add channel retrieval during sensor data

Author: asiemsen

FprimeZephyrReference/Components/Imu/Imu.hpp

@@ -47,17 +47,10 @@ class Imu final : public ImuComponentBase {
     // IMU access methods
     // ----------------------------------------------------------------------
 
-    //! Get the acceleration reading from the IMU
-    Components::Imu_Acceleration get_acceleration();
-
-    //! Get the angular velocity reading from the IMU
-    Components::Imu_AngularVelocity get_angular_velocity();
-
+  
     //! Get the magnetic field reading from the IMU
     Components::Imu_MagneticField get_magnetic_field();
 
-    //! Get the temperature reading from the IMU
-    F64 get_temperature();
 
     // ----------------------------------------------------------------------
     // Member variables
@@ -66,8 +59,7 @@ class Imu final : public ImuComponentBase {
     //! Zephyr device stores the initialized LIS2MDL sensor
     const struct device* lis2mdl;
 
-    //! Zephyr device stores the initialized LSM6DSO sensor
-    const struct device* lsm6dso;
+
 };
 
 }  // namespace Components

FprimeZephyrReference/Components/lms6dsoDriver/lms6dsoDriver.cpp

@@ -32,6 +32,7 @@ Components::Acceleration lms6dsoDriver::getAcceleration_handler(FwIndexType port
     struct sensor_value x;
     struct sensor_value y;
     struct sensor_value z;
+    sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_ACCEL_XYZ);
 
     sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_X, &x);
     sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_Y, &y);
@@ -44,6 +45,7 @@ Components::AngularVelocity lms6dsoDriver::getAngularVelocity_handler(FwIndexTyp
     struct sensor_value x;
     struct sensor_value y;
     struct sensor_value z;
+    sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_GYRO_XYZ);
 
     sensor_channel_get(lsm6dso, SENSOR_CHAN_GYRO_X, &x);
     sensor_channel_get(lsm6dso, SENSOR_CHAN_GYRO_Y, &y);
@@ -56,6 +58,7 @@ Components::AngularVelocity lms6dsoDriver::getAngularVelocity_handler(FwIndexTyp
 F64 lms6dsoDriver::getTemperature_handler(FwIndexType portNum) {
     struct sensor_value temp;
 
+    sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_DIE_TEMP);
     sensor_channel_get(lsm6dso, SENSOR_CHAN_DIE_TEMP, &temp);
 
     return this->sensor_value_to_f64(temp);

FprimeZephyrReference/Components/lms6dsoDriver/lms6dsoDriver.fpp

@@ -1,9 +1,5 @@
 module Components {
-    # @ Extern type to define zepyhr sensor_value
-    # struct SensorValue {
-    #     val1: I32
-    #     val2: I32
-    # }
+
     @ Acceleration Reading in m/s^2
     struct Acceleration {
         x: F64

FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp

@@ -30,7 +30,7 @@ module ReferenceDeployment {
     instance watchdog
     instance prmDb
     instance imu
-    # instance lms6dsoDriver
+    instance lms6dsoDriver
 
   # ----------------------------------------------------------------------
   # Pattern graph specifiers