Add tdk-icm42670 to imu.yaml (#1338)

# Description

- add `TDK-ICM42670` to imu.yaml

---------

Co-authored-by: Jason Mobarak <[email protected]>

Author: EricCalgary

c/include/libsbp/imu_macros.h

@@ -76,6 +76,7 @@
 
 #define SBP_IMU_AUX_IMU_TYPE_BOSCH_BMI160 (0)
 #define SBP_IMU_AUX_IMU_TYPE_ST_MICROELECTRONICS_ASM330LLH (1)
+#define SBP_IMU_AUX_IMU_TYPE_TDK_ICM_42670 (3)
 #define SBP_IMU_AUX_IMU_TYPE_MURATA_SCHA634_D03 (4)
 #define SBP_IMU_AUX_IMU_TYPE_TDK_IAM_20680HP (5)
 #define SBP_IMU_AUX_GYROSCOPE_RANGE_MASK (0xfu)

docs/sbp.pdf

@@ -162,6 +162,9 @@ pub mod msg_imu_aux {
         /// ST Microelectronics ASM330LLH
         StMicroelectronicsAsm330Llh = 1,
 
+        /// TDK ICM-42670
+        TdkIcm42670 = 3,
+
         /// Murata SCHA634-D03
         MurataScha634D03 = 4,
 
@@ -176,6 +179,7 @@ pub mod msg_imu_aux {
                 ImuType::StMicroelectronicsAsm330Llh => {
                     f.write_str("ST Microelectronics ASM330LLH")
                 }
+                ImuType::TdkIcm42670 => f.write_str("TDK ICM-42670"),
                 ImuType::MurataScha634D03 => f.write_str("Murata SCHA634-D03"),
                 ImuType::TdkIam20680Hp => f.write_str("TDK IAM-20680HP"),
             }
@@ -188,6 +192,7 @@ pub mod msg_imu_aux {
             match i {
                 0 => Ok(ImuType::BoschBmi160),
                 1 => Ok(ImuType::StMicroelectronicsAsm330Llh),
+                3 => Ok(ImuType::TdkIcm42670),
                 4 => Ok(ImuType::MurataScha634D03),
                 5 => Ok(ImuType::TdkIam20680Hp),
                 i => Err(i),

rust/sbp/src/messages/imu.rs

@@ -1943,25 +1943,11 @@ function uTCTimeToJson(value) {
     return JSON.stringify(uncast(value, r("UTCTime")), null, 2);
 }
 
-function invalidValue(typ, val, key, parent = '') {
-    const prettyTyp = prettyTypeName(typ);
-    const parentText = parent ? ` on ${parent}` : '';
-    const keyText = key ? ` for key "${key}"` : '';
-    throw Error(`Invalid value${keyText}${parentText}. Expected ${prettyTyp} but got ${JSON.stringify(val)}`);
-}
-
-function prettyTypeName(typ) {
-    if (Array.isArray(typ)) {
-        if (typ.length === 2 && typ[0] === undefined) {
-            return `an optional ${prettyTypeName(typ[1])}`;
-        } else {
-            return `one of [${typ.map(a => { return prettyTypeName(a); }).join(", ")}]`;
-        }
-    } else if (typeof typ === "object" && typ.literal !== undefined) {
-        return typ.literal;
-    } else {
-        return typeof typ;
+function invalidValue(typ, val, key = '') {
+    if (key) {
+        throw Error(`Invalid value for key "${key}". Expected type ${JSON.stringify(typ)} but got ${JSON.stringify(val)}`);
     }
+    throw Error(`Invalid value ${JSON.stringify(val)} for type ${JSON.stringify(typ)}`, );
 }
 
 function jsonToJSProps(typ) {
@@ -1982,10 +1968,10 @@ function jsToJSONProps(typ) {
     return typ.jsToJSON;
 }
 
-function transform(val, typ, getProps, key = '', parent = '') {
+function transform(val, typ, getProps, key = '') {
     function transformPrimitive(typ, val) {
         if (typeof typ === typeof val) return val;
-        return invalidValue(typ, val, key, parent);
+        return invalidValue(typ, val, key);
     }
 
     function transformUnion(typs, val) {
@@ -1997,17 +1983,17 @@ function transform(val, typ, getProps, key = '', parent = '') {
                 return transform(val, typ, getProps);
             } catch (_) {}
         }
-        return invalidValue(typs, val, key, parent);
+        return invalidValue(typs, val);
     }
 
     function transformEnum(cases, val) {
         if (cases.indexOf(val) !== -1) return val;
-        return invalidValue(cases.map(a => { return l(a); }), val, key, parent);
+        return invalidValue(cases, val);
     }
 
     function transformArray(typ, val) {
         // val must be an array with no invalid elements
-        if (!Array.isArray(val)) return invalidValue(l("array"), val, key, parent);
+        if (!Array.isArray(val)) return invalidValue("array", val);
         return val.map(el => transform(el, typ, getProps));
     }
 
@@ -2017,24 +2003,24 @@ function transform(val, typ, getProps, key = '', parent = '') {
         }
         const d = new Date(val);
         if (isNaN(d.valueOf())) {
-            return invalidValue(l("Date"), val, key, parent);
+            return invalidValue("Date", val);
         }
         return d;
     }
 
     function transformObject(props, additional, val) {
         if (val === null || typeof val !== "object" || Array.isArray(val)) {
-            return invalidValue(l(ref || "object"), val, key, parent);
+            return invalidValue("object", val);
         }
         const result = {};
         Object.getOwnPropertyNames(props).forEach(key => {
             const prop = props[key];
             const v = Object.prototype.hasOwnProperty.call(val, key) ? val[key] : undefined;
-            result[prop.key] = transform(v, prop.typ, getProps, key, ref);
+            result[prop.key] = transform(v, prop.typ, getProps, prop.key);
         });
         Object.getOwnPropertyNames(val).forEach(key => {
             if (!Object.prototype.hasOwnProperty.call(props, key)) {
-                result[key] = transform(val[key], additional, getProps, key, ref);
+                result[key] = transform(val[key], additional, getProps, key);
             }
         });
         return result;
@@ -2043,20 +2029,18 @@ function transform(val, typ, getProps, key = '', parent = '') {
     if (typ === "any") return val;
     if (typ === null) {
         if (val === null) return val;
-        return invalidValue(typ, val, key, parent);
+        return invalidValue(typ, val);
     }
-    if (typ === false) return invalidValue(typ, val, key, parent);
-    let ref = undefined;
+    if (typ === false) return invalidValue(typ, val);
     while (typeof typ === "object" && typ.ref !== undefined) {
-        ref = typ.ref;
         typ = typeMap[typ.ref];
     }
     if (Array.isArray(typ)) return transformEnum(typ, val);
     if (typeof typ === "object") {
         return typ.hasOwnProperty("unionMembers") ? transformUnion(typ.unionMembers, val)
             : typ.hasOwnProperty("arrayItems")    ? transformArray(typ.arrayItems, val)
             : typ.hasOwnProperty("props")         ? transformObject(getProps(typ), typ.additional, val)
-            : invalidValue(typ, val, key, parent);
+            : invalidValue(typ, val);
     }
     // Numbers can be parsed by Date but shouldn't be.
     if (typ === Date && typeof val !== "number") return transformDate(val);
@@ -2071,10 +2055,6 @@ function uncast(val, typ) {
     return transform(val, typ, jsToJSONProps);
 }
 
-function l(typ) {
-    return { literal: typ };
-}
-
 function a(typ) {
     return { arrayItems: typ };
 }