Add new telemetry for accel and angvel

nateinaction · nateinaction · commit 8e30497897c2 · 2025-09-07T20:47:40.000-05:00
diff --git a/FprimeZephyrReference/Components/Imu/Imu.fpp b/FprimeZephyrReference/Components/Imu/Imu.fpp
@@ -10,6 +10,20 @@ module Components {
         }
         telemetry MagneticField: MagneticField
 
+        struct Acceleration {
+            x: F64
+            y: F64
+            z: F64
+        }
+        telemetry Acceleration: Acceleration
+
+        struct AngularVelocity {
+            x: F64
+            y: F64
+            z: F64
+        }
+        telemetry AngularVelocity: AngularVelocity
+
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
         ###############################################################################
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi b/FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi
@@ -35,6 +35,8 @@ telemetry packets ReferenceDeploymentPackets {
   }
 
   packet Imu id 6 group 4 {
+    ReferenceDeployment.imu.Acceleration
+    ReferenceDeployment.imu.AngularVelocity
     ReferenceDeployment.imu.MagneticField
   }
 
diff --git a/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp b/FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp
@@ -100,10 +100,6 @@ module ReferenceDeployment {
       watchdog.gpioSet -> gpioDriver.gpioWrite
     }
 
-    # connections Imu {
-
-    # }
-
     connections ReferenceDeployment {
 
     }
diff --git a/FprimeZephyrReference/project/config/TlmPacketizerCfg.hpp b/FprimeZephyrReference/project/config/TlmPacketizerCfg.hpp
@@ -24,7 +24,7 @@ static const FwChanIdType TLMPACKETIZER_HASH_MOD_VALUE =
     999;  // !< The modulo value of the hashing function.
           // Should be set to a little below the ID gaps to spread the entries around
 
-static const FwChanIdType TLMPACKETIZER_HASH_BUCKETS = 40;  // !< Buckets assignable to a hash slot.
+static const FwChanIdType TLMPACKETIZER_HASH_BUCKETS = 80;  // !< Buckets assignable to a hash slot.
                                                             // Buckets must be >= number of telemetry channels in system
 static const FwChanIdType TLMPACKETIZER_MAX_MISSING_TLM_CHECK =
     25;  // !< Maximum number of missing telemetry channel checks

Original file line number	Diff line number	Diff line change
`@@ -35,6 +35,8 @@ telemetry packets ReferenceDeploymentPackets {`
`35`	`35`	`}`
`36`	`36`
`37`	`37`	`packet Imu id 6 group 4 {`
	`38`	`+ ReferenceDeployment.imu.Acceleration`
	`39`	`+ ReferenceDeployment.imu.AngularVelocity`
`38`	`40`	`ReferenceDeployment.imu.MagneticField`
`39`	`41`	`}`
`40`	`42`
Original file line number	Diff line number	Diff line change
`@@ -100,10 +100,6 @@ module ReferenceDeployment {`
`100`	`100`	`watchdog.gpioSet -> gpioDriver.gpioWrite`
`101`	`101`	`}`
`102`	`102`
`103`		`- # connections Imu {`
`104`		`-`
`105`		`- # }`
`106`		`-`
`107`	`103`	`connections ReferenceDeployment {`
`108`	`104`
`109`	`105`	`}`