add bdotdetumble component

Author: hrfarmer

FprimeZephyrReference/Components/Drv/BDotDetumble/BDotDetumble.cpp

@@ -0,0 +1,69 @@
+// ======================================================================
+// \title  BDotDetumble.cpp
+// \author aychar
+// \brief  cpp file for BDotDetumble component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/Drv/BDotDetumble/BDotDetumble.hpp"
+
+#include <cmath>
+
+namespace Drv {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+BDotDetumble ::BDotDetumble(const char* const compName) : BDotDetumbleComponentBase(compName) {}
+
+BDotDetumble ::~BDotDetumble() {}
+
+Drv::DipoleMoment dipoleMomentGet_handler(const FwIndexType portNum,
+                                          const Drv::MagneticField currMagField,
+                                          const Drv::MagneticField prevMagField) {
+    F32 magnitude = getMagnitude(currMagField);
+    if (magnitude < 1e-6) {
+        return;  // Figure out how I should handle the return here.
+    }
+
+    if (currMagField.timestamp <= prevMagField.timestamp) {
+        return;  // Also figure out the return here.
+    }
+
+    F64* dB_dtArr = dB_dt(currMagField, prevMagField);
+    if (dB_dtArr == nullptr) {
+        return;  // Yeah just figure out how to properly raise error/return nothing.
+    }
+
+    F64 moment_x = this->gain * dB_dtArr[0] / magnitude;
+    F64 moment_y = this->gain * dB_dtArr[1] / magnitude;
+    F64 moment_z = this->gain * dB_dtArr[2] / magnitude;
+
+    delete[] dB_dtArr;
+
+    return Drv::DipoleMoment(moment_x, moment_y, moment_z);
+}
+
+F32 getMagnitude(const Drv::MagneticField magField) {
+    return sqrt(f64_square(magField.x) + f64_square(magField.y) + f64_square(magField.z));
+}
+
+F64* dB_dt(const Drv::MagneticField currMagField, const Drv::MagneticField prevMagField) {
+    I64 dt = currMagField.timestamp - prevMagField.timestamp;
+    if (dt < 1e-6) {
+        return nullptr;
+    }
+
+    F64 dBx_dt = (currMagField.x - prevMagField.x) / dt;
+    F64 dBy_dt = (currMagField.y - prevMagField.y) / dt;
+    F64 dBz_dt = (currMagField.z - prevMagField.z) / dt;
+
+    F64* arr = new F64[3];
+    arr[0] = dBx_dt;
+    arr[1] = dBy_dt;
+    arr[2] = dBz_dt;
+
+    return arr;
+}
+
+}  // namespace Drv

FprimeZephyrReference/Components/Drv/BDotDetumble/BDotDetumble.fpp

@@ -0,0 +1,35 @@
+module Drv {
+    port DipoleMomentGet -> DipoleMoment
+}
+
+module Drv {
+    @ Component for F Prime FSW framework.
+    passive component BDotDetumble {
+
+        sync input port dipoleMomentGet: DipoleMomentGet
+
+        telemetry DipoleMoment: DipoleMoment
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+
+        @ Port for sending textual representation of events
+        text event port logTextOut
+
+        @ Port for sending events to downlink
+        event port logOut
+
+        @ Port for sending telemetry channels to downlink
+        telemetry port tlmOut
+
+        @ Port to return the value of a parameter
+        param get port prmGetOut
+
+        @Port to set the value of a parameter
+        param set port prmSetOut
+
+    }
+}

FprimeZephyrReference/Components/Drv/BDotDetumble/BDotDetumble.hpp

@@ -0,0 +1,42 @@
+// ======================================================================
+// \title  BDotDetumble.hpp
+// \author aychar
+// \brief  hpp file for BDotDetumble component implementation class
+// ======================================================================
+
+#ifndef Drv_BDotDetumble_HPP
+#define Drv_BDotDetumble_HPP
+
+#include "FprimeZephyrReference/Components/Drv/BDotDetumble/BDotDetumbleComponentAc.hpp"
+#include "FprimeZephyrReference/Components/Drv/Helpers/Helpers.hpp"
+
+namespace Drv {
+
+class BDotDetumble final : public BDotDetumbleComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct BDotDetumble object
+    BDotDetumble(const char* const compName  //!< The component name
+    );
+
+    //! Destroy BDotDetumble object
+    ~BDotDetumble();
+
+    // Get the current dipole moment
+    Drv::DipoleMoment dipoleMomentGet_handler(const FwIndexType portNum) override;
+
+  private:
+    F64 gain = 1.0;
+
+    // Get magnitude
+    F32 getMagnitude(const Drv::MagneticField magField);
+
+    // Get the time derivative of the magnetic field
+    F64* dB_dt(const Drv::MagneticField currMagField, const Drv::MagneticField prevMagField);
+
+}  // namespace Drv
+
+#endif

FprimeZephyrReference/Components/Drv/BDotDetumble/CMakeLists.txt

@@ -0,0 +1,36 @@
+####
+# F Prime CMakeLists.txt:
+#
+# SOURCES: list of source files (to be compiled)
+# AUTOCODER_INPUTS: list of files to be passed to the autocoders
+# DEPENDS: list of libraries that this module depends on
+#
+# More information in the F´ CMake API documentation:
+# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
+#
+####
+
+# Module names are derived from the path from the nearest project/library/framework
+# root when not specifically overridden by the developer. i.e. The module defined by
+# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
+
+register_fprime_library(
+    AUTOCODER_INPUTS
+        "${CMAKE_CURRENT_LIST_DIR}/BDotDetumble.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/BDotDetumble.cpp"
+#   DEPENDS
+#       MyPackage_MyOtherModule
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/BDotDetumble.fpp"
+#     SOURCES
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/BDotDetumbleTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/BDotDetumbleTester.cpp"
+#     DEPENDS
+#         STest # For rules-based testing
+#     UT_AUTO_HELPERS
+# )

FprimeZephyrReference/Components/Drv/BDotDetumble/docs/sdd.md

@@ -0,0 +1,66 @@
+# Drv::BDotDetumble
+
+Component for F Prime FSW framework.
+
+## Usage Examples
+Add usage examples here
+
+### Diagrams
+Add diagrams here
+
+### Typical Usage
+And the typical usage of the component here
+
+## Class Diagram
+Add a class diagram here
+
+## Port Descriptions
+| Name | Description |
+|---|---|
+|---|---|
+
+## Component States
+Add component states in the chart below
+| Name | Description |
+|---|---|
+|---|---|
+
+## Sequence Diagrams
+Add sequence diagrams here
+
+## Parameters
+| Name | Description |
+|---|---|
+|---|---|
+
+## Commands
+| Name | Description |
+|---|---|
+|---|---|
+
+## Events
+| Name | Description |
+|---|---|
+|---|---|
+
+## Telemetry
+| Name | Description |
+|---|---|
+|---|---|
+
+## Unit Tests
+Add unit test descriptions in the chart below
+| Name | Description | Output | Coverage |
+|---|---|---|---|
+|---|---|---|---|
+
+## Requirements
+Add requirements in the chart below
+| Name | Description | Validation |
+|---|---|---|
+|---|---|---|
+
+## Change Log
+| Date | Description |
+|---|---|
+|---| Initial Draft |

FprimeZephyrReference/Components/Drv/CMakeLists.txt

@@ -3,3 +3,4 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lis2mdlManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/RtcManager")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Types/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/BDotDetumble/")