Integrate asynchronous GPS IMU fusion

soc/software/gps_system/header/drivers/imu/st_lsm6dsox.h

@@ -0,0 +1,53 @@
+#ifndef ST_LSM6DSOX_H
+#define ST_LSM6DSOX_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "imu/imu_sample.h"
+
+#ifndef ST_IMU_RAW_QUEUE_CAPACITY
+#define ST_IMU_RAW_QUEUE_CAPACITY 256u
+#endif
+
+typedef struct {
+	uint32_t odr_hz;
+	unsigned int accel_full_scale_g;
+	unsigned int gyro_full_scale_dps;
+} st_lsm6dsox_config_t;
+
+typedef struct {
+	uint64_t timestamp_ticks;
+	int16_t temperature_raw;
+	int16_t accel_raw[3];
+	int16_t gyro_raw[3];
+	uint32_t sequence;
+} st_lsm6dsox_raw_sample_t;
+
+typedef struct {
+	uint64_t irq_count;
+	uint64_t sample_count;
+	uint64_t invalid_sample_count;
+	uint64_t spurious_irq_count;
+	uint64_t queue_overflow_count;
+	uint64_t estimated_missed_sample_count;
+	uint64_t last_timestamp_ticks;
+	uint8_t who_am_i;
+	bool initialized;
+	bool running;
+} st_lsm6dsox_diagnostics_t;
+
+void st_lsm6dsox_default_config(st_lsm6dsox_config_t* config);
+bool st_lsm6dsox_init(const st_lsm6dsox_config_t* config);
+bool st_lsm6dsox_start(void);
+void st_lsm6dsox_stop(void);
+/* Called only by the common PLIC ISR for BSP_PMOD_IRQ. */
+void st_lsm6dsox_irq_handler(void);
+/* Retained as a no-op so every backend has the same service interface. */
+void st_lsm6dsox_service(void);
+bool st_lsm6dsox_take_measurement(
+	imu_sample_t* measurement_out);
+void st_lsm6dsox_get_diagnostics(
+	st_lsm6dsox_diagnostics_t* diagnostics_out);
+
+#endif

soc/software/gps_system/header/drivers/imu/tdk_icm42688.h

@@ -0,0 +1,75 @@
+#ifndef TDK_ICM42688_H
+#define TDK_ICM42688_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "imu/imu_sample.h"
+
+#ifndef TDK_IMU_RAW_QUEUE_CAPACITY
+#define TDK_IMU_RAW_QUEUE_CAPACITY 256u
+#endif
+
+#ifndef TDK_IMU_ODR_HZ
+#define TDK_IMU_ODR_HZ 500u
+#endif
+
+typedef enum {
+	TDK_ACCEL_FS_2G = 2,
+	TDK_ACCEL_FS_4G = 4,
+	TDK_ACCEL_FS_8G = 8,
+	TDK_ACCEL_FS_16G = 16
+} tdk_accel_full_scale_t;
+
+typedef enum {
+	TDK_GYRO_FS_15D625 = 15625,
+	TDK_GYRO_FS_31D25 = 31250,
+	TDK_GYRO_FS_62D5 = 62500,
+	TDK_GYRO_FS_125 = 125000,
+	TDK_GYRO_FS_250 = 250000,
+	TDK_GYRO_FS_500 = 500000,
+	TDK_GYRO_FS_1000 = 1000000,
+	TDK_GYRO_FS_2000 = 2000000
+} tdk_gyro_full_scale_mdps_t;
+
+typedef struct {
+	uint32_t odr_hz;
+	tdk_accel_full_scale_t accel_full_scale_g;
+	tdk_gyro_full_scale_mdps_t gyro_full_scale_mdps;
+	uint8_t ui_filter_config;
+} tdk_icm42688_config_t;
+
+typedef struct {
+	uint64_t timestamp_ticks;
+	int16_t temperature_raw;
+	int16_t accel_raw[3];
+	int16_t gyro_raw[3];
+	uint32_t sequence;
+} tdk_icm42688_raw_sample_t;
+
+typedef struct {
+	uint64_t irq_count;
+	uint64_t sample_count;
+	uint64_t invalid_sample_count;
+	uint64_t spurious_irq_count;
+	uint64_t queue_overflow_count;
+	uint64_t estimated_missed_sample_count;
+	uint64_t last_timestamp_ticks;
+	uint8_t who_am_i;
+	bool initialized;
+	bool running;
+} tdk_icm42688_diagnostics_t;
+
+void tdk_icm42688_default_config(tdk_icm42688_config_t* config);
+bool tdk_icm42688_init(const tdk_icm42688_config_t* config);
+bool tdk_icm42688_start(void);
+void tdk_icm42688_stop(void);
+
+/* Called only by the common PLIC ISR for BSP_PMOD_IRQ. */
+void tdk_icm42688_irq_handler(void);
+
+/* Foreground conversion; no floating-point work is performed in the ISR. */
+bool tdk_icm42688_take_measurement(imu_sample_t* measurement_out);
+void tdk_icm42688_get_diagnostics(tdk_icm42688_diagnostics_t* diagnostics_out);
+
+#endif