Spit out common helpers and types from drivers, standardize port name schema, update SDDs

Author: nateinaction

FprimeZephyrReference/Components/CMakeLists.txt

@@ -1,7 +1,6 @@
 # Include project-wide components here
 
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Drv/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FatalHandler")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ImuManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Watchdog")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Imu/")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/lms6dsoDriver/")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lis2mdlDriver/")

FprimeZephyrReference/Components/Drv/CMakeLists.txt

@@ -0,0 +1,6 @@
+# Include project-wide components here
+
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Helpers/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lis2mdlDriver/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoDriver/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Types/")

FprimeZephyrReference/Components/Imu/CMakeLists.txt renamed to FprimeZephyrReference/Components/Drv/Helpers/CMakeLists.txt

@@ -16,20 +16,20 @@
 
 register_fprime_library(
     AUTOCODER_INPUTS
-        "${CMAKE_CURRENT_LIST_DIR}/Imu.fpp"
+        "${CMAKE_CURRENT_LIST_DIR}/Helpers.fpp"
     SOURCES
-        "${CMAKE_CURRENT_LIST_DIR}/Imu.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/Helpers.cpp"
 #   DEPENDS
 #       MyPackage_MyOtherModule
 )
 
 ### Unit Tests ###
 # register_fprime_ut(
 #     AUTOCODER_INPUTS
-#         "${CMAKE_CURRENT_LIST_DIR}/Imu.fpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/Helpers.fpp"
 #     SOURCES
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/ImuTestMain.cpp"
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/ImuTester.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/HelpersTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/HelpersTester.cpp"
 #     DEPENDS
 #         STest # For rules-based testing
 #     UT_AUTO_HELPERS

FprimeZephyrReference/Components/Drv/Helpers/Helpers.cpp

@@ -0,0 +1,16 @@
+// ======================================================================
+// \title  Helpers.cpp
+// \brief  cpp file for Helpers component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/Drv/Helpers/Helpers.hpp"
+
+#include <Fw/Types/Assert.hpp>
+
+namespace Drv {
+
+F64 sensor_value_to_f64(const struct sensor_value& val) {
+    return val.val1 + val.val2 / 1000000.0f;
+}
+
+}  // namespace Drv

FprimeZephyrReference/Components/Drv/Helpers/Helpers.fpp

@@ -0,0 +1,19 @@
+// ======================================================================
+// \title  Helpers.hpp
+// \brief  hpp file for Helpers component implementation class
+// ======================================================================
+
+#ifndef Components_Helpers_HPP
+#define Components_Helpers_HPP
+
+#include <Fw/Types/BasicTypes.h>
+#include <zephyr/drivers/sensor.h>
+
+namespace Drv {
+
+//! Convert a Zephyr sensor_value to an Fprime F64
+F64 sensor_value_to_f64(const struct sensor_value& val);
+
+}  // namespace Drv
+
+#endif

FprimeZephyrReference/Components/Drv/Helpers/Helpers.hpp

@@ -19,8 +19,8 @@ register_fprime_library(
         "${CMAKE_CURRENT_LIST_DIR}/Lis2mdlDriver.fpp"
     SOURCES
         "${CMAKE_CURRENT_LIST_DIR}/Lis2mdlDriver.cpp"
-#   DEPENDS
-#       MyPackage_MyOtherModule
+    DEPENDS
+        FprimeZephyrReference_Components_Drv_Helpers
 )
 
 ### Unit Tests ###

FprimeZephyrReference/Components/Lis2mdlDriver/CMakeLists.txt renamed to FprimeZephyrReference/Components/Drv/Lis2mdlDriver/CMakeLists.txt

@@ -1,44 +1,47 @@
 // ======================================================================
 // \title  Lis2mdlDriver.cpp
-// \author aychar
 // \brief  cpp file for Lis2mdlDriver component implementation class
 // ======================================================================
 
-#include "FprimeZephyrReference/Components/Lis2mdlDriver/Lis2mdlDriver.hpp"
+#include "FprimeZephyrReference/Components/Drv/Lis2mdlDriver/Lis2mdlDriver.hpp"
 
 #include <Fw/Types/Assert.hpp>
 
-namespace Components {
+namespace Drv {
 
 // ----------------------------------------------------------------------
 // Component construction and destruction
 // ----------------------------------------------------------------------
 
 Lis2mdlDriver ::Lis2mdlDriver(const char* const compName) : Lis2mdlDriverComponentBase(compName) {
+    // Initialize the lis2mdl sensor
     lis2mdl = device_get_binding("LIS2MDL");
     FW_ASSERT(device_is_ready(lis2mdl));
 }
 
 Lis2mdlDriver ::~Lis2mdlDriver() {}
 
-F64 Lis2mdlDriver ::sensor_value_to_f64(const struct sensor_value& val) {
-    return val.val1 + val.val2 / 1000000.0f;
-}
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
 
-Components::MagneticField Lis2mdlDriver ::getMagneticField_handler(FwIndexType portNum) {
-    // Fetch new data sample from sensors
-    sensor_sample_fetch_chan(lis2mdl, SENSOR_CHAN_MAGN_XYZ);
+Drv::MagneticField Lis2mdlDriver ::magneticFieldRead_handler(FwIndexType portNum) {
+    if (!device_is_ready(lis2mdl)) {
+        this->log_WARNING_HI_DeviceNotReady();
+        return Drv::MagneticField(0.0, 0.0, 0.0);
+    }
 
     struct sensor_value x;
     struct sensor_value y;
     struct sensor_value z;
 
+    sensor_sample_fetch_chan(lis2mdl, SENSOR_CHAN_MAGN_XYZ);
+
     sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_X, &x);
     sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Y, &y);
     sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Z, &z);
 
-    return Components::MagneticField(this->sensor_value_to_f64(x), this->sensor_value_to_f64(y),
-                                     this->sensor_value_to_f64(z));
+    return Drv::MagneticField(Drv::sensor_value_to_f64(x), Drv::sensor_value_to_f64(y), Drv::sensor_value_to_f64(z));
 }
 
-}  // namespace Components
+}  // namespace Drv

FprimeZephyrReference/Components/Lis2mdlDriver/Lis2mdlDriver.cpp renamed to FprimeZephyrReference/Components/Drv/Lis2mdlDriver/Lis2mdlDriver.cpp

@@ -0,0 +1,28 @@
+# Port definition
+module Drv {
+    port MagneticFieldRead -> MagneticField
+}
+
+# Component definition
+module Drv {
+    @ LIS2MDL Driver Component for F Prime FSW framework.
+    passive component Lis2mdlDriver {
+        @ Port to read the current magnetic field in gauss.
+        sync input port magneticFieldRead: MagneticFieldRead
+
+        @ Event for reporting LSM6DSO not ready error
+        event DeviceNotReady() severity warning high format "LIS2MDL device not ready" throttle 5
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+
+        @ Port for sending textual representation of events
+        text event port logTextOut
+
+        @ Port for sending events to downlink
+        event port logOut
+    }
+}

FprimeZephyrReference/Components/Drv/Lis2mdlDriver/Lis2mdlDriver.fpp

@@ -1,19 +1,22 @@
 // ======================================================================
 // \title  Lis2mdlDriver.hpp
-// \author aychar
 // \brief  hpp file for Lis2mdlDriver component implementation class
 // ======================================================================
 
 #ifndef Components_Lis2mdlDriver_HPP
 #define Components_Lis2mdlDriver_HPP
 
-#include "FprimeZephyrReference/Components/Lis2mdlDriver/Lis2mdlDriverComponentAc.hpp"
+// clang-format off
+// Keep the includes in this order
+#include "FprimeZephyrReference/Components/Drv/Lis2mdlDriver/Lis2mdlDriverComponentAc.hpp"
+#include "FprimeZephyrReference/Components/Drv/Helpers/Helpers.hpp"
+// clang-format on
 
 #include <zephyr/device.h>
 #include <zephyr/drivers/sensor.h>
 #include <zephyr/kernel.h>
 
-namespace Components {
+namespace Drv {
 
 class Lis2mdlDriver final : public Lis2mdlDriverComponentBase {
   public:
@@ -22,22 +25,19 @@ class Lis2mdlDriver final : public Lis2mdlDriverComponentBase {
     // ----------------------------------------------------------------------
 
     //! Construct Lis2mdlDriver object
-    Lis2mdlDriver(const char* const compName  //!< The component name
-    );
+    Lis2mdlDriver(const char* const compName);
 
     //! Destroy Lis2mdlDriver object
     ~Lis2mdlDriver();
 
   private:
-    //! Handler implementation
-    MagneticField getMagneticField_handler(FwIndexType portNum) override;
-
     // ----------------------------------------------------------------------
-    // Helper methods
+    // Handler implementations for typed input ports
     // ----------------------------------------------------------------------
 
-    //! Convert a Zephyr sensor_value to an Fprime F64
-    F64 sensor_value_to_f64(const struct sensor_value& val);
+    //! Get the magnetic field reading from the LIS2MDL sensor
+    Drv::MagneticField magneticFieldRead_handler(const FwIndexType portNum  //!< The port number
+                                                 ) override;
 
     // ----------------------------------------------------------------------
     // Member variables
@@ -47,6 +47,6 @@ class Lis2mdlDriver final : public Lis2mdlDriverComponentBase {
     const struct device* lis2mdl;
 };
 
-}  // namespace Components
+}  // namespace Drv
 
 #endif