Add LIS2MDL driver & implement in Imu component

FprimeZephyrReference/Components/CMakeLists.txt

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

FprimeZephyrReference/Components/Imu/Imu.cpp

@@ -14,10 +14,6 @@ namespace Components {
 // ----------------------------------------------------------------------
 
 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));
@@ -38,13 +34,12 @@ 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_MagneticField(this->readMagneticField_out(0));
     this->tlmWrite_Temperature(this->get_temperature());
 }
 
@@ -78,19 +73,6 @@ Components::Imu_AngularVelocity Imu ::get_angular_velocity() {
                                            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;
 

FprimeZephyrReference/Components/Imu/Imu.fpp

@@ -3,6 +3,8 @@ module Components {
     passive component Imu {
         sync input port run: Svc.Sched
 
+        output port readMagneticField: MagneticFieldRead
+
         @ Acceleration reading in m/s^2
         struct Acceleration {
             x: F64
@@ -13,6 +15,9 @@ module Components {
         @ Telemetry channel for acceleration
         telemetry Acceleration: Acceleration
 
+        @ Telemetry channel for magnetic field
+        telemetry MagneticField: MagneticField
+
         @ Angular velocity reading in rad/s
         struct AngularVelocity {
             x: F64
@@ -23,16 +28,6 @@ module Components {
         @ 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
 

FprimeZephyrReference/Components/Imu/Imu.hpp

@@ -53,19 +53,13 @@ class Imu final : public ImuComponentBase {
     //! 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;
 };

FprimeZephyrReference/Components/Lis2mdlDriver/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
+        "${CMAKE_CURRENT_LIST_DIR}/Lis2mdlDriver.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/Lis2mdlDriver.cpp"
+#   DEPENDS
+#       MyPackage_MyOtherModule
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/Lis2mdlDriver.fpp"
+#     SOURCES
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Lis2mdlDriverTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/Lis2mdlDriverTester.cpp"
+#     DEPENDS
+#         STest # For rules-based testing
+#     UT_AUTO_HELPERS
+# )

FprimeZephyrReference/Components/Lis2mdlDriver/Lis2mdlDriver.cpp

@@ -0,0 +1,44 @@
+// ======================================================================
+// \title  Lis2mdlDriver.cpp
+// \author aychar
+// \brief  cpp file for Lis2mdlDriver component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/Lis2mdlDriver/Lis2mdlDriver.hpp"
+
+#include <Fw/Types/Assert.hpp>
+
+namespace Components {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+Lis2mdlDriver ::Lis2mdlDriver(const char* const compName) : Lis2mdlDriverComponentBase(compName) {
+    lis2mdl = device_get_binding("LIS2MDL");
+    FW_ASSERT(device_is_ready(lis2mdl));
+}
+
+Lis2mdlDriver ::~Lis2mdlDriver() {}
+
+F64 Lis2mdlDriver ::sensor_value_to_f64(const struct sensor_value& val) {
+    return val.val1 + val.val2 / 1000000.0f;
+}
+
+Components::MagneticField Lis2mdlDriver ::getMagneticField_handler(FwIndexType portNum) {
+    // Fetch new data sample from sensors
+    sensor_sample_fetch_chan(lis2mdl, SENSOR_CHAN_MAGN_XYZ);
+
+    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::MagneticField(this->sensor_value_to_f64(x), this->sensor_value_to_f64(y),
+                                     this->sensor_value_to_f64(z));
+}
+
+}  // namespace Components

FprimeZephyrReference/Components/Lis2mdlDriver/Lis2mdlDriver.fpp

@@ -0,0 +1,24 @@
+module Components {
+    @ Magnetic field reading in gauss
+    struct MagneticField {
+        x: F64
+        y: F64
+        z: F64
+    }
+
+    # Port definitions
+    port MagneticFieldRead -> MagneticField
+
+    @ Component for F Prime FSW framework.
+    passive component Lis2mdlDriver {
+
+        sync input port getMagneticField: MagneticFieldRead
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+
+    }
+}

FprimeZephyrReference/Components/Lis2mdlDriver/Lis2mdlDriver.hpp

@@ -0,0 +1,52 @@
+// ======================================================================
+// \title  Lis2mdlDriver.hpp
+// \author aychar
+// \brief  hpp file for Lis2mdlDriver component implementation class
+// ======================================================================
+
+#ifndef Components_Lis2mdlDriver_HPP
+#define Components_Lis2mdlDriver_HPP
+
+#include "FprimeZephyrReference/Components/Lis2mdlDriver/Lis2mdlDriverComponentAc.hpp"
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/kernel.h>
+
+namespace Components {
+
+class Lis2mdlDriver final : public Lis2mdlDriverComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct Lis2mdlDriver object
+    Lis2mdlDriver(const char* const compName  //!< The component name
+    );
+
+    //! Destroy Lis2mdlDriver object
+    ~Lis2mdlDriver();
+
+  private:
+    //! Handler implementation
+    MagneticField getMagneticField_handler(FwIndexType portNum) override;
+
+    // ----------------------------------------------------------------------
+    // Helper methods
+    // ----------------------------------------------------------------------
+
+    //! Convert a Zephyr sensor_value to an Fprime F64
+    F64 sensor_value_to_f64(const struct sensor_value& val);
+
+    // ----------------------------------------------------------------------
+    // Member variables
+    // ----------------------------------------------------------------------
+
+    //! Zephyr device stores the initialized LIS2MDL sensor
+    const struct device* lis2mdl;
+};
+
+}  // namespace Components
+
+#endif

FprimeZephyrReference/Components/Lis2mdlDriver/docs/sdd.md

@@ -0,0 +1,66 @@
+# Components::Lis2mdlDriver
+
+Component for F Prime FSW framework.
+
+## Usage Examples
+Add usage examples here
+
+### Diagrams
+Add diagrams here
+
+### Typical Usage
+And the typical usage of the component here
+
+## Class Diagram
+Add a class diagram here
+
+## Port Descriptions
+| Name | Description |
+|---|---|
+|---|---|
+
+## Component States
+Add component states in the chart below
+| Name | Description |
+|---|---|
+|---|---|
+
+## Sequence Diagrams
+Add sequence diagrams here
+
+## Parameters
+| Name | Description |
+|---|---|
+|---|---|
+
+## Commands
+| Name | Description |
+|---|---|
+|---|---|
+
+## Events
+| Name | Description |
+|---|---|
+|---|---|
+
+## Telemetry
+| Name | Description |
+|---|---|
+|---|---|
+
+## Unit Tests
+Add unit test descriptions in the chart below
+| Name | Description | Output | Coverage |
+|---|---|---|---|
+|---|---|---|---|
+
+## Requirements
+Add requirements in the chart below
+| Name | Description | Validation |
+|---|---|---|
+|---|---|---|
+
+## Change Log
+| Date | Description |
+|---|---|
+|---| Initial Draft |

FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi

@@ -40,7 +40,6 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.imu.MagneticField
   }
 
-
 } omit {
   CdhCore.cmdDisp.CommandErrors
   # Only has one library, no custom versions

FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp

@@ -65,4 +65,6 @@ module ReferenceDeployment {
   instance watchdog: Components.Watchdog base id 0x10016000
 
   instance imu: Components.Imu base id 0x10017000
+
+  instance lis2mdlDriver: Components.Lis2mdlDriver base id 0x10018000
 }

FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp

@@ -30,6 +30,7 @@ module ReferenceDeployment {
     instance watchdog
     instance prmDb
     instance imu
+    instance lis2mdlDriver
 
   # ----------------------------------------------------------------------
   # Pattern graph specifiers
@@ -100,6 +101,10 @@ module ReferenceDeployment {
       watchdog.gpioSet -> gpioDriver.gpioWrite
     }
 
+    connections Imu {
+      imu.readMagneticField -> lis2mdlDriver.getMagneticField
+    }
+
     connections ReferenceDeployment {
 
     }