Merge pull request #27 from Open-Source-Space-Foundation/imu2_PR_changes_saidi

Imu Driver Manager Updates

Author: nateinaction

.github/pull_request_template.md

@@ -0,0 +1,31 @@
+# Pull Request Title (e.g., Feature: Add user authentication)
+
+## Description
+
+<!-- Provide a clear and concise description of the changes being introduced in this pull request. Explain the "why" behind the changes, not just the "what." -->
+
+## Related Issues/Tickets
+
+<!-- Link any relevant issues, tasks, or user stories (e.g., Closes #123, Fixes #456). -->
+
+## How Has This Been Tested?
+
+<!-- Describe the tests that you ran to verify your changes. Provide instructions so we can reproduce. Please also list any relevant details for your test configuration. -->
+
+- [ ] Unit tests
+- [ ] Integration tests
+- [ ] Z Tests
+- [ ] Manual testing (describe steps)
+
+## Screenshots / Recordings (if applicable)
+
+<!-- Provide screenshots or screen recordings that demonstrate the changes, especially for UI-related updates. -->
+
+## Checklist
+
+- [ ] Written detailed sdd with requirements, channels, ports, commands, telemetry defined and correctly formatted and spelled
+- [ ] Have written relevant integration tests and have documented them in the sdd
+- [ ] Have done a code review with
+- [ ] Have tested this PR on every supported board with correct board definitions
+
+## Further Notes / Considerations

.gitignore

@@ -18,6 +18,7 @@ lib/zephyr-workspace/*
 .DS_Store
 *.gcov
 build
+settings.ini
 
 **/__pycache__/
 **/*.egg-info/

FprimeZephyrReference/Components/Drv/CMakeLists.txt

@@ -1,6 +1,5 @@
 # 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}/Lis2mdlManager/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Types/")

FprimeZephyrReference/Components/Drv/Helpers/CMakeLists.txt

@@ -15,12 +15,10 @@
 # `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
 
 register_fprime_library(
-    AUTOCODER_INPUTS
-        "${CMAKE_CURRENT_LIST_DIR}/Helpers.fpp"
     SOURCES
         "${CMAKE_CURRENT_LIST_DIR}/Helpers.cpp"
-#   DEPENDS
-#       MyPackage_MyOtherModule
+    DEPENDS
+        Fw_Types
 )
 
 ### Unit Tests ###

FprimeZephyrReference/Components/Drv/Helpers/Helpers.cpp

@@ -10,7 +10,7 @@
 namespace Drv {
 
 F64 sensor_value_to_f64(const struct sensor_value& val) {
-    return val.val1 + val.val2 / 1000000.0f;
+    return val.val1 + (val.val2 / 1000000.0f);
 }
 
 }  // namespace Drv

FprimeZephyrReference/Components/Drv/Helpers/Helpers.fpp

@@ -16,20 +16,20 @@
 
 register_fprime_library(
     AUTOCODER_INPUTS
-        "${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoDriver.fpp"
+        "${CMAKE_CURRENT_LIST_DIR}/Lis2mdlManager.fpp"
     SOURCES
-        "${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoDriver.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/Lis2mdlManager.cpp"
     DEPENDS
         FprimeZephyrReference_Components_Drv_Helpers
 )
 
 ### Unit Tests ###
 # register_fprime_ut(
 #     AUTOCODER_INPUTS
-#         "${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoDriver.fpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/Lis2mdlManager.fpp"
 #     SOURCES
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Lsm6dsoDriverTestMain.cpp"
-#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Lsm6dsoDriverTester.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Lis2mdlManagerTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Lis2mdlManagerTester.cpp"
 #     DEPENDS
 #         STest # For rules-based testing
 #     UT_AUTO_HELPERS

FprimeZephyrReference/Components/Drv/Lsm6dsoDriver/CMakeLists.txt renamed to FprimeZephyrReference/Components/Drv/Lis2mdlManager/CMakeLists.txt

@@ -1,9 +1,9 @@
 // ======================================================================
-// \title  Lis2mdlDriver.cpp
-// \brief  cpp file for Lis2mdlDriver component implementation class
+// \title  Lis2mdlManager.cpp
+// \brief  cpp file for Lis2mdlManager component implementation class
 // ======================================================================
 
-#include "FprimeZephyrReference/Components/Drv/Lis2mdlDriver/Lis2mdlDriver.hpp"
+#include "FprimeZephyrReference/Components/Drv/Lis2mdlManager/Lis2mdlManager.hpp"
 
 #include <Fw/Types/Assert.hpp>
 
@@ -13,23 +13,23 @@ namespace Drv {
 // Component construction and destruction
 // ----------------------------------------------------------------------
 
-Lis2mdlDriver ::Lis2mdlDriver(const char* const compName) : Lis2mdlDriverComponentBase(compName) {
+Lis2mdlManager ::Lis2mdlManager(const char* const compName) : Lis2mdlManagerComponentBase(compName) {
     // Initialize the lis2mdl sensor
     lis2mdl = device_get_binding("LIS2MDL");
-    FW_ASSERT(device_is_ready(lis2mdl));
 }
 
-Lis2mdlDriver ::~Lis2mdlDriver() {}
+Lis2mdlManager ::~Lis2mdlManager() {}
 
 // ----------------------------------------------------------------------
 // Handler implementations for typed input ports
 // ----------------------------------------------------------------------
 
-Drv::MagneticField Lis2mdlDriver ::magneticFieldRead_handler(FwIndexType portNum) {
+Drv::MagneticField Lis2mdlManager ::magneticFieldRead_handler(FwIndexType portNum) {
     if (!device_is_ready(lis2mdl)) {
         this->log_WARNING_HI_DeviceNotReady();
         return Drv::MagneticField(0.0, 0.0, 0.0);
     }
+    this->log_WARNING_HI_DeviceNotReady_ThrottleClear();
 
     struct sensor_value x;
     struct sensor_value y;
@@ -41,7 +41,12 @@ Drv::MagneticField Lis2mdlDriver ::magneticFieldRead_handler(FwIndexType portNum
     sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Y, &y);
     sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_Z, &z);
 
-    return Drv::MagneticField(Drv::sensor_value_to_f64(x), Drv::sensor_value_to_f64(y), Drv::sensor_value_to_f64(z));
+    Drv::MagneticField magnetic_readings =
+        Drv::MagneticField(Drv::sensor_value_to_f64(x), Drv::sensor_value_to_f64(y), Drv::sensor_value_to_f64(z));
+
+    this->tlmWrite_MagneticField(magnetic_readings);
+
+    return magnetic_readings;
 }
 
 }  // namespace Drv

FprimeZephyrReference/Components/Drv/Lis2mdlDriver/Lis2mdlDriver.cpp renamed to FprimeZephyrReference/Components/Drv/Lis2mdlManager/Lis2mdlManager.cpp

@@ -5,14 +5,18 @@ module Drv {
 
 # Component definition
 module Drv {
-    @ LIS2MDL Driver Component for F Prime FSW framework.
-    passive component Lis2mdlDriver {
+    @ LIS2MDL Manager Component for F Prime FSW framework.
+    passive component Lis2mdlManager {
         @ 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
 
+        @ Telemetry channel for magnetic field in gauss
+        telemetry MagneticField: MagneticField
+
+
         ###############################################################################
         # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
         ###############################################################################
@@ -24,5 +28,8 @@ module Drv {
 
         @ Port for sending events to downlink
         event port logOut
+
+        @ Port for sending telemetry channels to downlink
+        telemetry port tlmOut
     }
 }

FprimeZephyrReference/Components/Drv/Lis2mdlDriver/Lis2mdlDriver.fpp renamed to FprimeZephyrReference/Components/Drv/Lis2mdlManager/Lis2mdlManager.fpp

@@ -1,14 +1,14 @@
 // ======================================================================
-// \title  Lis2mdlDriver.hpp
-// \brief  hpp file for Lis2mdlDriver component implementation class
+// \title  Lis2mdlManager.hpp
+// \brief  hpp file for Lis2mdlManager component implementation class
 // ======================================================================
 
-#ifndef Components_Lis2mdlDriver_HPP
-#define Components_Lis2mdlDriver_HPP
+#ifndef Components_Lis2mdlManager_HPP
+#define Components_Lis2mdlManager_HPP
 
 // clang-format off
 // Keep the includes in this order
-#include "FprimeZephyrReference/Components/Drv/Lis2mdlDriver/Lis2mdlDriverComponentAc.hpp"
+#include "FprimeZephyrReference/Components/Drv/Lis2mdlManager/Lis2mdlManagerComponentAc.hpp"
 #include "FprimeZephyrReference/Components/Drv/Helpers/Helpers.hpp"
 // clang-format on
 
@@ -18,17 +18,17 @@
 
 namespace Drv {
 
-class Lis2mdlDriver final : public Lis2mdlDriverComponentBase {
+class Lis2mdlManager final : public Lis2mdlManagerComponentBase {
   public:
     // ----------------------------------------------------------------------
     // Component construction and destruction
     // ----------------------------------------------------------------------
 
-    //! Construct Lis2mdlDriver object
-    Lis2mdlDriver(const char* const compName);
+    //! Construct Lis2mdlManager object
+    Lis2mdlManager(const char* const compName);
 
-    //! Destroy Lis2mdlDriver object
-    ~Lis2mdlDriver();
+    //! Destroy Lis2mdlManager object
+    ~Lis2mdlManager();
 
   private:
     // ----------------------------------------------------------------------