();
+	imu::kit.start();
+
+	while (true) {
+		auto [pitch, roll, yaw] = imu::kit.getAngles();
+		log_info("Pitch : %7.2f, Roll : %7.2f Yaw : %7.2f", pitch, roll, yaw);
+
+		rtos::ThisThread::sleep_for(140ms);
+	}
+}