kleidos/test/drivers/test_imu_factory/ at main · jmrp.io/kleidos

[READ-ONLY] Mirror of https://github.com/jmrplens/kleidos. Kleidos — Hardware BLE password manager for ESP32-S3 (M5StickC Plus2, StickS3, M5Stack Gray, T-Deck, Cardputer) jmrplens.github.io/kleidos/

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kleidos / test / drivers / test_imu_factory /

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José M. Requena Plens Resolve IMU at runtime via a WHO_AM_I probe factory 7d ago

5b83c1d7

test_imu_factory.cpp

Resolve IMU at runtime via a WHO_AM_I probe factory Bring the IMU up to the PMIC/RTC abstraction bar. Add drivers/imu/imu_factory.{h,cpp}: createImu(address) probes the internal I2C bus and returns the matching driver, mirroring createPmic/createRtc. Detection reuses the drivers' identity constants: BMI270 chip-id 0x24 at reg 0x00, MPU6886-family WHO_AM_I 0x19/0x68/0x71 at reg 0x75, and QMI8658 0x05 at reg 0x00 (recognized but unimplemented -> NullImu). A pure classifyImu() carries the decision; concrete instantiation stays compile-gated on the board's IMU_TYPE_* flags (the BMI270 Bosch backend is only linkable where built). The factory never returns nullptr. The IMU is now resolved once at HAL bootstrap and written into the runtime-settable BoardDef::imu slot (mutable), so the ~12 board::get().imu consumers are unchanged. Remove the per-board static IMU instantiation, #include, and .imu wiring from all 9 board_*.cpp files. Add test/drivers/test_imu_factory: exhaustive classifyImu family coverage (all families incl. BMI270/MPU, off-hardware) plus createImu probe wiring driven by a fake I2C bus (QMI8658/unknown/read-fail -> NullImu). Claude-Session: https://claude.ai/code/session_01SV58JXhfxhhc9DC6vdjBo4

1 week ago

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