adding telemetry to lis2mdlManager

Author: asiemsen

FprimeZephyrReference/Components/Drv/Lis2mdlManager/Lis2mdlManager.cpp

@@ -29,7 +29,7 @@ Drv::MagneticField Lis2mdlManager ::magneticFieldRead_handler(FwIndexType portNu
         this->log_WARNING_HI_DeviceNotReady();
         return Drv::MagneticField(0.0, 0.0, 0.0);
     }
-    this->log_WARNING_HI_DeviceNotReady_ThrottleClear()
+    this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
 
     struct sensor_value x;
     struct sensor_value y;
@@ -41,7 +41,11 @@ Drv::MagneticField Lis2mdlManager ::magneticFieldRead_handler(FwIndexType portNu
     sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Y, &y);
     sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Z, &z);
 
-    return Drv::MagneticField(Drv::sensor_value_to_f64(x), Drv::sensor_value_to_f64(y), Drv::sensor_value_to_f64(z));
+    Drv::MagneticField magnetic_readings = Drv::MagneticField(Drv::sensor_value_to_f64(x), Drv::sensor_value_to_f64(y), Drv::sensor_value_to_f64(z));
+
+    this->tlmWrite_MagneticField(magnetic_readings);
+
+    return magnetic_readings;
 }
 
 }  // namespace Drv

FprimeZephyrReference/Components/Drv/Lis2mdlManager/Lis2mdlManager.fpp

@@ -13,6 +13,10 @@ module Drv {
         @ Event for reporting LSM6DSO not ready error
         event DeviceNotReady() severity warning high format "LIS2MDL device not ready" throttle 5
 
+        @ Telemetry channel for magnetic field in gauss
+        telemetry MagneticField: MagneticField
+
+
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
         ###############################################################################
@@ -24,5 +28,8 @@ module Drv {
 
         @ Port for sending events to downlink
         event port logOut
+
+        @ Port for sending telemetry channels to downlink
+        telemetry port tlmOut
     }
 }

FprimeZephyrReference/Components/ImuManager/ImuManager.cpp

@@ -24,7 +24,9 @@ ImuManager ::~ImuManager() {}
 void ImuManager ::run_handler(FwIndexType portNum, U32 context) {
     this->tlmWrite_Acceleration(this->accelerationRead_out(0));
     this->tlmWrite_AngularVelocity(this->angularVelocityRead_out(0));
-    this->tlmWrite_MagneticField(this->magneticFieldRead_out(0));
+    // this->tlmWrite_MagneticField(this->magneticFieldRead_out(0));
     this->tlmWrite_Temperature(this->temperatureRead_out(0));
+
+    this->magneticFieldRead_out(0);
 }
 }  // namespace Components

FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi

@@ -37,9 +37,11 @@ telemetry packets ReferenceDeploymentPackets {
   packet Imu id 6 group 4 {
     ReferenceDeployment.imuManager.Acceleration
     ReferenceDeployment.imuManager.AngularVelocity
-    ReferenceDeployment.imuManager.MagneticField
+    ReferenceDeployment.lsm6dsoManager.MagneticField
   }
 
+
+
 } omit {
   CdhCore.cmdDisp.CommandErrors
   # Only has one library, no custom versions

FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp

@@ -66,7 +66,7 @@ module ReferenceDeployment {
 
   instance imuManager: Components.ImuManager base id 0x10017000
 
-  instance lis2mdlDriver: Drv.Lis2mdlManager base id 0x10018000
+  instance lis2mdlManager: Drv.Lis2mdlManager base id 0x10018000
 
-  instance Lsm6dsoManager: Drv.Lsm6dsoManager base id 0x10019000
+  instance lsm6dsoManager: Drv.Lsm6dsoManager base id 0x10019000
 }

FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp

@@ -103,10 +103,10 @@ module ReferenceDeployment {
     }
 
     connections imuManager {
-      imuManager.accelerationRead -> Lsm6dsoManager.accelerationRead
-      imuManager.angularVelocityRead -> Lsm6dsoManager.angularVelocityRead
-      imuManager.magneticFieldRead -> lis2mdlDriver.magneticFieldRead
-      imuManager.temperatureRead -> Lsm6dsoManager.temperatureRead
+      imuManager.accelerationRead -> lsm6dsoManager.accelerationRead
+      imuManager.angularVelocityRead -> lsm6dsoManager.angularVelocityRead
+      imuManager.magneticFieldRead -> Lis2mdlManager.magneticFieldRead
+      imuManager.temperatureRead -> lsm6dsoManager.temperatureRead
     }
 
     connections ReferenceDeployment {