Introduce ImuManager, Lis2mdlDriver & Lsm6dsoDriver Components

FprimeZephyrReference/Components/CMakeLists.txt

@@ -1,4 +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")

FprimeZephyrReference/Components/Drv/CMakeLists.txt

@@ -0,0 +1,5 @@
+# Include project-wide components here
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Helpers/")
+add_fprime_subdirectory("${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

@@ -0,0 +1,34 @@
+####
+# F Prime CMakeLists.txt:
+#
+# SOURCES: list of source files (to be compiled)
+# AUTOCODER_INPUTS: list of files to be passed to the autocoders
+# DEPENDS: list of libraries that this module depends on
+#
+# More information in the F´ CMake API documentation:
+# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
+#
+####
+
+# Module names are derived from the path from the nearest project/library/framework
+# root when not specifically overridden by the developer. i.e. The module defined by
+# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
+
+register_fprime_library(
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/Helpers.cpp"
+    DEPENDS
+        Fw_Types
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/Helpers.fpp"
+#     SOURCES
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/HelpersTestMain.cpp"
+#         "${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.hpp

@@ -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/Lis2mdlManager/CMakeLists.txt

@@ -0,0 +1,36 @@
+####
+# F Prime CMakeLists.txt:
+#
+# SOURCES: list of source files (to be compiled)
+# AUTOCODER_INPUTS: list of files to be passed to the autocoders
+# DEPENDS: list of libraries that this module depends on
+#
+# More information in the F´ CMake API documentation:
+# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
+#
+####
+
+# Module names are derived from the path from the nearest project/library/framework
+# root when not specifically overridden by the developer. i.e. The module defined by
+# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
+
+register_fprime_library(
+    AUTOCODER_INPUTS
+        "${CMAKE_CURRENT_LIST_DIR}/Lis2mdlManager.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/Lis2mdlManager.cpp"
+    DEPENDS
+        FprimeZephyrReference_Components_Drv_Helpers
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/Lis2mdlManager.fpp"
+#     SOURCES
+#         "${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/Lis2mdlManager/Lis2mdlManager.cpp

@@ -0,0 +1,51 @@
+// ======================================================================
+// \title  Lis2mdlManager.cpp
+// \brief  cpp file for Lis2mdlManager component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/Drv/Lis2mdlManager/Lis2mdlManager.hpp"
+
+#include <Fw/Types/Assert.hpp>
+
+namespace Drv {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+Lis2mdlManager ::Lis2mdlManager(const char* const compName) : Lis2mdlManagerComponentBase(compName) {
+    dev = device_get_binding("LIS2MDL");
+}
+
+Lis2mdlManager ::~Lis2mdlManager() {}
+
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
+
+Drv::MagneticField Lis2mdlManager ::magneticFieldGet_handler(FwIndexType portNum) {
+    if (!device_is_ready(dev)) {
+        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;
+    struct sensor_value z;
+
+    sensor_sample_fetch_chan(dev, SENSOR_CHAN_MAGN_XYZ);
+
+    sensor_channel_get(dev, SENSOR_CHAN_MAGN_X, &x);
+    sensor_channel_get(dev, SENSOR_CHAN_MAGN_Y, &y);
+    sensor_channel_get(dev, SENSOR_CHAN_MAGN_Z, &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/Lis2mdlManager/Lis2mdlManager.fpp

@@ -0,0 +1,35 @@
+# Port definition
+module Drv {
+    port MagneticFieldGet -> MagneticField
+}
+
+# Component definition
+module Drv {
+    @ LIS2MDL Manager Component for F Prime FSW framework.
+    passive component Lis2mdlManager {
+        @ Port to read the current magnetic field in gauss.
+        sync input port magneticFieldGet: MagneticFieldGet
+
+        @ 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  #
+        ###############################################################################
+        @ 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
+
+        @ Port for sending telemetry channels to downlink
+        telemetry port tlmOut
+    }
+}

FprimeZephyrReference/Components/Drv/Lis2mdlManager/Lis2mdlManager.hpp

@@ -0,0 +1,52 @@
+// ======================================================================
+// \title  Lis2mdlManager.hpp
+// \brief  hpp file for Lis2mdlManager component implementation class
+// ======================================================================
+
+#ifndef Components_Lis2mdlManager_HPP
+#define Components_Lis2mdlManager_HPP
+
+// clang-format off
+// Keep the includes in this order
+#include "FprimeZephyrReference/Components/Drv/Lis2mdlManager/Lis2mdlManagerComponentAc.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 Drv {
+
+class Lis2mdlManager final : public Lis2mdlManagerComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct Lis2mdlManager object
+    Lis2mdlManager(const char* const compName);
+
+    //! Destroy Lis2mdlManager object
+    ~Lis2mdlManager();
+
+  private:
+    // ----------------------------------------------------------------------
+    // Handler implementations for typed input ports
+    // ----------------------------------------------------------------------
+
+    //! Get the magnetic field reading from the LIS2MDL sensor
+    Drv::MagneticField magneticFieldGet_handler(const FwIndexType portNum  //!< The port number
+                                                ) override;
+
+    // ----------------------------------------------------------------------
+    // Member variables
+    // ----------------------------------------------------------------------
+
+    //! Zephyr device stores the initialized LIS2MDL sensor
+    const struct device* dev;
+};
+
+}  // namespace Drv
+
+#endif

FprimeZephyrReference/Components/Drv/Lis2mdlManager/docs/sdd.md

@@ -0,0 +1,69 @@
+# Drv::Lis2mdlManager
+
+The LIS2MDL Manager component interfaces with the LIS2MDL magnetometer to provide magnetic field measurements.
+
+## Usage Examples
+
+The LIS2MDL Manager component is designed to be called periodically to collect and return sensor data. It operates as a passive component that responds to manager calls.
+
+### Typical Usage
+
+1. The component is instantiated and initialized during system startup
+2. A manager calls the `MagneticFieldGet` port
+3. On each call, the component:
+   - Fetches fresh sensor samples from the sensor
+   - Converts sensor data to F Prime data structures
+   - Writes telemetry data
+   - Returns data in SI units
+
+## Class Diagram
+
+```mermaid
+classDiagram
+    namespace Drv {
+        class Lis2mdlManagerComponentBase {
+            <<Auto-generated>>
+        }
+        class Lis2mdlManager {
+            - lis2mdl: const struct device*
+            + Lis2mdlManager(const char* compName)
+            + ~Lis2mdlManager()
+            - magneticFieldGet_handler(const FwIndexType portNum): Drv::MagneticField
+        }
+    }
+    Lis2mdlManagerComponentBase <|-- Lis2mdlManager : inherits
+```
+
+## Port Descriptions
+| Name | Type | Description |
+|---|---|---|
+| MagneticFieldGet | sync input | Triggers magnetic field data collection and returns a MagneticField struct |
+
+## Sequence Diagrams
+
+```mermaid
+sequenceDiagram
+    participant Manager
+    participant LIS2MDL Manager
+    participant Zephyr Sensor API
+    participant LIS2MDL Sensor
+
+    Manager-->>LIS2MDL Manager: Call MagneticFieldGet synchronous input port
+    LIS2MDL Manager->>Zephyr Sensor API: Fetch sensor data
+    Zephyr Sensor API->>LIS2MDL Sensor: Read sensor
+    LIS2MDL Sensor->>Zephyr Sensor API: Return sensor data
+    Zephyr Sensor API->>LIS2MDL Manager: Return x, y, z sensor_value structs
+    LIS2MDL Manager->>LIS2MDL Manager: Write telemetry
+    LIS2MDL Manager-->>Manager: Return MagneticField struct
+```
+
+## Requirements
+Add requirements in the chart below
+| Name | Description | Validation |
+|---|---|---|
+| MagneticFieldGet Port | The component shall provide access magnetic field sensor data and return in MagneticField struct, readings will be in gauss | Verify output matches expected values from sensor datasheet |
+
+## Change Log
+| Date | Description |
+|---|---|
+| 2025-9-15 | Initial LIS2MDL Manager component |

FprimeZephyrReference/Components/Drv/Lsm6dsoManager/CMakeLists.txt

@@ -0,0 +1,36 @@
+####
+# F Prime CMakeLists.txt:
+#
+# SOURCES: list of source files (to be compiled)
+# AUTOCODER_INPUTS: list of files to be passed to the autocoders
+# DEPENDS: list of libraries that this module depends on
+#
+# More information in the F´ CMake API documentation:
+# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
+#
+####
+
+# Module names are derived from the path from the nearest project/library/framework
+# root when not specifically overridden by the developer. i.e. The module defined by
+# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
+
+register_fprime_library(
+    AUTOCODER_INPUTS
+        "${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoManager.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoManager.cpp"
+    DEPENDS
+        FprimeZephyrReference_Components_Drv_Helpers
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/Lsm6dsoManager.fpp"
+#     SOURCES
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Lsm6dsoManagerTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Lsm6dsoManagerTester.cpp"
+#     DEPENDS
+#         STest # For rules-based testing
+#     UT_AUTO_HELPERS
+# )