refactor(firmware): centralize configuration and diagnostics

firmware/libs/kaptan-drivers/src/mpu6000/config.rs

@@ -13,17 +13,6 @@ pub struct Mpu6000Config {
     pub sample_rate_divider: u8,
 }
 
-impl Default for Mpu6000Config {
-    fn default() -> Self {
-        Self {
-            accelerometer: AccelerometerRange::PlusMinus4G,
-            gyroscope: GyroscopeRange::PlusMinus1000DegreesPerSecond,
-            digital_low_pass_filter: DigitalLowPassFilter::Bandwidth42Hz,
-            sample_rate_divider: 9,
-        }
-    }
-}
-
 /// MPU6000 digital low-pass filter bandwidth selection.
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub enum DigitalLowPassFilter {

firmware/libs/kaptan-drivers/src/mpu6000/mod.rs

@@ -232,10 +232,20 @@ impl<Bus: SpiDevice> Mpu6000<Bus> {
 
 #[cfg(test)]
 mod tests {
-    use super::{Error, Mpu6000, Mpu6000Config, Mpu6000Event, TRANSFER_CAPACITY};
+    use super::{
+        AccelerometerRange, DigitalLowPassFilter, Error, GyroscopeRange, Mpu6000, Mpu6000Config,
+        Mpu6000Event, TRANSFER_CAPACITY,
+    };
     use kaptan_spi::{SpiCompletion, SpiDevice};
     use kaptan_time::Timestamp;
 
+    const TEST_CONFIG: Mpu6000Config = Mpu6000Config {
+        accelerometer: AccelerometerRange::PlusMinus4G,
+        gyroscope: GyroscopeRange::PlusMinus1000DegreesPerSecond,
+        digital_low_pass_filter: DigitalLowPassFilter::Bandwidth42Hz,
+        sample_rate_divider: 9,
+    };
+
     #[derive(Debug, Eq, PartialEq)]
     enum FakeError {
         Start,
@@ -277,7 +287,7 @@ mod tests {
     fn configures_a_verified_device_without_waiting() {
         let mut bus = FakeBus::ready();
         bus.receive[1] = 0x68;
-        let mut driver = Mpu6000::new(bus, Mpu6000Config::default());
+        let mut driver = Mpu6000::new(bus, TEST_CONFIG);
 
         driver.begin_initialization().unwrap();
         assert_eq!(
@@ -302,7 +312,7 @@ mod tests {
     fn rejects_an_unexpected_identity() {
         let mut bus = FakeBus::ready();
         bus.receive[1] = 0x70;
-        let mut driver = Mpu6000::new(bus, Mpu6000Config::default());
+        let mut driver = Mpu6000::new(bus, TEST_CONFIG);
 
         driver.begin_initialization().unwrap();
         let _ = driver.on_transfer_complete(SpiCompletion::Complete);
@@ -322,7 +332,7 @@ mod tests {
         ];
         let mut bus = FakeBus::ready();
         bus.receive[1] = 0x68;
-        let mut driver = Mpu6000::new(bus, Mpu6000Config::default());
+        let mut driver = Mpu6000::new(bus, TEST_CONFIG);
 
         driver.begin_initialization().unwrap();
         let _ = driver.on_transfer_complete(SpiCompletion::Complete);
@@ -352,7 +362,7 @@ mod tests {
     fn reports_a_route_transfer_fault() {
         let mut bus = FakeBus::ready();
         bus.receive[1] = 0x68;
-        let mut driver = Mpu6000::new(bus, Mpu6000Config::default());
+        let mut driver = Mpu6000::new(bus, TEST_CONFIG);
 
         driver.begin_initialization().unwrap();
         assert!(matches!(

firmware/libs/kaptan-drivers/src/mpu6000/service.rs

@@ -89,10 +89,19 @@ where
 #[cfg(test)]
 mod tests {
     use super::{Mpu6000Service, Mpu6000ServiceEvent};
-    use crate::mpu6000::{Mpu6000, Mpu6000Config};
+    use crate::mpu6000::{
+        AccelerometerRange, DigitalLowPassFilter, GyroscopeRange, Mpu6000, Mpu6000Config,
+    };
     use kaptan_spi::{SpiCompletion, SpiDevice};
     use kaptan_time::{MonotonicClock, Timestamp};
 
+    const TEST_CONFIG: Mpu6000Config = Mpu6000Config {
+        accelerometer: AccelerometerRange::PlusMinus4G,
+        gyroscope: GyroscopeRange::PlusMinus1000DegreesPerSecond,
+        digital_low_pass_filter: DigitalLowPassFilter::Bandwidth42Hz,
+        sample_rate_divider: 9,
+    };
+
     struct Clock;
 
     impl MonotonicClock for Clock {
@@ -120,10 +129,7 @@ mod tests {
     fn accepts_a_sample_only_after_initialization() {
         let mut response = [0; 15];
         response[1] = 0x68;
-        let mut service = Mpu6000Service::new(
-            Clock,
-            Mpu6000::new(Bus { response }, Mpu6000Config::default()),
-        );
+        let mut service = Mpu6000Service::new(Clock, Mpu6000::new(Bus { response }, TEST_CONFIG));
 
         service.begin().unwrap();
         assert!(matches!(service.on_data_ready(), Mpu6000ServiceEvent::Idle));