libs/kaptan-stm32f7: prepare high-rate board runtime

Signed-off-by: Onur Özkan <work@onurozkan.dev>

libs/kaptan-runtime/src/imu.rs

@@ -46,6 +46,13 @@ where
 
     /// Advances the reset-settling state on a board periodic event.
     pub fn on_periodic_tick(&mut self) -> ImuEvent<Bus::StartError> {
+        if self.imu.is_ready() {
+            return match self.imu.request_sample(self.clock.now()) {
+                Ok(()) | Err(Mpu6000Error::NotReady) => ImuEvent::Idle,
+                Err(error) => ImuEvent::Fault(error),
+            };
+        }
+
         let _ = self.clock.now();
         match self.imu.advance_initialization() {
             Ok(()) => ImuEvent::Idle,
@@ -132,6 +139,10 @@ mod tests {
             service.on_transfer_complete(SpiCompletion::Complete),
             ImuEvent::Initialized
         ));
-        assert!(matches!(service.on_data_ready(), ImuEvent::Idle));
+        assert!(matches!(service.on_periodic_tick(), ImuEvent::Idle));
+        assert!(matches!(
+            service.on_transfer_complete(SpiCompletion::Complete),
+            ImuEvent::Sample(_)
+        ));
     }
 }