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asiemsenineskhounateinactionSaidi AdamsMikefly123
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Create lsm6dso driver component & implementation (#17)
* Update README.md * Create lmsd6dsoDriver component * create ports for sensor reading output * fix port naming issue * Use custom board definition * Remove commented config * Moving prj.conf sensors to board definition * Add d board * Try referencing c definitions in d board * Making a common v5 board definition * Fix readme * Minor Makefile, Readme and cmake presets fixes * change lsm6dso internal structs to carry F64 and added output ports to imu * removed lmsdso init from imu constructor * remove old sensor reading from imu * add lms6dso driver to topology * change base id to allow for lis2mdl driver * remove line endings * add channel retrieval during sensor data * Ensure submodules are downloaded before venv is created * Fix infinit submodule make target recursion... --------- Co-authored-by: ineskhou <[email protected]> Co-authored-by: Nate Gay <[email protected]> Co-authored-by: Nate Gay <[email protected]> Co-authored-by: Saidi Adams <[email protected]> Co-authored-by: Michael Pham <[email protected]>
1 parent e44fa63 commit 8478ca1

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+603
-184
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‎CMakePresets.json‎

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@@ -3,18 +3,18 @@
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{
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"binaryDir": "${sourceDir}/build-fprime-automatic-zephyr",
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"cacheVariables": {
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"BOARD": "teensy41",
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"BOARD": "proves_flight_control_board_v5c/rp2350a/m33",
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"CMAKE_BUILD_TYPE": "Release",
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"CMAKE_EXPORT_COMPILE_COMMANDS": "ON"
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},
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"description": "F\u00b4 release build using local fprime-venv",
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"displayName": "F\u00b4 Zephyr (teensy41)",
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"displayName": "F\u00b4 FPrime Zephyr PROVES",
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"environment": {
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"PATH": "$env{VIRTUAL_ENV}/bin:$penv{PATH}",
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"VIRTUAL_ENV": "${fileDir}/fprime-venv"
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},
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"generator": "Ninja",
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"name": "fprime-zephyr-teensy41",
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"name": "fprime-zephyr-proves",
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"toolchainFile": "${fileDir}/lib/fprime-zephyr/cmake/toolchain/zephyr.cmake"
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}
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],

‎FprimeZephyrReference/Components/CMakeLists.txt‎

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@@ -3,4 +3,5 @@
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FatalHandler")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Watchdog")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Imu/")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/lms6dsoDriver/")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lis2mdlDriver/")

‎FprimeZephyrReference/Components/Imu/Imu.cpp‎

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@@ -13,16 +13,7 @@ namespace Components {
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// Component construction and destruction
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// ----------------------------------------------------------------------
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Imu ::Imu(const char* const compName) : ImuComponentBase(compName) {
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// Initialize the LSM6DSO sensor
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lsm6dso = DEVICE_DT_GET_ONE(st_lsm6dso);
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FW_ASSERT(device_is_ready(lsm6dso));
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// Configure the LSM6DSO sensor
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struct sensor_value odr = {.val1 = 12, .val2 = 500000}; // 12.5 Hz
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FW_ASSERT(sensor_attr_set(lsm6dso, SENSOR_CHAN_ACCEL_XYZ, SENSOR_ATTR_SAMPLING_FREQUENCY, &odr) == 0);
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FW_ASSERT(sensor_attr_set(lsm6dso, SENSOR_CHAN_GYRO_XYZ, SENSOR_ATTR_SAMPLING_FREQUENCY, &odr) == 0);
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}
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Imu ::Imu(const char* const compName) : ImuComponentBase(compName) {}
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Imu ::~Imu() {}
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@@ -31,53 +22,10 @@ Imu ::~Imu() {}
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// ----------------------------------------------------------------------
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void Imu ::run_handler(FwIndexType portNum, U32 context) {
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// Fetch new data samples from the sensors
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sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_ACCEL_XYZ);
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sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_GYRO_XYZ);
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sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_DIE_TEMP);
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// Output sensor values via telemetry
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this->tlmWrite_Acceleration(this->get_acceleration());
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this->tlmWrite_AngularVelocity(this->get_angular_velocity());
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this->tlmWrite_Acceleration(this->readAcceleration_out(0));
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this->tlmWrite_AngularVelocity(this->readAngularVelocity_out(0));
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this->tlmWrite_MagneticField(this->readMagneticField_out(0));
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this->tlmWrite_Temperature(this->get_temperature());
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}
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F64 Imu ::sensor_value_to_f64(const struct sensor_value& val) {
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return val.val1 + val.val2 / 1000000.0f;
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}
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Components::Imu_Acceleration Imu ::get_acceleration() {
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struct sensor_value x;
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struct sensor_value y;
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struct sensor_value z;
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sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_X, &x);
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sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_Y, &y);
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sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_Z, &z);
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return Components::Imu_Acceleration(this->sensor_value_to_f64(x), this->sensor_value_to_f64(y),
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this->sensor_value_to_f64(z));
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}
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Components::Imu_AngularVelocity Imu ::get_angular_velocity() {
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struct sensor_value x;
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struct sensor_value y;
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struct sensor_value z;
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sensor_channel_get(lsm6dso, SENSOR_CHAN_GYRO_X, &x);
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sensor_channel_get(lsm6dso, SENSOR_CHAN_GYRO_Y, &y);
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sensor_channel_get(lsm6dso, SENSOR_CHAN_GYRO_Z, &z);
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return Components::Imu_AngularVelocity(this->sensor_value_to_f64(x), this->sensor_value_to_f64(y),
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this->sensor_value_to_f64(z));
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this->tlmWrite_Temperature(this->readTemperature_out(0));
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}
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F64 Imu ::get_temperature() {
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struct sensor_value temp;
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sensor_channel_get(lsm6dso, SENSOR_CHAN_DIE_TEMP, &temp);
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return this->sensor_value_to_f64(temp);
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}
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} // namespace Components

‎FprimeZephyrReference/Components/Imu/Imu.fpp‎

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@@ -3,31 +3,20 @@ module Components {
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passive component Imu {
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sync input port run: Svc.Sched
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output port readAcceleration: AccelerationRead
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output port readAngularVelocity: AngularVelocityRead
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output port readMagneticField: MagneticFieldRead
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output port readTemperature: TemperatureRead
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@ Acceleration reading in m/s^2
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struct Acceleration {
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x: F64
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y: F64
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z: F64
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}
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@Telemetry channel for angular velocity
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telemetry AngularVelocity: AngularVelocity
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@ Telemetry channel for acceleration
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@ Telemetry channel for Acceleration
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telemetry Acceleration: Acceleration
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@ Telemetry channel for magnetic field
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telemetry MagneticField: MagneticField
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@ Angular velocity reading in rad/s
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struct AngularVelocity {
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x: F64
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y: F64
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z: F64
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}
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@ Telemetry channel for angular velocity
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telemetry AngularVelocity: AngularVelocity
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@ Telemetry channel for temperature in degrees Celsius
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telemetry Temperature: F64
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‎FprimeZephyrReference/Components/Imu/Imu.hpp‎

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@@ -8,10 +8,6 @@
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#include "FprimeZephyrReference/Components/Imu/ImuComponentAc.hpp"
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#include <zephyr/device.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/kernel.h>
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namespace Components {
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class Imu final : public ImuComponentBase {
@@ -35,33 +31,6 @@ class Imu final : public ImuComponentBase {
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void run_handler(FwIndexType portNum, //!< The port number
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U32 context //!< The call order
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) override;
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// ----------------------------------------------------------------------
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// Helper methods
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// ----------------------------------------------------------------------
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//! Convert a Zephyr sensor_value to an Fprime F64
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F64 sensor_value_to_f64(const struct sensor_value& val);
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// ----------------------------------------------------------------------
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// IMU access methods
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// ----------------------------------------------------------------------
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//! Get the acceleration reading from the IMU
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Components::Imu_Acceleration get_acceleration();
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//! Get the angular velocity reading from the IMU
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Components::Imu_AngularVelocity get_angular_velocity();
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//! Get the temperature reading from the IMU
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F64 get_temperature();
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// ----------------------------------------------------------------------
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// Member variables
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// ----------------------------------------------------------------------
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//! Zephyr device stores the initialized LSM6DSO sensor
64-
const struct device* lsm6dso;
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};
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} // namespace Components

‎FprimeZephyrReference/Components/lms6dsoDriver/CMakeLists.txt‎

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####
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# F Prime CMakeLists.txt:
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#
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# SOURCES: list of source files (to be compiled)
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# AUTOCODER_INPUTS: list of files to be passed to the autocoders
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# DEPENDS: list of libraries that this module depends on
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#
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# More information in the F´ CMake API documentation:
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# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
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#
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####
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# Module names are derived from the path from the nearest project/library/framework
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# root when not specifically overridden by the developer. i.e. The module defined by
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# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
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register_fprime_library(
18+
AUTOCODER_INPUTS
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"${CMAKE_CURRENT_LIST_DIR}/lms6dsoDriver.fpp"
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SOURCES
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"${CMAKE_CURRENT_LIST_DIR}/lms6dsoDriver.cpp"
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# DEPENDS
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# MyPackage_MyOtherModule
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)
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### Unit Tests ###
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# register_fprime_ut(
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# AUTOCODER_INPUTS
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# "${CMAKE_CURRENT_LIST_DIR}/lms6dsoDriver.fpp"
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# SOURCES
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# "${CMAKE_CURRENT_LIST_DIR}/test/ut/lms6dsoDriverTestMain.cpp"
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# "${CMAKE_CURRENT_LIST_DIR}/test/ut/lms6dsoDriverTester.cpp"
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# DEPENDS
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# STest # For rules-based testing
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# UT_AUTO_HELPERS
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# )

‎FprimeZephyrReference/Components/lms6dsoDriver/docs/sdd.md‎

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# Components::lms6dsoDriver
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Initialize and control operation of the lms6dso device
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## Usage Examples
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Add usage examples here
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### Diagrams
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Add diagrams here
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### Typical Usage
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And the typical usage of the component here
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## Class Diagram
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Add a class diagram here
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## Port Descriptions
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| Name | Description |
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|---|---|
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|---|---|
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## Component States
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Add component states in the chart below
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| Name | Description |
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|---|---|
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|---|---|
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## Sequence Diagrams
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Add sequence diagrams here
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## Parameters
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| Name | Description |
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|---|---|
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|---|---|
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36+
## Commands
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| Name | Description |
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|---|---|
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|---|---|
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## Events
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| Name | Description |
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|---|---|
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|---|---|
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## Telemetry
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| Name | Description |
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|---|---|
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|---|---|
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## Unit Tests
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Add unit test descriptions in the chart below
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| Name | Description | Output | Coverage |
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|---|---|---|---|
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|---|---|---|---|
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## Requirements
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Add requirements in the chart below
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| Name | Description | Validation |
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|---|---|---|
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|---|---|---|
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## Change Log
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| Date | Description |
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|---|---|
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|---| Initial Draft |

‎FprimeZephyrReference/Components/lms6dsoDriver/lms6dsoDriver.cpp‎

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// ======================================================================
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// \title lms6dsoDriver.cpp
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// \author aaron
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// \brief cpp file for lms6dsoDriver component implementation class
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// ======================================================================
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7+
#include "FprimeZephyrReference/Components/lms6dsoDriver/lms6dsoDriver.hpp"
8+
9+
namespace Components {
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11+
// ----------------------------------------------------------------------
12+
// Component construction and destruction
13+
// ----------------------------------------------------------------------
14+
15+
lms6dsoDriver ::lms6dsoDriver(const char* const compName) : lms6dsoDriverComponentBase(compName) {
16+
// Initialize the LSM6DSO sensor
17+
lsm6dso = DEVICE_DT_GET_ONE(st_lsm6dso);
18+
FW_ASSERT(device_is_ready(lsm6dso));
19+
// Configure the LSM6DSO sensor
20+
struct sensor_value odr = {.val1 = 12, .val2 = 500000}; // 12.5 Hz
21+
sensor_attr_set(lsm6dso, SENSOR_CHAN_ACCEL_XYZ, SENSOR_ATTR_SAMPLING_FREQUENCY, &odr);
22+
sensor_attr_set(lsm6dso, SENSOR_CHAN_GYRO_XYZ, SENSOR_ATTR_SAMPLING_FREQUENCY, &odr);
23+
}
24+
25+
lms6dsoDriver ::~lms6dsoDriver() {}
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27+
// ----------------------------------------------------------------------
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// Handler implementations for typed input ports
29+
// ----------------------------------------------------------------------
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31+
Components::Acceleration lms6dsoDriver::getAcceleration_handler(FwIndexType portNum) {
32+
struct sensor_value x;
33+
struct sensor_value y;
34+
struct sensor_value z;
35+
sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_ACCEL_XYZ);
36+
37+
sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_X, &x);
38+
sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_Y, &y);
39+
sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_Z, &z);
40+
41+
return Components::Acceleration(this->sensor_value_to_f64(x),this->sensor_value_to_f64(y), this->sensor_value_to_f64(z));
42+
}
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44+
Components::AngularVelocity lms6dsoDriver::getAngularVelocity_handler(FwIndexType portNum) {
45+
struct sensor_value x;
46+
struct sensor_value y;
47+
struct sensor_value z;
48+
sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_GYRO_XYZ);
49+
50+
sensor_channel_get(lsm6dso, SENSOR_CHAN_GYRO_X, &x);
51+
sensor_channel_get(lsm6dso, SENSOR_CHAN_GYRO_Y, &y);
52+
sensor_channel_get(lsm6dso, SENSOR_CHAN_GYRO_Z, &z);
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54+
return Components::AngularVelocity(this->sensor_value_to_f64(x),this->sensor_value_to_f64(y), this->sensor_value_to_f64(z));
55+
}
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58+
F64 lms6dsoDriver::getTemperature_handler(FwIndexType portNum) {
59+
struct sensor_value temp;
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61+
sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_DIE_TEMP);
62+
sensor_channel_get(lsm6dso, SENSOR_CHAN_DIE_TEMP, &temp);
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64+
return this->sensor_value_to_f64(temp);
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}
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F64 lms6dsoDriver::sensor_value_to_f64(const struct sensor_value& val) {
68+
return val.val1 + val.val2 / 1000000.0f;
69+
}
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} // namespace Components

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