Light Sensor

FprimeZephyrReference/Components/CMakeLists.txt

@@ -11,3 +11,5 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ImuManager/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/NullPrmDb/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/PowerMonitor/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Watchdog")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LightSensor/")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LoadSwitch/")

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

FprimeZephyrReference/Components/LightSensor/LightSensor.cpp

@@ -0,0 +1,164 @@
+// ======================================================================
+// \title  LightSensor.cpp
+// \author robertpendergrast
+// \brief  cpp file for LightSensor component implementation class
+// ======================================================================
+
+
+
+#include "FprimeZephyrReference/Components/LightSensor/LightSensor.hpp"
+#include <zephyr/kernel.h>
+#include <zephyr/device.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/i2c.h>
+
+namespace Components {
+
+// ----------------------------------------------------------------------
+// Component construction and destruction
+// ----------------------------------------------------------------------
+
+LightSensor ::LightSensor(const char* const compName) : LightSensorComponentBase(compName) {}
+
+LightSensor ::~LightSensor() {}
+
+void LightSensor ::configure(const struct device* dev) {
+	return;
+}
+
+void LightSensor ::ReadData() { // const struct device *dev, 
+    // Return integer
+    int ret;
+
+    // Sensor value structs for reading data
+	struct sensor_value light;
+	struct sensor_value als_raw;
+	struct sensor_value ir_raw;
+	struct sensor_value sen;
+
+	sen.val2 = 0;
+
+    Fw::ParamValid valid;
+	sen.val1 = 5; // pass in saying that the parameter is valid
+
+    // Setting the integration time attribute for the light sensor
+
+	if (! (this->m_attributes_set)){
+		ret = sensor_attr_set(this->m_dev, SENSOR_CHAN_LIGHT, (enum sensor_attribute)SENSOR_ATTR_VEML6031_IT, &sen);
+		if (ret) {
+			Fw::LogStringArg errMsg("Failed to set it attribute");
+			this->log_WARNING_HI_LightSensorError(errMsg);
+		}
+
+		// Set the sensor attribute for div4
+		sen.val1 = paramGet_DIV4(valid);
+
+		ret = sensor_attr_set(this->m_dev, SENSOR_CHAN_LIGHT, (enum sensor_attribute)SENSOR_ATTR_VEML6031_DIV4, &sen);
+		if (ret) {
+			Fw::LogStringArg errMsg("Failed to set div4 attribute");
+			this->log_WARNING_HI_LightSensorError(errMsg);
+		}
+
+		// Set the sensor attribute for the gain
+		sen.val1 = 0;
+		ret = sensor_attr_set(this->m_dev, SENSOR_CHAN_LIGHT, (enum sensor_attribute)SENSOR_ATTR_VEML6031_GAIN, &sen);
+		if (ret) {
+			Fw::LogStringArg errMsg("Failed to set gain attribute ret");
+			this->log_WARNING_HI_LightSensorError(errMsg);
+		}
+
+		this->m_attributes_set = true;
+	}
+
+    // Get the rate
+	ret = sensor_sample_fetch(this->m_dev);
+	if ((ret < 0) && (ret != -E2BIG)) {
+		Fw::LogStringArg errMsg("sample update error");
+		this->log_WARNING_HI_LightSensorError(errMsg);
+		this->log_WARNING_HI_LightSensorErrorInt(ret);
+	}
+
+    // Get the light data
+	sensor_channel_get(this->m_dev, (enum sensor_channel)SENSOR_CHAN_LIGHT, &light);
+
+    // Get the raw ALS
+	sensor_channel_get(this->m_dev, (enum sensor_channel)SENSOR_CHAN_VEML6031_ALS_RAW_COUNTS, &als_raw);
+
+    // Get the raw IR
+	sensor_channel_get(this->m_dev, (enum sensor_channel)SENSOR_CHAN_VEML6031_IR_RAW_COUNTS, &ir_raw);
+
+    this->m_RawLightData = sensor_value_to_double(&light);
+    this->m_ALSLightData = sensor_value_to_double(&als_raw);
+    this->m_IRLightData = sensor_value_to_double(&ir_raw);
+}
+
+// ----------------------------------------------------------------------
+// Handler implementations for typed input ports
+// ----------------------------------------------------------------------
+
+void LightSensor ::run_handler(FwIndexType portNum, U32 context) {
+	Fw::Logic state;
+	this->gpioRead_out(portNum, state);
+	if (state == Fw::Logic::HIGH){ // port call to the gpio driver, pass in a specific pin # 
+    	this->ReadData();
+		this->tlmWrite_RawLightData(this->m_RawLightData);
+		this->tlmWrite_IRLightData(this->m_IRLightData);
+		this->tlmWrite_ALSLightData(this->m_ALSLightData);
+	} else {
+		if (this->m_device_init == true) {
+			this->m_device_init = false;
+		}
+		if(state == Fw::Logic::LOW && this->m_attributes_set == true){
+			this->m_attributes_set = false;
+		}
+	}
+
+}
+
+void LightSensor::init_handler(FwIndexType portNum) {
+
+    const struct device *mux    = DEVICE_DT_GET(DT_NODELABEL(tca9548a));
+    const struct device *channel = DEVICE_DT_GET(DT_NODELABEL(face0_i2c));
+    const struct device *sensor = DEVICE_DT_GET(DT_NODELABEL(face0_light_sens));
+
+    if (!mux || !channel || !sensor) {
+        this->log_WARNING_HI_LightSensorError(Fw::LogStringArg("Device DT_NODELABEL missing"));
+        return;
+    }
+
+    int ret = device_init(mux);
+    if (ret < 0) {
+        this->log_WARNING_HI_LightSensorError(Fw::LogStringArg("TCA9548A init failed"));
+        return;
+    }
+    k_sleep(K_MSEC(30));
+
+    ret = device_init(channel);
+    if (ret < 0) {
+        this->log_WARNING_HI_LightSensorError(Fw::LogStringArg("Mux channel init failed"));
+        return;
+    }
+    k_sleep(K_MSEC(30));
+
+    ret = device_init(sensor);
+    if (ret < 0) {
+        this->log_WARNING_HI_LightSensorError(Fw::LogStringArg("Light sensor init failed"));
+        // Continue anyway - might still work
+    }
+    k_sleep(K_MSEC(50));
+
+    if (!device_is_ready(sensor)) {
+        this->log_WARNING_HI_LightSensorError(Fw::LogStringArg("Light sensor not ready after timeout"));
+    }
+
+    this->m_dev = sensor;
+    this->m_device_init = true;
+
+    this->log_ACTIVITY_LO_LightSensorConfigured();
+}
+
+
+
+
+
+}  // namespace Components

FprimeZephyrReference/Components/LightSensor/LightSensor.fpp

@@ -0,0 +1,103 @@
+module Components {
+    @ Component for reading light sensor data
+    port InitPort
+
+    passive component LightSensor {
+
+        #### Parameters ####
+        @ Parameter for setting the gain of the light senors
+        param GAIN: U32 default 1
+
+        @ Parameter for setting the integration time of the light sensors
+        param INTEGRATION_TIME: U32 default 100
+
+        @ Paremeter for setting the div4 mode of the light sensors 
+        param DIV4: U32 default 0
+
+        #### Telemetry ####
+        @ Telemetry for the raw light sensor data
+        telemetry RawLightData: F32
+
+        @ Telemetry for the IR light sensor data
+        telemetry IRLightData: F32
+
+        @ Telemetry for the ALS light sensor data
+        telemetry ALSLightData: F32
+
+        #### Ports ####
+
+        @ Port for polling the light sensor data - called by rate group
+        sync input port run: Svc.Sched
+
+        @ Port for reading gpio status
+        output port gpioRead: Drv.GpioRead
+
+        @ Port to tell us when to init the device
+        sync input port init: InitPort
+
+        #### Events ####
+
+        @ Event for light sensor errors
+        event LightSensorError(log: string) severity warning high format "Light Sensor Error: {}"
+
+        event LightSensorErrorInt(log: U32) severity warning high format "Light Sensor Error: {}"
+
+        @ Event for light sensor configuration 
+        event LightSensorConfigured() severity activity low format "Light Sensor Configured"
+
+        event LightSensorRead() severity activity low format "Values Read from the Light Sensor"
+
+
+
+
+        ##############################################################################
+        #### Uncomment the following examples to start customizing your component ####
+        ##############################################################################
+
+        # @ Example async command
+        # async command COMMAND_NAME(param_name: U32)
+
+        # @ Example telemetry counter
+        # telemetry ExampleCounter: U64
+
+        # @ Example event
+        # event ExampleStateEvent(example_state: Fw.On) severity activity high id 0 format "State set to {}"
+
+        # @ Example port: receiving calls from the rate group
+        # sync input port run: Svc.Sched
+
+        # @ Example parameter
+        # param PARAMETER_NAME: U32
+
+        ###############################################################################
+        # Standard AC Ports: Required for Channels, Events, Commands, and Parameters  #
+        ###############################################################################
+        @ Port for requesting the current time
+        time get port timeCaller
+
+        @ Port for sending command registrations
+        command reg port cmdRegOut
+
+        @ Port for receiving commands
+        command recv port cmdIn
+
+        @ Port for sending command responses
+        command resp port cmdResponseOut
+
+        @ 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
+
+        @ Port to return the value of a parameter
+        param get port prmGetOut
+
+        @Port to set the value of a parameter
+        param set port prmSetOut
+
+    }
+}

FprimeZephyrReference/Components/LightSensor/LightSensor.hpp

@@ -0,0 +1,77 @@
+// ======================================================================
+// \title  LightSensor.hpp
+// \author robertpendergrast
+// \brief  hpp file for LightSensor component implementation class
+// ======================================================================
+
+#ifndef Components_LightSensor_HPP
+#define Components_LightSensor_HPP
+
+#include "FprimeZephyrReference/Components/LightSensor/LightSensorComponentAc.hpp"
+
+#include <zephyr/kernel.h>
+
+#include <zephyr/sys/printk.h>
+#include <zephyr/sys_clock.h>
+#include <stdio.h>
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/drivers/i2c.h>
+
+#include <zephyr/drivers/sensor/veml6031.h>
+
+namespace Components {
+
+class LightSensor final : public LightSensorComponentBase {
+  public:
+    // ----------------------------------------------------------------------
+    // Component construction and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct LightSensor object
+    LightSensor(const char* const compName  //!< The component name
+    );
+
+    //! Destroy LightSensor object
+    ~LightSensor();
+
+
+    void ReadData();
+
+    void configure(const struct device* dev);
+
+  private:
+    // ----------------------------------------------------------------------
+    // Handler implementations for typed input ports
+    // ----------------------------------------------------------------------
+
+    //! Handler implementation for run
+    //!
+    //! Port for polling the light sensor data - called by rate group
+    void run_handler(FwIndexType portNum,  //!< The port number
+                     U32 context           //!< The call order
+                     ) override;
+
+    void init_handler(FwIndexType portNum);
+
+    F32 m_RawLightData;
+
+    F32 m_IRLightData;
+
+    F32 m_ALSLightData;
+
+    bool m_configured = false; 
+
+    bool m_attributes_set = false;
+
+    bool m_device_init = false;
+
+    const struct device* m_dev;
+};
+
+
+
+}  // namespace Components
+
+#endif