Introduce ImuManager, Lis2mdlDriver & Lsm6dsoDriver Components

FprimeZephyrReference/Components/CMakeLists.txt

@@ -2,3 +2,4 @@
 
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FatalHandler")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Watchdog")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Imu/")

FprimeZephyrReference/Components/Imu/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
+        "${CMAKE_CURRENT_LIST_DIR}/Imu.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/Imu.cpp"
+#   DEPENDS
+#       MyPackage_MyOtherModule
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/Imu.fpp"
+#     SOURCES
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/ImuTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/ImuTester.cpp"
+#     DEPENDS
+#         STest # For rules-based testing
+#     UT_AUTO_HELPERS
+# )

FprimeZephyrReference/Components/Imu/Imu.cpp

@@ -0,0 +1,101 @@
+// ======================================================================
+// \title  Imu.cpp
+// \brief  cpp file for Imu component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/Imu/Imu.hpp"
+
+#include <Fw/Types/Assert.hpp>
+
+namespace Components {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+Imu ::Imu(const char* const compName) : ImuComponentBase(compName) {
+    // Initialize the LIS2MDL sensor
+    lis2mdl = device_get_binding("LIS2MDL");
+    FW_ASSERT(device_is_ready(lis2mdl));
+
+    // Initialize the LSM6DSO sensor
+    lsm6dso = DEVICE_DT_GET_ONE(st_lsm6dso);
+    FW_ASSERT(device_is_ready(lsm6dso));
+
+    // Configure the LSM6DSO sensor
+    struct sensor_value odr = {.val1 = 12, .val2 = 500000};  // 12.5 Hz
+    FW_ASSERT(sensor_attr_set(lsm6dso, SENSOR_CHAN_ACCEL_XYZ, SENSOR_ATTR_SAMPLING_FREQUENCY, &odr) == 0);
+    FW_ASSERT(sensor_attr_set(lsm6dso, SENSOR_CHAN_GYRO_XYZ, SENSOR_ATTR_SAMPLING_FREQUENCY, &odr) == 0);
+}
+
+Imu ::~Imu() {}
+
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
+
+void Imu ::run_handler(FwIndexType portNum, U32 context) {
+    // Fetch new data samples from the sensors
+    sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_ACCEL_XYZ);
+    sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_GYRO_XYZ);
+    sensor_sample_fetch_chan(lis2mdl, SENSOR_CHAN_MAGN_XYZ);
+    sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_DIE_TEMP);
+
+    // Output sensor values via telemetry
+    this->tlmWrite_Acceleration(this->get_acceleration());
+    this->tlmWrite_AngularVelocity(this->get_angular_velocity());
+    this->tlmWrite_MagneticField(this->get_magnetic_field());
+    this->tlmWrite_Temperature(this->get_temperature());
+}
+
+F64 Imu ::sensor_value_to_f64(const struct sensor_value& val) {
+    return val.val1 + val.val2 / 1000000.0f;
+}
+
+Components::Imu_Acceleration Imu ::get_acceleration() {
+    struct sensor_value x;
+    struct sensor_value y;
+    struct sensor_value z;
+
+    sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_X, &x);
+    sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_Y, &y);
+    sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_Z, &z);
+
+    return Components::Imu_Acceleration(this->sensor_value_to_f64(x), this->sensor_value_to_f64(y),
+                                        this->sensor_value_to_f64(z));
+}
+
+Components::Imu_AngularVelocity Imu ::get_angular_velocity() {
+    struct sensor_value x;
+    struct sensor_value y;
+    struct sensor_value z;
+
+    sensor_channel_get(lsm6dso, SENSOR_CHAN_GYRO_X, &x);
+    sensor_channel_get(lsm6dso, SENSOR_CHAN_GYRO_Y, &y);
+    sensor_channel_get(lsm6dso, SENSOR_CHAN_GYRO_Z, &z);
+
+    return Components::Imu_AngularVelocity(this->sensor_value_to_f64(x), this->sensor_value_to_f64(y),
+                                           this->sensor_value_to_f64(z));
+}
+
+Components::Imu_MagneticField Imu ::get_magnetic_field() {
+    struct sensor_value x;
+    struct sensor_value y;
+    struct sensor_value z;
+
+    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::Imu_MagneticField(this->sensor_value_to_f64(x), this->sensor_value_to_f64(y),
+                                         this->sensor_value_to_f64(z));
+}
+
+F64 Imu ::get_temperature() {
+    struct sensor_value temp;
+
+    sensor_channel_get(lsm6dso, SENSOR_CHAN_DIE_TEMP, &temp);
+
+    return this->sensor_value_to_f64(temp);
+}
+}  // namespace Components

FprimeZephyrReference/Components/Imu/Imu.fpp

@@ -0,0 +1,48 @@
+module Components {
+    @ IMU Component for F Prime FSW framework.
+    passive component Imu {
+        sync input port run: Svc.Sched
+
+        @ Acceleration reading in m/s^2
+        struct Acceleration {
+            x: F64
+            y: F64
+            z: F64
+        }
+
+        @ Telemetry channel for acceleration
+        telemetry Acceleration: Acceleration
+
+        @ Angular velocity reading in rad/s
+        struct AngularVelocity {
+            x: F64
+            y: F64
+            z: F64
+        }
+
+        @ Telemetry channel for angular velocity
+        telemetry AngularVelocity: AngularVelocity
+
+        @ Magnetic field reading in gauss
+        struct MagneticField {
+            x: F64
+            y: F64
+            z: F64
+        }
+
+        @ Telemetry channel for magnetic field
+        telemetry MagneticField: MagneticField
+
+        @ Telemetry channel for temperature in degrees Celsius
+        telemetry Temperature: F64
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+
+        @ Port for sending telemetry channels to downlink
+        telemetry port tlmOut
+    }
+}

FprimeZephyrReference/Components/Imu/Imu.hpp

@@ -0,0 +1,75 @@
+// ======================================================================
+// \title  Imu.hpp
+// \brief  hpp file for Imu component implementation class
+// ======================================================================
+
+#ifndef Components_Imu_HPP
+#define Components_Imu_HPP
+
+#include "FprimeZephyrReference/Components/Imu/ImuComponentAc.hpp"
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/kernel.h>
+
+namespace Components {
+
+class Imu final : public ImuComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct Imu object
+    Imu(const char* const compName);
+
+    //! Destroy Imu object
+    ~Imu();
+
+  private:
+    // ----------------------------------------------------------------------
+    // Handler implementations for typed input ports
+    // ----------------------------------------------------------------------
+
+    //! Handler implementation
+    void run_handler(FwIndexType portNum,  //!< The port number
+                     U32 context           //!< The call order
+                     ) override;
+
+    // ----------------------------------------------------------------------
+    // Helper methods
+    // ----------------------------------------------------------------------
+
+    //! Convert a Zephyr sensor_value to an Fprime F64
+    F64 sensor_value_to_f64(const struct sensor_value& val);
+
+    // ----------------------------------------------------------------------
+    // IMU access methods
+    // ----------------------------------------------------------------------
+
+    //! Get the acceleration reading from the IMU
+    Components::Imu_Acceleration get_acceleration();
+
+    //! Get the angular velocity reading from the IMU
+    Components::Imu_AngularVelocity get_angular_velocity();
+
+    //! Get the magnetic field reading from the IMU
+    Components::Imu_MagneticField get_magnetic_field();
+
+    //! Get the temperature reading from the IMU
+    F64 get_temperature();
+
+    // ----------------------------------------------------------------------
+    // Member variables
+    // ----------------------------------------------------------------------
+
+    //! Zephyr device stores the initialized LIS2MDL sensor
+    const struct device* lis2mdl;
+
+    //! Zephyr device stores the initialized LSM6DSO sensor
+    const struct device* lsm6dso;
+};
+
+}  // namespace Components
+
+#endif

FprimeZephyrReference/Components/Imu/docs/sdd.md

@@ -0,0 +1,98 @@
+# Components::Imu
+
+The IMU (Inertial Measurement Unit) component provides sensor data related to motion and orientation of the craft. It interfaces with two sensors: the LIS2MDL magnetometer and the LSM6DSO accelerometer/gyroscope to provide acceleration, angular velocity, magnetic field, and temperature measurements.
+
+## Usage Examples
+
+The IMU component is designed to be scheduled periodically to collect sensor data and output telemetry. It operates as a passive component that responds to scheduler calls.
+
+### Diagrams
+
+```mermaid
+sequenceDiagram
+    participant Scheduler
+    participant IMU
+    participant Telemetry
+
+    Scheduler->>IMU: run
+    IMU->>Telemetry: Output sensor data
+```
+
+### Typical Usage
+
+1. The component is instantiated and initialized during system startup
+2. The scheduler calls the `run` port at regular intervals (configured at 12.5 Hz)
+3. On each run call, the component:
+   - Fetches fresh sensor samples from both IMU sensors
+   - Converts sensor data to F Prime data structures
+   - Outputs telemetry for acceleration, angular velocity, magnetic field, and temperature
+
+## Class Diagram
+
+```mermaid
+classDiagram
+    namespace Components {
+        class ImuComponentBase {
+            <<Auto-generated>>
+        }
+        class Imu {
+            - lis2mdl: device*
+            - lsm6dso: device*
+            + Imu(char* compName)
+            + ~Imu()
+            - run_handler(FwIndexType portNum, U32 context)
+            - sensor_value_to_f64(sensor_value* val): F64
+            - get_acceleration(): Imu_Acceleration
+            - get_angular_velocity(): Imu_AngularVelocity
+            - get_magnetic_field(): Imu_MagneticField
+            - get_temperature(): F64
+        }
+    }
+    ImuComponentBase <|-- Imu : inherits
+```
+
+
+## Port Descriptions
+| Name | Type | Description |
+|---|---|---|
+| run | sync input | Scheduler port that triggers sensor data collection and telemetry output |
+| timeCaller | time get | Port for requesting current system time |
+| tlmOut | telemetry | Port for sending telemetry data to downlink |
+
+## Component States
+| Name | Description |
+|---|---|
+| Initialized | Component has been constructed and both IMU sensors are ready |
+| Running | Component is actively collecting sensor data when scheduled |
+| Error | One or both sensors failed initialization (assertion failure) |
+
+## Sequence Diagrams
+Add sequence diagrams here
+
+## Telemetry
+| Name | Description |
+|---|---|
+| Acceleration | Telemetry channel for acceleration in m/s^2 |
+| AngularVelocity | Telemetry channel for angular velocity in rad/s |
+| MagneticField | Telemetry channel for magnetic field in gauss |
+| Temperature | Telemetry channel for temperature in degrees Celsius |
+
+## Unit Tests
+Add unit test descriptions in the chart below
+| Name | Description | Output | Coverage |
+|---|---|---|---|
+|---|---|---|---|
+
+## Requirements
+Add requirements in the chart below
+| Name | Description | Validation |
+|---|---|---|
+| AccelerationTelemetry | The component shall provide acceleration telemetry in m/s^2 | Verify telemetry output matches expected values from sensor datasheet |
+| AngularVelocityTelemetry | The component shall provide angular velocity telemetry in rad/s | Verify telemetry output matches expected values from sensor datasheet |
+| MagneticFieldTelemetry | The component shall provide magnetic field telemetry in gauss | Verify telemetry output matches expected values from sensor datasheet |
+| TemperatureTelemetry | The component shall provide temperature telemetry in degrees Celsius | Verify telemetry output matches expected values from sensor datasheet |
+
+## Change Log
+| Date | Description |
+|---|---|
+| 2025-9-9 | Initial IMU component |

FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi

@@ -34,6 +34,12 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.watchdog.WatchdogTransitions
   }
 
+  packet Imu id 6 group 4 {
+    ReferenceDeployment.imu.Acceleration
+    ReferenceDeployment.imu.AngularVelocity
+    ReferenceDeployment.imu.MagneticField
+  }
+
 
 } omit {
   CdhCore.cmdDisp.CommandErrors
@@ -57,4 +63,6 @@ telemetry packets ReferenceDeploymentPackets {
   CdhCore.version.CustomVersion08
   CdhCore.version.CustomVersion09
   CdhCore.version.CustomVersion10
+  # Reserving temp telemetry for future use
+  ReferenceDeployment.imu.Temperature
 }

FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp

@@ -13,7 +13,7 @@
 
 #include <zephyr/drivers/gpio.h>
 
-static const struct gpio_dt_spec ledGpio = GPIO_DT_SPEC_GET(DT_ALIAS(led0), gpios);
+static const struct gpio_dt_spec ledGpio = GPIO_DT_SPEC_GET(DT_NODELABEL(led0), gpios);
 
 // Allows easy reference to objects in FPP/autocoder required namespaces
 using namespace ReferenceDeployment;