Onur Özkan
f9a61a086f
Validate configuration through its owning schemas and keep board declarations separate from shared F722 resource ownership. Bound USB transitions, isolate transport failures and retain restart-only activation. Migrate navigation and flight consumers with the sensor and schema contracts. Require explicit installation data and synchronous output authority; board motor outputs remain inhibited. Validation: assembled-prefix host tests, strict Clippy, platform/USB tests and both ARM release builds. Final-source coverage and scoped Miri/Kani evidence are retained separately from hardware qualification.
48 lines
1.9 KiB
Rust
48 lines
1.9 KiB
Rust
//! Inertial measurement unit observations.
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use kaptan_time::Timestamp;
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/// Coherent IMU observation in the board body frame.
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///
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/// Acceleration is milligravity, angular rate is milliradians per second, and
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/// temperature is centidegrees Celsius. The board-frame transform is complete
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/// before this value is published.
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///
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/// Current MPU6000 and ICM-42688-P decoders round integer conversions toward
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/// zero. Across their configured ranges, decoded acceleration is within
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/// ±16,000 mg and angular rate within ±34,871 mrad/s, including mounting sign
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/// changes. Temperature is within -22,234..=27,233 cdegC. These are backend
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/// representation bounds over every raw i16 value, not physical operating
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/// limits or validation performed by this public snapshot type.
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#[derive(Clone, Copy, Debug, Eq, PartialEq)]
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pub struct ImuSnapshot {
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/// Host monotonic acquisition-request time, captured immediately before the
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/// accepted register read is submitted by the worker. This is neither DRDY
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/// ISR entry nor the sensor's physical sampling epoch. Register updates,
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/// filtering and deferred/coalesced interrupts prevent that inference.
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pub timestamp: Timestamp,
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/// Body-frame acceleration in milligravity.
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pub acceleration_milligravity: [i16; 3],
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/// Body-frame angular rate in milliradians per second.
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pub angular_rate_milliradians_per_second: [i32; 3],
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/// Sensor temperature in centidegrees Celsius.
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pub temperature_centidegrees_celsius: i16,
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}
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impl ImuSnapshot {
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/// Creates one accepted IMU observation.
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pub const fn new(
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timestamp: Timestamp,
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acceleration_milligravity: [i16; 3],
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angular_rate_milliradians_per_second: [i32; 3],
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temperature_centidegrees_celsius: i16,
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) -> Self {
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Self {
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timestamp,
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acceleration_milligravity,
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angular_rate_milliradians_per_second,
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temperature_centidegrees_celsius,
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}
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}
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}
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