Initial IMU component generation

lastFile:FprimeZephyrReference/Components/Imu/Imu.fpp

Author: hrfarmer

FprimeZephyrReference/Components/CMakeLists.txt

@@ -2,3 +2,4 @@
 
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FatalHandler")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Watchdog")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Imu/")

FprimeZephyrReference/Components/Imu/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
+        "${CMAKE_CURRENT_LIST_DIR}/Imu.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/Imu.cpp"
+#   DEPENDS
+#       MyPackage_MyOtherModule
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/Imu.fpp"
+#     SOURCES
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/ImuTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/ImuTester.cpp"
+#     DEPENDS
+#         STest # For rules-based testing
+#     UT_AUTO_HELPERS
+# )

FprimeZephyrReference/Components/Imu/Imu.cpp

@@ -0,0 +1,29 @@
+// ======================================================================
+// \title  Imu.cpp
+// \author aychar
+// \brief  cpp file for Imu component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/Imu/Imu.hpp"
+
+namespace Components {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+Imu ::Imu(const char* const compName) : ImuComponentBase(compName) {}
+
+Imu ::~Imu() {}
+
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
+
+void Imu ::run_handler(FwIndexType portNum, U32 context) {
+    this->imuCallCount++;
+    this->tlmWrite_ImuCalls(this->imuCallCount);
+    this->log_ACTIVITY_HI_ImuTestEvent();
+}
+
+}  // namespace Components

FprimeZephyrReference/Components/Imu/Imu.fpp

@@ -0,0 +1,34 @@
+module Components {
+    @ Component for F Prime FSW framework.
+    passive component Imu {
+        sync input port run: Svc.Sched
+
+        telemetry ImuCalls: U64
+
+        event ImuTestEvent() \
+            severity activity high \
+            format "WOAH WHATS HAPPENING IS THIS WORKING HELLO"
+
+        ###############################################################################
+        # 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/Imu/Imu.hpp

@@ -0,0 +1,43 @@
+// ======================================================================
+// \title  Imu.hpp
+// \author aychar
+// \brief  hpp file for Imu component implementation class
+// ======================================================================
+
+#ifndef Components_Imu_HPP
+#define Components_Imu_HPP
+
+#include "FprimeZephyrReference/Components/Imu/ImuComponentAc.hpp"
+
+namespace Components {
+
+class Imu final : public ImuComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct Imu object
+    Imu(const char* const compName  //!< The component name
+    );
+
+    //! Destroy Imu object
+    ~Imu();
+
+  private:
+    // ----------------------------------------------------------------------
+    // Handler implementations for typed input ports
+    // ----------------------------------------------------------------------
+
+    //! Handler implementation for TODO
+    //!
+    //! TODO
+    U64 imuCallCount;
+    void run_handler(FwIndexType portNum,  //!< The port number
+                     U32 context           //!< The call order
+                     ) override;
+};
+
+}  // namespace Components
+
+#endif

FprimeZephyrReference/Components/Imu/docs/sdd.md

@@ -0,0 +1,66 @@
+# Components::Imu
+
+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/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi

@@ -33,6 +33,10 @@ telemetry packets ReferenceDeploymentPackets {
   packet Led id 5 group 4 {
     ReferenceDeployment.watchdog.WatchdogTransitions
   }
+  
+  packet Imu id 6 group 4 {
+    ReferenceDeployment.imu.ImuCalls
+  }
 
 
 } omit {

FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp

@@ -63,4 +63,6 @@ module ReferenceDeployment {
   instance gpioDriver: Zephyr.ZephyrGpioDriver base id 0x10015000
 
   instance watchdog: Components.Watchdog base id 0x10016000
+
+  instance imu: Components.Imu base id 0x10017000
 }

FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp

@@ -29,6 +29,7 @@ module ReferenceDeployment {
     instance gpioDriver
     instance watchdog
     instance prmDb
+    instance imu
 
   # ----------------------------------------------------------------------
   # Pattern graph specifiers
@@ -92,12 +93,17 @@ module ReferenceDeployment {
       rateGroup1Hz.RateGroupMemberOut[2] -> ComCcsds.commsBufferManager.schedIn
       rateGroup1Hz.RateGroupMemberOut[3] -> CdhCore.tlmSend.Run
       rateGroup1Hz.RateGroupMemberOut[4] -> watchdog.run
+      rateGroup1Hz.RateGroupMemberOut[5] -> imu.run
     }
 
     connections Watchdog {
       watchdog.gpioSet -> gpioDriver.gpioWrite
     }
 
+    # connections Imu {
+
+    # }
+
     connections ReferenceDeployment {
 
     }

FprimeZephyrReference/project/config/TlmPacketizerCfg.hpp

@@ -16,7 +16,7 @@
 #include <Fw/FPrimeBasicTypes.hpp>
 
 namespace Svc {
-static const FwChanIdType MAX_PACKETIZER_PACKETS = 5;
+static const FwChanIdType MAX_PACKETIZER_PACKETS = 6;
 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