Add fabric method IMU::create for instantiating imu driver

okalachev · okalachev · commit 9249392f16a7 · 2026-08-08T01:14:16.000+03:00
Simplify inheritance model - merge IMUInterface and IMUBase to IMU.
Make IMU class not pure-virtual, but dummy imu instead.
diff --git a/ICM20948.cpp b/ICM20948.cpp
@@ -268,7 +268,7 @@ float ICM20948::getRate() {
 }
 
 bool ICM20948::setupInterrupt() {
-	bool res = IMUBase::setupInterrupt(intPin);
+	bool res = IMU::setupInterrupt(intPin);
 	if (intPin != -1 && res) {
 		setIntPinPolarity(ICM20948_ACT_LOW);
 		enableClearIntByAnyRead(true);
diff --git a/ICM20948.h b/ICM20948.h
@@ -84,7 +84,7 @@ typedef enum AK09916_OP_MODE {
 	AK09916_CONT_MODE_100HZ    = 0x08
 } AK09916_opMode;
 
-class ICM20948 : public IMUBase {
+class ICM20948 : public IMU {
 public:
 	/* constants */
 
diff --git a/ICM40609D.cpp b/ICM40609D.cpp
@@ -282,7 +282,7 @@ float ICM40609D::getRate() {
 }
 
 bool ICM40609D::setupInterrupt() {
-	bool res = IMUBase::setupInterrupt(intPin);
+	bool res = IMU::setupInterrupt(intPin);
 	if (intPin != -1 && res) {
 		enableDataReadyInterrupt();
 	}
diff --git a/ICM40609D.h b/ICM40609D.h
@@ -12,7 +12,7 @@
 #include "IMU.h"
 #include "logger.h"
 
-class ICM40609D : public IMUBase {
+class ICM40609D : public IMU {
 public:
 	static constexpr uint8_t WHO_AM_I_VALUE = 0x3B;
 
@@ -33,7 +33,6 @@ class ICM40609D : public IMUBase {
 	int status() const override { return _status; }
 	uint8_t whoAmI() override;
 	bool read() override;
-	void waitForData() override { IMUBase::waitForData(); }
 	void getAccel(float& x, float& y, float& z) const override;
 	void getGyro(float& x, float& y, float& z) const override;
 	void getMag(float& x, float& y, float& z) const override;
diff --git a/IMU.cpp b/IMU.cpp
@@ -0,0 +1,20 @@
+#include "FlixPeriph.h"
+
+IMU* IMU::create(int model, SPIClass& spi, int cs, int drdy) {
+	switch (model) {
+		case 1: return new MPU9250(spi, cs, drdy);
+		case 2: return new ICM20948(spi, cs, drdy);
+		case 4: return new ICM40609D(spi, cs, drdy);
+		default: return new IMU();
+	}
+}
+
+IMU* IMU::create(int model, TwoWire& i2c, int drdy) {
+	switch (model) {
+		case 1: return new MPU9250(i2c, drdy);
+		case 2: return new ICM20948(i2c, drdy);
+		case 3: return new MPU6050(i2c, drdy);
+		case 4: return new ICM40609D(i2c, drdy);
+		default: return new IMU();
+	}
+}
diff --git a/IMU.h b/IMU.h
@@ -10,8 +10,8 @@
 #include "freertos/task.h"
 #endif
 
-// IMU driver interface
-class IMUInterface {
+// Base class for IMU drivers
+class IMU : public Logger {
 public:
 	enum DLPF {
 		DLPF_OFF,
@@ -44,27 +44,30 @@ class IMUInterface {
 		RATE_8KHZ_APPROX,
 		RATE_MAX
 	};
-	virtual bool begin() = 0;
-	virtual void reset() = 0;
-	virtual int status() const = 0; // 0 - success, otherwise error
-	virtual uint8_t whoAmI() = 0;
-	virtual bool read() = 0;
-	virtual void waitForData() = 0;
-	virtual void getAccel(float& x, float& y, float& z) const = 0;
-	virtual void getGyro(float& x, float& y, float& z) const = 0;
-	virtual void getMag(float& x, float& y, float& z) const = 0;
-	virtual float getTemp() = 0;
-	virtual bool setRate(const Rate rate) = 0;
-	virtual float getRate() = 0;
-	virtual bool setAccelRange(const AccelRange range) = 0;
-	virtual bool setGyroRange(const GyroRange range) = 0;
-	virtual bool setDLPF(const DLPF dlpf) = 0;
-	virtual const char* getModel() const = 0;
-	virtual bool setupInterrupt() = 0;
-};
 
-// Base for all IMU drivers
-class IMUBase : public IMUInterface, public Logger {
+	virtual bool begin() { return false; }
+	virtual bool begin(SPIClass& spi, int cs = -1, int drdy = -1) { return false; }
+	virtual bool begin(TwoWire& i2c, int drdy = -1) { return false; }
+	virtual void reset() {}
+	virtual int status() const { return -1; } // 0 - success, otherwise error
+	virtual uint8_t whoAmI() { return 0; }
+	virtual bool read() { return false; }
+	virtual void getAccel(float& x, float& y, float& z) const { x = y = z = NAN; }
+	virtual void getGyro(float& x, float& y, float& z) const { x = y = z = NAN; }
+	virtual void getMag(float& x, float& y, float& z) const { x = y = z = NAN; }
+	virtual float getTemp() { return NAN; }
+	virtual bool setRate(const Rate rate) { return false; }
+	virtual float getRate() { return 0; }
+	virtual bool setAccelRange(const AccelRange range) { return false; }
+	virtual bool setGyroRange(const GyroRange range) { return false; }
+	virtual bool setDLPF(const DLPF dlpf) { return false; }
+	virtual char const* getModel() const { return "None"; }
+	virtual bool setupInterrupt() { return false; }
+
+	// Fabric methods
+	static IMU *create(int model, SPIClass& spi, int cs = -1, int drdy = -1);
+	static IMU *create(int model, TwoWire& i2c, int drdy = -1);
+
 private:
 	bool usingInterrupt = false;
 	int interruptPin = -1;
@@ -96,7 +99,7 @@ class IMUBase : public IMUInterface, public Logger {
 			return false;
 		}
 
-		timerAttachInterruptArg(timer, IMUBase::interruptHandler, interruptSemaphore);
+		timerAttachInterruptArg(timer, interruptHandler, interruptSemaphore);
 		timerAlarm(timer, alarmValue, true, 0);
 		usingInterrupt = true;
 		return true;
@@ -105,7 +108,7 @@ class IMUBase : public IMUInterface, public Logger {
 	bool setupInterruptPin(uint8_t pin) {
 		interruptSemaphore = xSemaphoreCreateBinary();
 		pinMode(pin, INPUT_PULLUP);
-		attachInterruptArg(digitalPinToInterrupt(pin), IMUBase::interruptHandler, interruptSemaphore, FALLING);
+		attachInterruptArg(digitalPinToInterrupt(pin), interruptHandler, interruptSemaphore, FALLING);
 		usingInterrupt = true;
 		interruptPin = pin;
 		return true;
@@ -116,7 +119,7 @@ class IMUBase : public IMUInterface, public Logger {
 #endif
 
 protected:
-	bool setupInterrupt(int pin = -1) {
+	bool setupInterrupt(int pin) {
 		if (usingInterrupt) return true; // already set
 
 		if (pin == -1) {
@@ -127,7 +130,7 @@ class IMUBase : public IMUInterface, public Logger {
 	}
 
 public:
-	void waitForData() override {
+	virtual void waitForData() {
 		if (this->status() && interruptPin != -1) return; // don't hang if error and interrupt pin is used
 
 		if (usingInterrupt) {
diff --git a/MPU6050.cpp b/MPU6050.cpp
@@ -2097,7 +2097,7 @@ void MPU6050_Base::getGyro(float& x, float& y, float& z) const {
 
 bool MPU6050_Base::setupInterrupt() {
 	// TODO: implement pin interrupt
-	return IMUBase::setupInterrupt();
+	return IMU::setupInterrupt();
 }
 
 // TEMP_OUT_* registers
diff --git a/MPU6050.h b/MPU6050.h
@@ -451,7 +451,7 @@ enum class GYRO_FS {
 	G2000DPS
 };
 
-class MPU6050_Base : public IMUBase {
+class MPU6050_Base : public IMU {
 	public:
 		MPU6050_Base(TwoWire& wire, int drdy = -1, uint8_t addr = MPU6050_DEFAULT_ADDRESS) : wireObj(&wire), devAddr(addr) {};
 		// TODO: support drdy
diff --git a/MPU9250.cpp b/MPU9250.cpp
@@ -509,7 +509,7 @@ float MPU9250::getRate() {
   return 1000.0f / (srd_ + 1);
 }
 bool MPU9250::setupInterrupt() {
-  if (!IMUBase::setupInterrupt(int_pin_)) {
+  if (!IMU::setupInterrupt(int_pin_)) {
     log(errorFmt, status_ = 22);
     return false;
   }
diff --git a/MPU9250.h b/MPU9250.h
@@ -39,7 +39,7 @@
 #include "invensense_imu.h"  // NOLINT
 #include "logger.h"
 
-class MPU9250 : public IMUBase {
+class MPU9250 : public IMU {
  public:
   /* Sensor and filter settings */
   enum I2cAddr : uint8_t {
diff --git a/invensense_imu.cpp b/invensense_imu.cpp
@@ -54,6 +54,9 @@ void InvensenseImu::Begin() {
     delay(1);
     digitalWrite(dev_, HIGH);
     delay(1);
+  } else {
+    i2c_->setClock(400000);
+    i2c_->begin();
   }
 }
 

Original file line number	Diff line number	Diff line change
`@@ -268,7 +268,7 @@ float ICM20948::getRate() {`
`268`	`268`	`}`
`269`	`269`
`270`	`270`	`bool ICM20948::setupInterrupt() {`
`271`		`- bool res = IMUBase::setupInterrupt(intPin);`
	`271`	`+ bool res = IMU::setupInterrupt(intPin);`
`272`	`272`	`if (intPin != -1 && res) {`
`273`	`273`	`setIntPinPolarity(ICM20948_ACT_LOW);`
`274`	`274`	`enableClearIntByAnyRead(true);`
Original file line number	Diff line number	Diff line change
`@@ -282,7 +282,7 @@ float ICM40609D::getRate() {`
`282`	`282`	`}`
`283`	`283`
`284`	`284`	`bool ICM40609D::setupInterrupt() {`
`285`		`- bool res = IMUBase::setupInterrupt(intPin);`
	`285`	`+ bool res = IMU::setupInterrupt(intPin);`
`286`	`286`	`if (intPin != -1 && res) {`
`287`	`287`	`enableDataReadyInterrupt();`
`288`	`288`	`}`
Original file line number	Diff line number	Diff line change
`@@ -2097,7 +2097,7 @@ void MPU6050_Base::getGyro(float& x, float& y, float& z) const {`
`2097`	`2097`
`2098`	`2098`	`bool MPU6050_Base::setupInterrupt() {`
`2099`	`2099`	`// TODO: implement pin interrupt`
`2100`		`- return IMUBase::setupInterrupt();`
	`2100`	`+ return IMU::setupInterrupt();`
`2101`	`2101`	`}`
`2102`	`2102`
`2103`	`2103`	`// TEMP_OUT_* registers`
Original file line number	Diff line number	Diff line change
`@@ -509,7 +509,7 @@ float MPU9250::getRate() {`
`509`	`509`	`return 1000.0f / (srd_ + 1);`
`510`	`510`	`}`
`511`	`511`	`bool MPU9250::setupInterrupt() {`
`512`		`- if (!IMUBase::setupInterrupt(int_pin_)) {`
	`512`	`+ if (!IMU::setupInterrupt(int_pin_)) {`
`513`	`513`	`log(errorFmt, status_ = 22);`
`514`	`514`	`return false;`
`515`	`515`	`}`