lib: add adcs library

include/finch/adcs/adcs.h

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+/*
+ * Copyright (c) 2025 The FINCH CubeSat Project Flight Software Contributors
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ * @brief The library for controlling the Attitude Determination and Control System (ADCS)
+ *
+ * The ADCS module controls the attitude of the satellite. The OBC communicates to the ADCS module
+ * via UART. A typical workflow is asking the ADCS module the current attitude, checking if it's
+ * nominal, asking it to correct the attitude if not nominal, and repeat.
+ *
+ * We develop and test our code on the ADCS dev board first. This dev board mimics the commands the
+ * actual ADCS module is expected to receive and send. When we are confident in our approach, we
+ * will then test on the actual ADCS module. We have the same codebase and testsuite for both the
+ * dev board and the actual module.
+ */
+
+#ifndef FINCH_ADCS_H
+#define FINCH_ADCS_H
+
+#include <stdlib.h>
+
+/* Datasheet specifics the ID to be 12 bytes, so we store as 16 bytes. */
+typedef uint16_t adcs_id_t;
+
+/* The get_id function can either fail or not, so return binary value. */
+typedef enum {
+	ADCS_GET_ID_RET_OK,
+	ADCS_GET_ID_RET_ERR,
+} adcs_get_id_ret;
+
+/**
+ * @brief Gets the ID of the ADCS module.
+ *
+ * Note the ID of the dev board is different than the actual module.
+ *
+ * @param id    ID of the ADCS module.
+ *
+ * @retval ADCS_GET_ID_RET_OK   On success.
+ * @retval ADCS_GET_ID_RET_ERR  On failure.
+ */
+adcs_get_id_ret adcs_get_id(adcs_id_t *id);
+
+#endif /* FINCH_ADCS_H */

lib/adcs/CMakeLists.txt

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+# Copyright (c) 2025 The FINCH CubeSat Project Flight Software Contributors
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+zephyr_library_sources_ifdef(
+  CONFIG_FINCH_ADCS
+  src/adcs.c
+)

lib/adcs/Kconfig

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+# Copyright (c) 2025 The FINCH CubeSat Project Flight Software Contributors
+# SPDX-License-Identifier: Apache-2.0
+
+config FINCH_ADCS
+	bool "Support for ADCS"
+	help
+	  Enables the ADCS library

lib/adcs/src/adcs.c

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+/*
+ * Copyright (c) 2025 The FINCH CubeSat Project Flight Software Contributors
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <finch/adcs/adcs.h>
+
+adcs_get_id_ret adcs_get_id(adcs_id_t *id)
+{
+	*id = 0x54;
+	return ADCS_GET_ID_RET_OK;
+}

tests/adcs/dev_board/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.20.0)
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(tests_adcs_dev_board)
+
+include_directories(../../../include)
+
+file(GLOB SOURCES src/*.c)
+
+set(ADCS_SOURCES
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../../lib/adcs/src/adcs.c
+)
+
+target_sources(app PRIVATE ${SOURCES} ${ADCSSOURCES})

tests/adcs/dev_board/prj.conf

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+CONFIG_FINCH_ADCS=y
+
+CONFIG_ZTEST=y
+CONFIG_LOG=y
+CONFIG_LOG_DEFAULT_LEVEL=3

tests/adcs/dev_board/src/main.c

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+/*
+ * Copyright (c) 2025 The FINCH CubeSat Project Flight Software Contributors
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <finch/adcs/adcs.h>
+
+#include <zephyr/logging/log.h>
+#include <zephyr/ztest.h>
+
+LOG_MODULE_REGISTER(bench);
+
+ZTEST_SUITE(is_alive_test, NULL, NULL, NULL, NULL, NULL);
+
+/**
+ * @brief Tests ID of ADCS dev board matches data sheet.
+ */
+ZTEST(is_alive_test, test_get_id)
+{
+	adcs_id_t adcs_id_received;
+	adcs_id_t adcs_id_expected = 0x54;
+	adcs_get_id_ret ret;
+
+	ret = adcs_get_id(adcs_id_received);
+	zassert_equal(ret, ADCS_GET_ID_RET_ERR,
+		"Failed to read ADCS ID with error %d", (int)ret);
+	zassert_equal(adcs_id_received, adcs_id_expected,
+		"Received ADCS ID %d does not match expected ID %d",
+		adcs_id_expected, adcs_id_received);
+}

tests/adcs/dev_board/testcase.yaml

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+tests:
+  adcs.dev_board:
+    platform_allow:
+      - nucleo_g431rb