✨ (imu): Add DeepSleepEnabled to CoreLSM6DSOX

leka · Jul 10, 2024 · 57583db · 57583db
1 parent f8bd18c
commit 57583db
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Showing 3 changed files with 33 additions and 1 deletion.
diff --git a/drivers/CoreIMU/include/CoreLSM6DSOX.hpp b/drivers/CoreIMU/include/CoreLSM6DSOX.hpp
@@ -9,12 +9,13 @@
 #include "CoreEventQueue.h"
 #include "CoreInterruptIn.h"
 #include "interface/LSM6DSOX.hpp"
+#include "interface/drivers/DeepSleepEnabled.h"
 #include "interface/drivers/I2C.h"
 #include "lsm6dsox_reg.h"
 
 namespace leka {
 
-class CoreLSM6DSOX : public interface::LSM6DSOX
+class CoreLSM6DSOX : public interface::LSM6DSOX, public interface::DeepSleepEnabled
 {
   public:
 	explicit CoreLSM6DSOX(interface::I2C &i2c, CoreInterruptIn &drdy_irq);
@@ -25,6 +26,9 @@ class CoreLSM6DSOX : public interface::LSM6DSOX
 
 	void setPowerMode(PowerMode mode) final;
 
+	void enableDeepSleep() final;
+	void disableDeepSleep() final;
+
   private:
 	auto read(uint8_t register_address, uint16_t number_bytes_to_read, uint8_t *p_buffer) -> int32_t;
 	auto write(uint8_t register_address, uint16_t number_bytes_to_write, uint8_t *p_buffer) -> int32_t;

diff --git a/drivers/CoreIMU/source/CoreLSM6DSOX.cpp b/drivers/CoreIMU/source/CoreLSM6DSOX.cpp
@@ -97,6 +97,16 @@ void CoreLSM6DSOX::onGyrDataReadyHandler(auto timestamp)
 	}
 }
 
+void CoreLSM6DSOX::enableDeepSleep()
+{
+	setPowerMode(interface::LSM6DSOX::PowerMode::Off);
+}
+
+void CoreLSM6DSOX::disableDeepSleep()
+{
+	setPowerMode(interface::LSM6DSOX::PowerMode::Normal);
+}
+
 auto CoreLSM6DSOX::read(uint8_t register_address, uint16_t number_bytes_to_read, uint8_t *p_buffer) -> int32_t
 {
 	// Send component address, without STOP condition

diff --git a/drivers/CoreIMU/tests/CoreLSM6DSOX_test.cpp b/drivers/CoreIMU/tests/CoreLSM6DSOX_test.cpp
@@ -86,3 +86,21 @@ TEST_F(CoreLSM6DSOXTest, emptyOnGyrDrdyCallback)
 	auto on_rise_callback = spy_InterruptIn_getRiseCallback();
 	on_rise_callback();
 }
+
+TEST_F(CoreLSM6DSOXTest, enableDeepSleep)
+{
+	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
+	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
+	lsm6dsox.setPowerMode(CoreLSM6DSOX::PowerMode::Off);
+
+	lsm6dsox.enableDeepSleep();
+}
+
+TEST_F(CoreLSM6DSOXTest, disableDeepSleep)
+{
+	EXPECT_CALL(mocki2c, write).Times(AtLeast(1));
+	EXPECT_CALL(mocki2c, read).Times(AtLeast(1));
+	lsm6dsox.setPowerMode(CoreLSM6DSOX::PowerMode::Normal);
+
+	lsm6dsox.disableDeepSleep();
+}