(kinda) implement command

as far as i can tell i should have everything set up for the command to
work, but for some reason it doesn't show up in the gds

Author: hrfarmer

FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.cpp

@@ -20,4 +20,22 @@ MagnetorquerManager ::MagnetorquerManager(const char* const compName) : Magnetor
 
 MagnetorquerManager ::~MagnetorquerManager() {}
 
+void MagnetorquerManager ::START_PLAYBACK_TEST_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
+    if (!device_is_ready(dev)) {
+        this->log_WARNING_HI_DeviceNotReady();
+        return;
+    }
+    drv2605_haptic_config(this->dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&this->rom);
+}
+
+void MagnetorquerManager ::START_PLAYBACK_TEST2_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) {
+    if (!device_is_ready(dev)) {
+        this->log_WARNING_HI_DeviceNotReady();
+        return;
+    }
+
+    struct drv2605_rom_data rom2 = {.library = DRV2605_LIBRARY_TS2200_A, .seq_regs = {50, 0, 0, 0, 0, 0, 0, 0}};
+    drv2605_haptic_config(this->dev, DRV2605_HAPTICS_SOURCE_ROM, (union drv2605_config_data*)&rom2);
+}
+
 }  // namespace Drv

FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.fpp

@@ -2,12 +2,14 @@ module Drv {
     @ Component for F Prime FSW framework.
     passive component MagnetorquerManager {
 
-        ##############################################################################
-        #### Uncomment the following examples to start customizing your component ####
-        ##############################################################################
+        @ Event for reporting DRV2605 not ready error
+        event DeviceNotReady() severity warning high format "DRV2605 device not ready" throttle 5
 
-        # @ Example async command
-        # async command COMMAND_NAME(param_name: U32)
+        @ Start DRV2605 playback with effect #47
+        sync command START_PLAYBACK_TEST()
+
+        @ Start DRV2605 playback with effect #50
+        sync command START_PLAYBACK_TEST2()
 
         # @ Example telemetry counter
         # telemetry ExampleCounter: U64
@@ -52,4 +54,4 @@ module Drv {
         param set port prmSetOut
 
     }
-}
+}

FprimeZephyrReference/Components/Drv/MagnetorquerManager/MagnetorquerManager.hpp

@@ -13,6 +13,8 @@
 #include <zephyr/drivers/sensor.h>
 #include <zephyr/kernel.h>
 
+#include <zephyr/drivers/haptics/drv2605.h>
+
 namespace Drv {
 
 class MagnetorquerManager final : public MagnetorquerManagerComponentBase {
@@ -31,6 +33,10 @@ class MagnetorquerManager final : public MagnetorquerManagerComponentBase {
   private:
     //! Zephyr device to store initialized DRV2605
     const struct device* dev;
+    struct drv2605_rom_data rom = {.library = DRV2605_LIBRARY_TS2200_A, .seq_regs = {47, 0, 0, 0, 0, 0, 0, 0}};
+
+    void START_PLAYBACK_TEST_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) override;
+    void START_PLAYBACK_TEST2_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) override;
 };
 
 }  // namespace Drv

FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi

@@ -44,7 +44,7 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.watchdog.WatchdogTransitions
   }
 
-  packet Imu id 6 group 4 {
+  packet Magnetorquer id 6 group 4 {
     ReferenceDeployment.lsm6dsoManager.Acceleration
     ReferenceDeployment.lsm6dsoManager.AngularVelocity
     ReferenceDeployment.lsm6dsoManager.Temperature
@@ -61,6 +61,10 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.antennaDeployer.LastDistance
   }
 
+  packet BDotDetumble id 9 group 4 {
+    ReferenceDeployment.bDotDetumble.DipoleMoment
+  }
+
 } omit {
   CdhCore.cmdDisp.CommandErrors
   # Only has one library, no custom versions

FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp

@@ -89,4 +89,8 @@ module ReferenceDeployment {
   instance antennaDeployer: Components.AntennaDeployer base id 0x10029000
 
   instance fsSpace: Components.FsSpace base id 0x10030000
+
+  instance detumbleManager: Components.DetumbleManager base id 0x10031000
+
+  instance bDotDetumble: Drv.BDotDetumble base id 0x10032000
 }

FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp

@@ -44,6 +44,8 @@ module ReferenceDeployment {
     # For UART sideband communication
     instance comDriver
     instance fsSpace
+    instance bDotDetumble
+    instance detumbleManager
 
 
   # ----------------------------------------------------------------------
@@ -160,6 +162,7 @@ module ReferenceDeployment {
       DetumbleManager.angularVelocityGet -> lsm6dsoManager.angularVelocityGet
       DetumbleManager.magneticFieldGet -> lis2mdlManager.magneticFieldGet
       DetumbleManager.temperatureGet -> lsm6dsoManager.temperatureGet
+      DetumbleManager.dipoleMomentGet -> bDotDetumble.dipoleMomentGet
     }
   }
 }

FprimeZephyrReference/project/config/TlmPacketizerCfg.hpp

@@ -16,7 +16,7 @@
 #include <Fw/FPrimeBasicTypes.hpp>
 
 namespace Svc {
-static const FwChanIdType MAX_PACKETIZER_PACKETS = 8;
+static const FwChanIdType MAX_PACKETIZER_PACKETS = 9;
 static const FwChanIdType TLMPACKETIZER_NUM_TLM_HASH_SLOTS =
     15;  // !< Number of slots in the hash table.
          // Works best when set to about twice the number of components producing telemetry