Create lsm6dso driver component & implementation

CMakePresets.json

@@ -3,18 +3,18 @@
         {
             "binaryDir": "${sourceDir}/build-fprime-automatic-zephyr",
             "cacheVariables": {
-                "BOARD": "teensy41",
+                "BOARD": "proves_flight_control_board_v5c/rp2350a/m33",
                 "CMAKE_BUILD_TYPE": "Release",
                 "CMAKE_EXPORT_COMPILE_COMMANDS": "ON"
             },
             "description": "F\u00b4 release build using local fprime-venv",
-            "displayName": "F\u00b4 Zephyr (teensy41)",
+            "displayName": "F\u00b4 FPrime Zephyr PROVES",
             "environment": {
                 "PATH": "$env{VIRTUAL_ENV}/bin:$penv{PATH}",
                 "VIRTUAL_ENV": "${fileDir}/fprime-venv"
             },
             "generator": "Ninja",
-            "name": "fprime-zephyr-teensy41",
+            "name": "fprime-zephyr-proves",
             "toolchainFile": "${fileDir}/lib/fprime-zephyr/cmake/toolchain/zephyr.cmake"
         }
     ],

FprimeZephyrReference/Components/CMakeLists.txt

@@ -3,4 +3,5 @@
 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}/lms6dsoDriver/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Lis2mdlDriver/")

FprimeZephyrReference/Components/Imu/Imu.cpp

@@ -13,16 +13,7 @@ namespace Components {
 // Component construction and destruction
 // ----------------------------------------------------------------------
 
-Imu ::Imu(const char* const compName) : ImuComponentBase(compName) {
-    // 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(const char* const compName) : ImuComponentBase(compName) {}
 
 Imu ::~Imu() {}
 
@@ -31,53 +22,10 @@ Imu ::~Imu() {}
 // ----------------------------------------------------------------------
 
 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(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_Acceleration(this->readAcceleration_out(0));
+    this->tlmWrite_AngularVelocity(this->readAngularVelocity_out(0));
     this->tlmWrite_MagneticField(this->readMagneticField_out(0));
-    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));
+    this->tlmWrite_Temperature(this->readTemperature_out(0));
 }
 
-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

@@ -3,31 +3,20 @@ module Components {
     passive component Imu {
         sync input port run: Svc.Sched
 
+        output port readAcceleration: AccelerationRead
+        output port readAngularVelocity: AngularVelocityRead
         output port readMagneticField: MagneticFieldRead
+        output port readTemperature: TemperatureRead
 
-        @ Acceleration reading in m/s^2
-        struct Acceleration {
-            x: F64
-            y: F64
-            z: F64
-        }
+        @Telemetry channel for angular velocity
+        telemetry AngularVelocity: AngularVelocity
 
-        @ Telemetry channel for acceleration
+        @ 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
-            y: F64
-            z: F64
-        }
-
-        @ Telemetry channel for angular velocity
-        telemetry AngularVelocity: AngularVelocity
-
         @ Telemetry channel for temperature in degrees Celsius
         telemetry Temperature: F64
 

FprimeZephyrReference/Components/Imu/Imu.hpp

@@ -8,10 +8,6 @@
 
 #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 {
@@ -35,33 +31,6 @@ class Imu final : public ImuComponentBase {
     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 temperature reading from the IMU
-    F64 get_temperature();
-
-    // ----------------------------------------------------------------------
-    // Member variables
-    // ----------------------------------------------------------------------
-
-    //! Zephyr device stores the initialized LSM6DSO sensor
-    const struct device* lsm6dso;
 };
 
 }  // namespace Components

FprimeZephyrReference/Components/lms6dsoDriver/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
+        "${CMAKE_CURRENT_LIST_DIR}/lms6dsoDriver.fpp"
+    SOURCES
+        "${CMAKE_CURRENT_LIST_DIR}/lms6dsoDriver.cpp"
+#   DEPENDS
+#       MyPackage_MyOtherModule
+)
+
+### Unit Tests ###
+# register_fprime_ut(
+#     AUTOCODER_INPUTS
+#         "${CMAKE_CURRENT_LIST_DIR}/lms6dsoDriver.fpp"
+#     SOURCES
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/lms6dsoDriverTestMain.cpp"
+#         "${CMAKE_CURRENT_LIST_DIR}/test/ut/lms6dsoDriverTester.cpp"
+#     DEPENDS
+#         STest # For rules-based testing
+#     UT_AUTO_HELPERS
+# )

FprimeZephyrReference/Components/lms6dsoDriver/docs/sdd.md

@@ -0,0 +1,66 @@
+# Components::lms6dsoDriver
+
+Initialize and control operation of the lms6dso device
+
+## 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/Components/lms6dsoDriver/lms6dsoDriver.cpp

@@ -0,0 +1,71 @@
+// ======================================================================
+// \title  lms6dsoDriver.cpp
+// \author aaron
+// \brief  cpp file for lms6dsoDriver component implementation class
+// ======================================================================
+
+#include "FprimeZephyrReference/Components/lms6dsoDriver/lms6dsoDriver.hpp"
+
+namespace Components {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+lms6dsoDriver ::lms6dsoDriver(const char* const compName) : lms6dsoDriverComponentBase(compName) {
+    // 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
+    sensor_attr_set(lsm6dso, SENSOR_CHAN_ACCEL_XYZ, SENSOR_ATTR_SAMPLING_FREQUENCY, &odr);
+    sensor_attr_set(lsm6dso, SENSOR_CHAN_GYRO_XYZ, SENSOR_ATTR_SAMPLING_FREQUENCY, &odr);
+}
+
+lms6dsoDriver ::~lms6dsoDriver() {}
+
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
+
+Components::Acceleration lms6dsoDriver::getAcceleration_handler(FwIndexType portNum) {
+    struct sensor_value x;
+    struct sensor_value y;
+    struct sensor_value z;
+    sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_ACCEL_XYZ);
+
+    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::Acceleration(this->sensor_value_to_f64(x),this->sensor_value_to_f64(y), this->sensor_value_to_f64(z));
+}
+
+Components::AngularVelocity lms6dsoDriver::getAngularVelocity_handler(FwIndexType portNum) {
+    struct sensor_value x;
+    struct sensor_value y;
+    struct sensor_value z;
+    sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_GYRO_XYZ);
+
+    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::AngularVelocity(this->sensor_value_to_f64(x),this->sensor_value_to_f64(y), this->sensor_value_to_f64(z));
+}
+
+
+F64 lms6dsoDriver::getTemperature_handler(FwIndexType portNum) {
+    struct sensor_value temp;
+
+    sensor_sample_fetch_chan(lsm6dso, SENSOR_CHAN_DIE_TEMP);
+    sensor_channel_get(lsm6dso, SENSOR_CHAN_DIE_TEMP, &temp);
+
+    return this->sensor_value_to_f64(temp);
+}
+
+F64 lms6dsoDriver::sensor_value_to_f64(const struct sensor_value& val) {
+    return val.val1 + val.val2 / 1000000.0f;
+}
+
+}  // namespace Components