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nateinactionhrfarmerCopilotasiemsenineskhou
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Introduce ImuManager, Lis2mdlDriver & Lsm6dsoDriver Components (#11)
* Use custom board definition * Initial IMU component generation lastFile:FprimeZephyrReference/Components/Imu/Imu.fpp * Initial imu data pull * Reading magnetic field data * Add new telemetry for accel and angvel * Acceleration and AngularVelocity telemetry working * Add temp * Improve documentation * Update FprimeZephyrReference/Components/Imu/docs/sdd.md Co-authored-by: Copilot <[email protected]> * Add LIS2MDL driver & implement in Imu component (#16) * add lis2mdl driver and implement in imu component * fix formatting * 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]> * Spit out common helpers and types from drivers, standardize port name schema, update SDDs * Remove unnecessary board files * remove fpp helper file * finished renaming to build * add parentheses for clearer intentions * remove FW_ASSERTs * clear throttle after successful device ready check * adding telemetry to lis2mdlManager * fix fprime files to match new names & telemetry structure * edit cpp implementation files to output telemetry * formatting * clear throttle, configure lsm6 sensor, read->get * Add IMU tests * Add type hinting * Comment fix --------- Co-authored-by: aychar <[email protected]> Co-authored-by: Copilot <[email protected]> Co-authored-by: Aaron Siemsen <[email protected]> Co-authored-by: ineskhou <[email protected]> Co-authored-by: Saidi Adams <[email protected]> Co-authored-by: Michael Pham <[email protected]> Co-authored-by: asiemsen <[email protected]>
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‎FprimeZephyrReference/Components/CMakeLists.txt‎

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# Include project-wide components here
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Drv/")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FatalHandler")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ImuManager/")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Watchdog")

‎FprimeZephyrReference/Components/Drv/CMakeLists.txt‎

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# Include project-wide components here
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Helpers/")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lis2mdlManager/")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoManager/")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Types/")

‎FprimeZephyrReference/Components/Drv/Helpers/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(
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SOURCES
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"${CMAKE_CURRENT_LIST_DIR}/Helpers.cpp"
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DEPENDS
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Fw_Types
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)
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### Unit Tests ###
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# register_fprime_ut(
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# AUTOCODER_INPUTS
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# "${CMAKE_CURRENT_LIST_DIR}/Helpers.fpp"
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# SOURCES
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# "${CMAKE_CURRENT_LIST_DIR}/test/ut/HelpersTestMain.cpp"
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# "${CMAKE_CURRENT_LIST_DIR}/test/ut/HelpersTester.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/Drv/Helpers/Helpers.cpp‎

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// ======================================================================
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// \title Helpers.cpp
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// \brief cpp file for Helpers component implementation class
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// ======================================================================
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#include "FprimeZephyrReference/Components/Drv/Helpers/Helpers.hpp"
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#include <Fw/Types/Assert.hpp>
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namespace Drv {
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F64 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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} // namespace Drv

‎FprimeZephyrReference/Components/Drv/Helpers/Helpers.hpp‎

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// ======================================================================
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// \title Helpers.hpp
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// \brief hpp file for Helpers component implementation class
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// ======================================================================
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#ifndef Components_Helpers_HPP
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#define Components_Helpers_HPP
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#include <Fw/Types/BasicTypes.h>
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#include <zephyr/drivers/sensor.h>
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namespace Drv {
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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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} // namespace Drv
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#endif

‎FprimeZephyrReference/Components/Drv/Lis2mdlManager/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(
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AUTOCODER_INPUTS
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"${CMAKE_CURRENT_LIST_DIR}/Lis2mdlManager.fpp"
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SOURCES
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"${CMAKE_CURRENT_LIST_DIR}/Lis2mdlManager.cpp"
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DEPENDS
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FprimeZephyrReference_Components_Drv_Helpers
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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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# "${CMAKE_CURRENT_LIST_DIR}/Lis2mdlManager.fpp"
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# SOURCES
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# "${CMAKE_CURRENT_LIST_DIR}/test/ut/Lis2mdlManagerTestMain.cpp"
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# "${CMAKE_CURRENT_LIST_DIR}/test/ut/Lis2mdlManagerTester.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/Drv/Lis2mdlManager/Lis2mdlManager.cpp‎

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// ======================================================================
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// \title Lis2mdlManager.cpp
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// \brief cpp file for Lis2mdlManager component implementation class
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// ======================================================================
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#include "FprimeZephyrReference/Components/Drv/Lis2mdlManager/Lis2mdlManager.hpp"
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#include <Fw/Types/Assert.hpp>
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namespace Drv {
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// ----------------------------------------------------------------------
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// Component construction and destruction
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// ----------------------------------------------------------------------
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Lis2mdlManager ::Lis2mdlManager(const char* const compName) : Lis2mdlManagerComponentBase(compName) {
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dev = device_get_binding("LIS2MDL");
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}
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Lis2mdlManager ::~Lis2mdlManager() {}
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// ----------------------------------------------------------------------
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// Handler implementations for typed input ports
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// ----------------------------------------------------------------------
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Drv::MagneticField Lis2mdlManager ::magneticFieldGet_handler(FwIndexType portNum) {
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if (!device_is_ready(dev)) {
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this->log_WARNING_HI_DeviceNotReady();
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return Drv::MagneticField(0.0, 0.0, 0.0);
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}
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this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
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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_sample_fetch_chan(dev, SENSOR_CHAN_MAGN_XYZ);
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sensor_channel_get(dev, SENSOR_CHAN_MAGN_X, &x);
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sensor_channel_get(dev, SENSOR_CHAN_MAGN_Y, &y);
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sensor_channel_get(dev, SENSOR_CHAN_MAGN_Z, &z);
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Drv::MagneticField magnetic_readings =
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Drv::MagneticField(Drv::sensor_value_to_f64(x), Drv::sensor_value_to_f64(y), Drv::sensor_value_to_f64(z));
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this->tlmWrite_MagneticField(magnetic_readings);
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return magnetic_readings;
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}
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} // namespace Drv

‎FprimeZephyrReference/Components/Drv/Lis2mdlManager/Lis2mdlManager.fpp‎

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# Port definition
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module Drv {
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port MagneticFieldGet -> MagneticField
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}
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# Component definition
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module Drv {
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@ LIS2MDL Manager Component for F Prime FSW framework.
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passive component Lis2mdlManager {
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@ Port to read the current magnetic field in gauss.
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sync input port magneticFieldGet: MagneticFieldGet
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@ Event for reporting LSM6DSO not ready error
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event DeviceNotReady() severity warning high format "LIS2MDL device not ready" throttle 5
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@ Telemetry channel for magnetic field in gauss
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telemetry MagneticField: MagneticField
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###############################################################################
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# Standard AC Ports: Required for Channels, Events, Commands, and Parameters #
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###############################################################################
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@ Port for requesting the current time
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time get port timeCaller
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@ Port for sending textual representation of events
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text event port logTextOut
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@ Port for sending events to downlink
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event port logOut
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@ Port for sending telemetry channels to downlink
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telemetry port tlmOut
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}
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}

‎FprimeZephyrReference/Components/Drv/Lis2mdlManager/Lis2mdlManager.hpp‎

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// ======================================================================
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// \title Lis2mdlManager.hpp
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// \brief hpp file for Lis2mdlManager component implementation class
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// ======================================================================
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#ifndef Components_Lis2mdlManager_HPP
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#define Components_Lis2mdlManager_HPP
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// clang-format off
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// Keep the includes in this order
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#include "FprimeZephyrReference/Components/Drv/Lis2mdlManager/Lis2mdlManagerComponentAc.hpp"
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#include "FprimeZephyrReference/Components/Drv/Helpers/Helpers.hpp"
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// clang-format on
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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 Drv {
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class Lis2mdlManager final : public Lis2mdlManagerComponentBase {
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public:
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// ----------------------------------------------------------------------
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// Component construction and destruction
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// ----------------------------------------------------------------------
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//! Construct Lis2mdlManager object
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Lis2mdlManager(const char* const compName);
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//! Destroy Lis2mdlManager object
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~Lis2mdlManager();
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private:
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// ----------------------------------------------------------------------
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// Handler implementations for typed input ports
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// ----------------------------------------------------------------------
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//! Get the magnetic field reading from the LIS2MDL sensor
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Drv::MagneticField magneticFieldGet_handler(const FwIndexType portNum //!< The port number
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) override;
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// ----------------------------------------------------------------------
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// Member variables
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// ----------------------------------------------------------------------
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//! Zephyr device stores the initialized LIS2MDL sensor
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const struct device* dev;
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};
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} // namespace Drv
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#endif

‎FprimeZephyrReference/Components/Drv/Lis2mdlManager/docs/sdd.md‎

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# Drv::Lis2mdlManager
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The LIS2MDL Manager component interfaces with the LIS2MDL magnetometer to provide magnetic field measurements.
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## Usage Examples
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The LIS2MDL Manager component is designed to be called periodically to collect and return sensor data. It operates as a passive component that responds to manager calls.
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### Typical Usage
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1. The component is instantiated and initialized during system startup
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2. A manager calls the `MagneticFieldGet` port
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3. On each call, the component:
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- Fetches fresh sensor samples from the sensor
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- Converts sensor data to F Prime data structures
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- Writes telemetry data
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- Returns data in SI units
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## Class Diagram
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```mermaid
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classDiagram
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namespace Drv {
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class Lis2mdlManagerComponentBase {
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<<Auto-generated>>
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}
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class Lis2mdlManager {
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- lis2mdl: const struct device*
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+ Lis2mdlManager(const char* compName)
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+ ~Lis2mdlManager()
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- magneticFieldGet_handler(const FwIndexType portNum): Drv::MagneticField
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}
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}
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Lis2mdlManagerComponentBase <|-- Lis2mdlManager : inherits
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```
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## Port Descriptions
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| Name | Type | Description |
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|---|---|---|
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| MagneticFieldGet | sync input | Triggers magnetic field data collection and returns a MagneticField struct |
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## Sequence Diagrams
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```mermaid
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sequenceDiagram
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participant Manager
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participant LIS2MDL Manager
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participant Zephyr Sensor API
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participant LIS2MDL Sensor
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Manager-->>LIS2MDL Manager: Call MagneticFieldGet synchronous input port
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LIS2MDL Manager->>Zephyr Sensor API: Fetch sensor data
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Zephyr Sensor API->>LIS2MDL Sensor: Read sensor
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LIS2MDL Sensor->>Zephyr Sensor API: Return sensor data
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Zephyr Sensor API->>LIS2MDL Manager: Return x, y, z sensor_value structs
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LIS2MDL Manager->>LIS2MDL Manager: Write telemetry
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LIS2MDL Manager-->>Manager: Return MagneticField struct
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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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| MagneticFieldGet Port | The component shall provide access magnetic field sensor data and return in MagneticField struct, readings will be in gauss | Verify output matches expected values from sensor datasheet |
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## Change Log
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| Date | Description |
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|---|---|
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| 2025-9-15 | Initial LIS2MDL Manager component |

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