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Merge branch 'imu2' of github.com:Open-Source-Space-Foundation/proves-core-reference into lsm6dso-driver-component
2 parents bb1be34 + e44fa63 commit ee86a88

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12 files changed

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-78
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‎FprimeZephyrReference/Components/CMakeLists.txt‎

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@@ -4,3 +4,4 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FatalHandler")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Watchdog")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Imu/")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/lms6dsoDriver/")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lis2mdlDriver/")

‎FprimeZephyrReference/Components/Imu/Imu.cpp‎

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@@ -13,12 +13,7 @@ namespace Components {
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// Component construction and destruction
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// ----------------------------------------------------------------------
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Imu ::Imu(const char* const compName) : ImuComponentBase(compName) {
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// Initialize the LIS2MDL sensor
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lis2mdl = device_get_binding("LIS2MDL");
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FW_ASSERT(device_is_ready(lis2mdl));
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}
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Imu ::Imu(const char* const compName) : ImuComponentBase(compName) {}
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Imu ::~Imu() {}
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@@ -27,35 +22,10 @@ Imu ::~Imu() {}
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// ----------------------------------------------------------------------
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void Imu ::run_handler(FwIndexType portNum, U32 context) {
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// Fetch new data samples from the sensors
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sensor_sample_fetch_chan(lis2mdl, SENSOR_CHAN_MAGN_XYZ);
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// Output sensor values via telemetry
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this->tlmWrite_Acceleration(this->readAcceleration_out(0));
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this->tlmWrite_AngularVelocity(this->readAngularVelocity_out(0));
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this->tlmWrite_MagneticField(this->readMagneticField_out(0));
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this->tlmWrite_Temperature(this->readTemperature_out(0));
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this->tlmWrite_MagneticField(this->get_magnetic_field());
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}
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F64 Imu ::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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Components::Imu_MagneticField Imu ::get_magnetic_field() {
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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_channel_get(lis2mdl, SENSOR_CHAN_MAGN_X, &x);
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sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Y, &y);
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sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Z, &z);
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return Components::Imu_MagneticField(this->sensor_value_to_f64(x), this->sensor_value_to_f64(y),
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this->sensor_value_to_f64(z));
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}
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} // namespace Components

‎FprimeZephyrReference/Components/Imu/Imu.fpp‎

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@@ -4,30 +4,22 @@ module Components {
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sync input port run: Svc.Sched
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output port readAcceleration: AccelerationRead
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output port readAngularVelocity: AngularVelocityRead
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output port readMagneticField: MagneticFieldRead
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output port readTemperature: TemperatureRead
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@ Magnetic field reading in gauss
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struct MagneticField {
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x: F64
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y: F64
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z: F64
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}
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@Telemetry channel for angular velocity
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telemetry AngularVelocity: AngularVelocity
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@ Telemetry channel for Acceleration
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telemetry Acceleration: Acceleration
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@ Telemetry channel for magnetic field
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telemetry MagneticField: MagneticField
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@ Telemetry channel for temperature in degrees Celsius
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telemetry Temperature: F64
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@Telemetry channel for angular velocity
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telemetry AngularVelocity: AngularVelocity
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@ Telemetry channel for Acceleration
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telemetry Acceleration: Acceleration
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###############################################################################
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# Standard AC Ports: Required for Channels, Events, Commands, and Parameters #
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###############################################################################

‎FprimeZephyrReference/Components/Imu/Imu.hpp‎

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@@ -8,10 +8,6 @@
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#include "FprimeZephyrReference/Components/Imu/ImuComponentAc.hpp"
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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 Components {
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class Imu final : public ImuComponentBase {
@@ -35,31 +31,6 @@ class Imu final : public ImuComponentBase {
3531
void run_handler(FwIndexType portNum, //!< The port number
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U32 context //!< The call order
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) override;
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// ----------------------------------------------------------------------
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// Helper methods
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// ----------------------------------------------------------------------
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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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// ----------------------------------------------------------------------
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// IMU access methods
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// ----------------------------------------------------------------------
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//! Get the magnetic field reading from the IMU
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Components::Imu_MagneticField get_magnetic_field();
53-
54-
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// ----------------------------------------------------------------------
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// Member variables
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// ----------------------------------------------------------------------
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59-
//! Zephyr device stores the initialized LIS2MDL sensor
60-
const struct device* lis2mdl;
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62-
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};
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} // namespace Components

‎FprimeZephyrReference/Components/Lis2mdlDriver/CMakeLists.txt‎

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1+
####
2+
# F Prime CMakeLists.txt:
3+
#
4+
# SOURCES: list of source files (to be compiled)
5+
# AUTOCODER_INPUTS: list of files to be passed to the autocoders
6+
# DEPENDS: list of libraries that this module depends on
7+
#
8+
# More information in the F´ CMake API documentation:
9+
# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
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#
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####
12+
13+
# Module names are derived from the path from the nearest project/library/framework
14+
# root when not specifically overridden by the developer. i.e. The module defined by
15+
# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
16+
17+
register_fprime_library(
18+
AUTOCODER_INPUTS
19+
"${CMAKE_CURRENT_LIST_DIR}/Lis2mdlDriver.fpp"
20+
SOURCES
21+
"${CMAKE_CURRENT_LIST_DIR}/Lis2mdlDriver.cpp"
22+
# DEPENDS
23+
# MyPackage_MyOtherModule
24+
)
25+
26+
### Unit Tests ###
27+
# register_fprime_ut(
28+
# AUTOCODER_INPUTS
29+
# "${CMAKE_CURRENT_LIST_DIR}/Lis2mdlDriver.fpp"
30+
# SOURCES
31+
# "${CMAKE_CURRENT_LIST_DIR}/test/ut/Lis2mdlDriverTestMain.cpp"
32+
# "${CMAKE_CURRENT_LIST_DIR}/test/ut/Lis2mdlDriverTester.cpp"
33+
# DEPENDS
34+
# STest # For rules-based testing
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# UT_AUTO_HELPERS
36+
# )

‎FprimeZephyrReference/Components/Lis2mdlDriver/Lis2mdlDriver.cpp‎

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// ======================================================================
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// \title Lis2mdlDriver.cpp
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// \author aychar
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// \brief cpp file for Lis2mdlDriver component implementation class
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// ======================================================================
6+
7+
#include "FprimeZephyrReference/Components/Lis2mdlDriver/Lis2mdlDriver.hpp"
8+
9+
#include <Fw/Types/Assert.hpp>
10+
11+
namespace Components {
12+
13+
// ----------------------------------------------------------------------
14+
// Component construction and destruction
15+
// ----------------------------------------------------------------------
16+
17+
Lis2mdlDriver ::Lis2mdlDriver(const char* const compName) : Lis2mdlDriverComponentBase(compName) {
18+
lis2mdl = device_get_binding("LIS2MDL");
19+
FW_ASSERT(device_is_ready(lis2mdl));
20+
}
21+
22+
Lis2mdlDriver ::~Lis2mdlDriver() {}
23+
24+
F64 Lis2mdlDriver ::sensor_value_to_f64(const struct sensor_value& val) {
25+
return val.val1 + val.val2 / 1000000.0f;
26+
}
27+
28+
Components::MagneticField Lis2mdlDriver ::getMagneticField_handler(FwIndexType portNum) {
29+
// Fetch new data sample from sensors
30+
sensor_sample_fetch_chan(lis2mdl, SENSOR_CHAN_MAGN_XYZ);
31+
32+
struct sensor_value x;
33+
struct sensor_value y;
34+
struct sensor_value z;
35+
36+
sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_X, &x);
37+
sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Y, &y);
38+
sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Z, &z);
39+
40+
return Components::MagneticField(this->sensor_value_to_f64(x), this->sensor_value_to_f64(y),
41+
this->sensor_value_to_f64(z));
42+
}
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44+
} // namespace Components

‎FprimeZephyrReference/Components/Lis2mdlDriver/Lis2mdlDriver.fpp‎

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module Components {
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@ Magnetic field reading in gauss
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struct MagneticField {
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x: F64
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y: F64
6+
z: F64
7+
}
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9+
# Port definitions
10+
port MagneticFieldRead -> MagneticField
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12+
@ Component for F Prime FSW framework.
13+
passive component Lis2mdlDriver {
14+
15+
sync input port getMagneticField: MagneticFieldRead
16+
17+
###############################################################################
18+
# Standard AC Ports: Required for Channels, Events, Commands, and Parameters #
19+
###############################################################################
20+
@ Port for requesting the current time
21+
time get port timeCaller
22+
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}
24+
}

‎FprimeZephyrReference/Components/Lis2mdlDriver/Lis2mdlDriver.hpp‎

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// ======================================================================
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// \title Lis2mdlDriver.hpp
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// \author aychar
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// \brief hpp file for Lis2mdlDriver component implementation class
5+
// ======================================================================
6+
7+
#ifndef Components_Lis2mdlDriver_HPP
8+
#define Components_Lis2mdlDriver_HPP
9+
10+
#include "FprimeZephyrReference/Components/Lis2mdlDriver/Lis2mdlDriverComponentAc.hpp"
11+
12+
#include <zephyr/device.h>
13+
#include <zephyr/drivers/sensor.h>
14+
#include <zephyr/kernel.h>
15+
16+
namespace Components {
17+
18+
class Lis2mdlDriver final : public Lis2mdlDriverComponentBase {
19+
public:
20+
// ----------------------------------------------------------------------
21+
// Component construction and destruction
22+
// ----------------------------------------------------------------------
23+
24+
//! Construct Lis2mdlDriver object
25+
Lis2mdlDriver(const char* const compName //!< The component name
26+
);
27+
28+
//! Destroy Lis2mdlDriver object
29+
~Lis2mdlDriver();
30+
31+
private:
32+
//! Handler implementation
33+
MagneticField getMagneticField_handler(FwIndexType portNum) override;
34+
35+
// ----------------------------------------------------------------------
36+
// Helper methods
37+
// ----------------------------------------------------------------------
38+
39+
//! Convert a Zephyr sensor_value to an Fprime F64
40+
F64 sensor_value_to_f64(const struct sensor_value& val);
41+
42+
// ----------------------------------------------------------------------
43+
// Member variables
44+
// ----------------------------------------------------------------------
45+
46+
//! Zephyr device stores the initialized LIS2MDL sensor
47+
const struct device* lis2mdl;
48+
};
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} // namespace Components
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52+
#endif

‎FprimeZephyrReference/Components/Lis2mdlDriver/docs/sdd.md‎

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# Components::Lis2mdlDriver
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Component for F Prime FSW framework.
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5+
## Usage Examples
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Add usage examples here
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### Diagrams
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Add diagrams here
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### Typical Usage
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And the typical usage of the component here
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## Class Diagram
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Add a class diagram here
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## Port Descriptions
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| Name | Description |
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|---|---|
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|---|---|
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## Component States
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Add component states in the chart below
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| Name | Description |
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|---|---|
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|---|---|
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## Sequence Diagrams
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Add sequence diagrams here
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## Parameters
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| Name | Description |
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|---|---|
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|---|---|
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## Commands
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| Name | Description |
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|---|---|
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|---|---|
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## Events
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| Name | Description |
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|---|---|
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|---|---|
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## Telemetry
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| Name | Description |
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|---|---|
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|---|---|
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## Unit Tests
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Add unit test descriptions in the chart below
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| Name | Description | Output | Coverage |
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|---|---|---|---|
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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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|---|---|---|
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## Change Log
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| Date | Description |
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|---|---|
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|---| Initial Draft |

‎FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi‎

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@@ -40,7 +40,6 @@ telemetry packets ReferenceDeploymentPackets {
4040
ReferenceDeployment.imu.MagneticField
4141
}
4242

43-
4443
} omit {
4544
CdhCore.cmdDisp.CommandErrors
4645
# Only has one library, no custom versions

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