✨ (spikes): Add spike imu_kit_calibration

spikes/CMakeLists.txt

@@ -19,6 +19,7 @@ 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(${SPIKES_DIR}/lk_imu_kit_calibration)
 add_subdirectory(${SPIKES_DIR}/lk_imu_kit_fusion)
 add_subdirectory(${SPIKES_DIR}/lk_imu_kit_fusion_calibration)
 add_subdirectory(${SPIKES_DIR}/lk_lcd)

spikes/lk_imu_kit_calibration/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_calibration)
+
+target_include_directories(spike_lk_imu_kit_calibration
+	PRIVATE
+	.
+)
+
+target_sources(spike_lk_imu_kit_calibration
+	PRIVATE
+	main.cpp
+)
+
+target_link_libraries(spike_lk_imu_kit_calibration
+	CoreIMU
+	CoreI2C
+	Fusion
+)
+
+target_link_custom_leka_targets(spike_lk_imu_kit_calibration)

spikes/lk_imu_kit_calibration/main.cpp

@@ -0,0 +1,65 @@
+// 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 "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);
+
+	}	// namespace internal
+
+	CoreAccelerometer accel(internal::lsm6dsox);
+	CoreGyroscope gyro(internal::lsm6dsox);
+
+}	// namespace imu
+
+}	// namespace
+
+const auto SLEEP_DELAY = 50ms;
+auto counter		   = 0;
+
+auto main() -> int
+{
+	logger::init();
+
+	rtos::ThisThread::sleep_for(1s);
+
+	imu::internal::lsm6dsox.init();
+
+	rtos::ThisThread::sleep_for(1s);
+	log_free("#, ts, dt, ax, ay, az, gx, gy, gz\n");
+	rtos::ThisThread::sleep_for(500ms);
+
+	while (true) {
+		const auto start = rtos::Kernel::Clock::now();
+
+		auto [gx, gy, gz] = imu::gyro.getXYZ();
+		auto [ax, ay, az] = imu::accel.getXYZ();
+
+		const auto stop = rtos::Kernel::Clock::now();
+
+		const auto delta = static_cast<int>((stop - start).count());
+		const auto now	 = static_cast<int>(start.time_since_epoch().count());
+
+		log_free("%i, %i, %i, %f, %f, %f, %f, %f, %f\n", counter, now, delta, ax, ay, az, gx, gy, gz);
+
+		++counter;
+		rtos::ThisThread::sleep_for(SLEEP_DELAY);
+	}
+}