Initial imu data pull

Author: nateinaction

FprimeZephyrReference/Components/Imu/Imu.cpp

@@ -6,13 +6,19 @@
 
 #include "FprimeZephyrReference/Components/Imu/Imu.hpp"
 
+#include <Fw/Types/Assert.hpp>
+
 namespace Components {
 
 // ----------------------------------------------------------------------
 // Component construction and destruction
 // ----------------------------------------------------------------------
 
-Imu ::Imu(const char* const compName) : ImuComponentBase(compName) {}
+Imu ::Imu(const char* const compName) : ImuComponentBase(compName) {
+    lis2mdl = device_get_binding("LIS2MDL");
+    FW_ASSERT(lis2mdl != nullptr);
+    FW_ASSERT(device_is_ready(lis2mdl));
+}
 
 Imu ::~Imu() {}
 
@@ -24,6 +30,11 @@ void Imu ::run_handler(FwIndexType portNum, U32 context) {
     this->imuCallCount++;
     this->tlmWrite_ImuCalls(this->imuCallCount);
     this->log_ACTIVITY_HI_ImuTestEvent();
+
+    sensor_sample_fetch_chan(lis2mdl, SENSOR_CHAN_MAGN_XYZ);
+    sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_X, &magnetic_field_x);
+    sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Y, &magnetic_field_y);
+    sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Z, &magnetic_field_z);
 }
 
 }  // namespace Components

FprimeZephyrReference/Components/Imu/Imu.hpp

@@ -9,6 +9,10 @@
 
 #include "FprimeZephyrReference/Components/Imu/ImuComponentAc.hpp"
 
+#include <zephyr/device.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/kernel.h>
+
 namespace Components {
 
 class Imu final : public ImuComponentBase {
@@ -32,10 +36,15 @@ class Imu final : public ImuComponentBase {
     //! Handler implementation for TODO
     //!
     //! TODO
-    U64 imuCallCount;
     void run_handler(FwIndexType portNum,  //!< The port number
                      U32 context           //!< The call order
                      ) override;
+
+    U64 imuCallCount;
+    const struct device* lis2mdl;
+    struct sensor_value magnetic_field_x;
+    struct sensor_value magnetic_field_y;
+    struct sensor_value magnetic_field_z;
 };
 
 }  // namespace Components