Reading magnetic field data

Author: nateinaction

FprimeZephyrReference/Components/Imu/Imu.cpp

@@ -27,14 +27,25 @@ Imu ::~Imu() {}
 // ----------------------------------------------------------------------
 
 void Imu ::run_handler(FwIndexType portNum, U32 context) {
-    this->imuCallCount++;
-    this->tlmWrite_ImuCalls(this->imuCallCount);
-    this->log_ACTIVITY_HI_ImuTestEvent();
-
+    // Fetch new data sample
     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);
+
+    // Extract the data from the sample
+    struct sensor_value magnetic_data_x;
+    struct sensor_value magnetic_data_y;
+    struct sensor_value magnetic_data_z;
+    sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_X, &magnetic_data_x);
+    sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Y, &magnetic_data_y);
+    sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Z, &magnetic_data_z);
+
+    // Convert to float values in gauss
+    float magnetic_field_x = magnetic_data_x.val1 + magnetic_data_x.val2 / 1000000.0f;
+    float magnetic_field_y = magnetic_data_y.val1 + magnetic_data_y.val2 / 1000000.0f;
+    float magnetic_field_z = magnetic_data_z.val1 + magnetic_data_z.val2 / 1000000.0f;
+
+    // Output the magnetic field values via telemetry
+    this->tlmWrite_MagneticField(Components::Imu_MagneticField(
+        static_cast<F64>(magnetic_field_x), static_cast<F64>(magnetic_field_y), static_cast<F64>(magnetic_field_z)));
 }
 
 }  // namespace Components

FprimeZephyrReference/Components/Imu/Imu.fpp

@@ -3,11 +3,12 @@ module Components {
     passive component Imu {
         sync input port run: Svc.Sched
 
-        telemetry ImuCalls: U64
-
-        event ImuTestEvent() \
-            severity activity high \
-            format "WOAH WHATS HAPPENING IS THIS WORKING HELLO"
+        struct MagneticField {
+            x: F64
+            y: F64
+            z: F64
+        }
+        telemetry MagneticField: MagneticField
 
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #

FprimeZephyrReference/Components/Imu/Imu.hpp

@@ -40,11 +40,7 @@ class Imu final : public ImuComponentBase {
                      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

FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi

@@ -33,9 +33,9 @@ telemetry packets ReferenceDeploymentPackets {
   packet Led id 5 group 4 {
     ReferenceDeployment.watchdog.WatchdogTransitions
   }
-  
+
   packet Imu id 6 group 4 {
-    ReferenceDeployment.imu.ImuCalls
+    ReferenceDeployment.imu.MagneticField
   }