refactor: move firmware workspace under firmware

firmware/libs/kaptan-sensor/Cargo.toml

@@ -0,0 +1,12 @@
+[package]
+name = "kaptan-sensor"
+edition.workspace = true
+license.workspace = true
+rust-version.workspace = true
+version.workspace = true
+
+[lints]
+workspace = true
+
+[dependencies]
+kaptan-time = { path = "../kaptan-time" }

firmware/libs/kaptan-sensor/src/imu.rs

@@ -0,0 +1,37 @@
+//! Inertial measurement unit observations.
+
+use kaptan_time::Timestamp;
+
+/// Coherent IMU observation in the board body frame.
+///
+/// Acceleration is milligravity, angular rate is milliradians per second, and
+/// temperature is centidegrees Celsius. The board-frame transform is complete
+/// before this value is published.
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub struct ImuSnapshot {
+    /// Monotonic timestamp captured at acquisition interrupt entry.
+    pub timestamp: Timestamp,
+    /// Body-frame acceleration in milligravity.
+    pub acceleration_milligravity: [i16; 3],
+    /// Body-frame angular rate in milliradians per second.
+    pub angular_rate_milliradians_per_second: [i16; 3],
+    /// Sensor temperature in centidegrees Celsius.
+    pub temperature_centidegrees_celsius: i16,
+}
+
+impl ImuSnapshot {
+    /// Creates one accepted IMU observation.
+    pub const fn new(
+        timestamp: Timestamp,
+        acceleration_milligravity: [i16; 3],
+        angular_rate_milliradians_per_second: [i16; 3],
+        temperature_centidegrees_celsius: i16,
+    ) -> Self {
+        Self {
+            timestamp,
+            acceleration_milligravity,
+            angular_rate_milliradians_per_second,
+            temperature_centidegrees_celsius,
+        }
+    }
+}

firmware/libs/kaptan-sensor/src/lib.rs

@@ -0,0 +1,14 @@
+//! Hardware-independent sensor observations and units.
+//!
+//! Sensor data is immutable after publication. Bus transactions, queueing,
+//! protocol encoding, PAC access, RTIC mechanics, and board transforms do not
+//! belong in this crate.
+
+#![no_std]
+
+/// Inertial measurement unit observations.
+pub mod imu;
+/// Optical-flow observations.
+pub mod optical_flow;
+/// Distance sensor observations.
+pub mod range;

firmware/libs/kaptan-sensor/src/optical_flow.rs

@@ -0,0 +1,37 @@
+//! Optical-flow observations.
+
+use kaptan_time::Timestamp;
+
+/// Coherent ground-referenced optical-flow observation in the sensor frame.
+///
+/// Linear velocity and ground distance use integer SI subunits so acquisition
+/// remains independent of the floating-point representation required by some
+/// outbound wire protocols.
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub struct OpticalFlowSnapshot {
+    /// Flight-controller monotonic time at observation reception.
+    pub timestamp: Timestamp,
+    /// Ground-referenced velocity along sensor X/Y, in millimetres per second.
+    pub velocity_millimetres_per_second: [i32; 2],
+    /// Ground distance, in millimetres.
+    pub ground_distance_millimetres: u32,
+    /// Device-reported observation quality, from 0 through 255.
+    pub quality: u8,
+}
+
+impl OpticalFlowSnapshot {
+    /// Creates one valid optical-flow observation.
+    pub const fn new(
+        timestamp: Timestamp,
+        velocity_millimetres_per_second: [i32; 2],
+        ground_distance_millimetres: u32,
+        quality: u8,
+    ) -> Self {
+        Self {
+            timestamp,
+            velocity_millimetres_per_second,
+            ground_distance_millimetres,
+            quality,
+        }
+    }
+}

firmware/libs/kaptan-sensor/src/range.rs

@@ -0,0 +1,26 @@
+//! Distance sensor observations.
+
+use kaptan_time::Timestamp;
+
+/// Coherent range observation in the sensor frame.
+///
+/// The timestamp is captured when the measurement is requested. Distance is
+/// expressed in millimetres so rangefinders with centimetre resolution can be
+/// published without floating-point conversion.
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub struct RangeSnapshot {
+    /// Monotonic timestamp captured when the acquisition was requested.
+    pub timestamp: Timestamp,
+    /// Measured distance in millimetres.
+    pub distance_millimetres: u32,
+}
+
+impl RangeSnapshot {
+    /// Creates one accepted range observation.
+    pub const fn new(timestamp: Timestamp, distance_millimetres: u32) -> Self {
+        Self {
+            timestamp,
+            distance_millimetres,
+        }
+    }
+}