Merge branch 'main' into feature/can-spec-ieee754-f32

Northeastern-Electric-Racing · Dec 10, 2024 · 1d3d944 · 1d3d944
2 parents 5d4b634 + 4773522
commit 1d3d944
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diff --git a/cangen/can-messages/mpu.json b/cangen/can-messages/mpu.json
@@ -131,21 +131,6 @@
           }
         ]
       }
-      ,
-      {
-        "name": "MPU/State/TorqueLimit",
-        "unit": "percentage",
-        "sim_min": 0,
-        "sim_max": 1,
-        "sim_inc_min": 0.1,
-        "sim_inc_max": 0.1,
-        "points": [
-          {
-            "size": 8,
-            "format": "divide100"
-          }
-        ]
-      }
     ]
   },
   {
@@ -373,6 +358,22 @@
             "format": "divide10000"
           }
         ]
+      },
+      {
+        "name": "MPU/Sense/SOC",
+        "unit": "%",
+        "sim": {
+          "min": 5,
+          "max": 99,
+          "inc_min": 0.1,
+          "inc_max": 0.5
+        },
+        "points": [
+          {
+            "size": 8,
+            "endianness": "little"
+          }
+        ]
       }
     ]
   },
@@ -933,4 +934,4 @@
       }
     ]
   }
-]
+]
diff --git a/cangen/can-messages/msb.json b/cangen/can-messages/msb.json
@@ -43,12 +43,12 @@
     "fields": [
       {
         "name": "MSB/FL/Accel",
-        "unit": "g",
+        "unit": "mg",
         "sim": {
-          "min": 0,
-          "max": 2,
-          "inc_min": 0.01,
-          "inc_max": 0.25
+          "min": -2000,
+          "max": 2000,
+          "inc_min": 0.1,
+          "inc_max": 2.5
         },
         "points": [
           {
@@ -74,13 +74,13 @@
     "fields": [
       {
         "name": "MSB/FL/Gyro",
+        "unit": "mdps",
         "sim": {
-          "min": 0,
-          "max": 15,
-          "inc_min": 0.1,
-          "inc_max": 0.5
+          "min": -500000,
+          "max": 500000,
+          "inc_min": 10,
+          "inc_max": 1000
         },
-        "unit": "",
         "points": [
           {
             "size": 16,
@@ -234,12 +234,12 @@
     "fields": [
       {
         "name": "MSB/FR/Accel",
-        "unit": "g",
+        "unit": "mg",
         "sim": {
-          "min": 0,
-          "max": 2,
-          "inc_min": 0.01,
-          "inc_max": 0.25
+          "min": -2000,
+          "max": 2000,
+          "inc_min": 0.1,
+          "inc_max": 2.5
         },
         "points": [
           {
@@ -265,12 +265,12 @@
     "fields": [
       {
         "name": "MSB/FR/Gyro",
-        "unit": "",
+        "unit": "mdps",
         "sim": {
-          "min": 0,
-          "max": 15,
-          "inc_min": 0.1,
-          "inc_max": 0.5
+          "min": -500000,
+          "max": 500000,
+          "inc_min": 10,
+          "inc_max": 1000
         },
         "points": [
           {
@@ -425,12 +425,12 @@
     "fields": [
       {
         "name": "MSB/BL/Accel",
-        "unit": "g",
+        "unit": "mg",
         "sim": {
-          "min": 0,
-          "max": 2,
-          "inc_min": 0.01,
-          "inc_max": 0.25
+          "min": -2000,
+          "max": 2000,
+          "inc_min": 0.1,
+          "inc_max": 2.5
         },
         "points": [
           {
@@ -456,12 +456,12 @@
     "fields": [
       {
         "name": "MSB/BL/Gyro",
-        "unit": "",
+        "unit": "mdps",
         "sim": {
-          "min": 0,
-          "max": 15,
-          "inc_min": 0.1,
-          "inc_max": 0.5
+          "min": -500000,
+          "max": 500000,
+          "inc_min": 10,
+          "inc_max": 1000
         },
         "points": [
           {
@@ -616,12 +616,12 @@
     "fields": [
       {
         "name": "MSB/BR/Accel",
-        "unit": "g",
+        "unit": "mg",
         "sim": {
-          "min": 0,
-          "max": 2,
-          "inc_min": 0.01,
-          "inc_max": 0.25
+          "min": -2000,
+          "max": 2000,
+          "inc_min": 0.1,
+          "inc_max": 2.5
         },
         "points": [
           {
@@ -647,12 +647,12 @@
     "fields": [
       {
         "name": "MSB/BR/Gyro",
-        "unit": "",
+        "unit": "mdps",
         "sim": {
-          "min": 0,
-          "max": 15,
-          "inc_min": 0.1,
-          "inc_max": 0.5
+          "min": -500000,
+          "max": 500000,
+          "inc_min": 10,
+          "inc_max": 1000
         },
         "points": [
           {

diff --git a/dev/Dockerfile b/dev/Dockerfile
@@ -16,8 +16,6 @@ RUN apt-get update && apt-get install -y \
     minicom \
     vim \
     clang-format \
-    tmux \
-    libncurses5 \
     linux-tools-generic \
     gcc-arm-linux-gnueabihf \
     g++-arm-linux-gnueabihf \
@@ -27,13 +25,6 @@ RUN apt-get update && apt-get install -y \
     python3 \
     python3-pip
 
-# Install and setup rust
-RUN curl https://sh.rustup.rs -sSf | bash -s -- -y
-ENV PATH="/root/.cargo/bin:${PATH}"
-RUN rustup target add armv7-unknown-linux-gnueabihf
-
-# Install Python YAML Parser
-RUN pip install "ruamel.yaml<0.18.0"
 
 RUN wget https://builds.renode.io/renode-1.14.0+20231003gitf86ac3cf.linux-portable.tar.gz
 RUN mkdir renode_portable && tar -xvf renode-*.linux-portable.tar.gz -C renode_portable --strip-components=1
@@ -56,3 +47,7 @@ RUN wget -qO- https://developer.arm.com/-/media/Files/downloads/gnu-rm/10.3-2021
 ENV PATH $PATH:/home/dev/gcc-arm-none-eabi-10.3-2021.10/bin
 
 WORKDIR /home/app
+
+# Set up safe directory
+RUN git config --global --add safe.directory /home/app
+
diff --git a/dev/scripts/gdb.sh b/dev/scripts/gdb.sh
@@ -3,6 +3,6 @@ elf_file=$(ls /home/app/build/*.elf)
 
 printf "$elf_file"
 
-openocd -f interface/cmsis-dap.cfg -f target/"$STM_TARGET_NAME"x.cfg -c "adapter speed 5000" -c "init" -c "reset halt" & sleep 1 && arm-none-eabi-gdb $elf_file -ex "target remote localhost:3333"
+openocd -f interface/cmsis-dap.cfg -f target/"$STM_TARGET_NAME"x.cfg -c "adapter speed 5000" -c "init" -c "reset halt" & sleep 1 && gdb $elf_file -ex "target remote localhost:3333"
 
 kill $(pidof openocd)
diff --git a/ner_environment/build_system/build_system.py b/ner_environment/build_system/build_system.py
@@ -59,7 +59,7 @@ def build(profile: str = typer.Option(None, "--profile", "-p", callback=unsuppor
 
 @app.command(help="Configure autoformatter settings")
 def clang(disable: bool = typer.Option(False, "--disable","-d", help="Disable clang-format"),
-          enable: bool = typer.Option(False, "--enable", "-e", help="Enable clang-format"),
+          enablrune: bool = typer.Option(False, "--enable", "-e", help="Enable clang-format"),
           run: bool = typer.Option(False, "--run", "-r", help="Run clang-format")):
 
     if disable:
@@ -113,7 +113,7 @@ def debug(ftdi: bool = typer.Option(False, "--ftdi", help="Set this flag if the
     if platform.system() == "Linux" and is_wsl() == 0:
         gdb_uri = "localhost"
 
-    send_command = ["docker", "compose", "run", "--rm", "ner-gcc-arm", "arm-none-eabi-gdb", f"/home/app/build/{elf_file}", "-ex", f"target extended-remote {gdb_uri}:3333"]
+    send_command = ["docker", "compose", "run", "--rm", "ner-gcc-arm", "gdb", f"/home/app/build/{elf_file}", "-ex", f"target extended-remote {gdb_uri}:3333"]
 
     subprocess.run(send_command)
 
@@ -168,7 +168,8 @@ def flash(ftdi: bool = typer.Option(False, "--ftdi", help="Set this flag if the
 # ==============================================================================
 
 @app.command(help="Open UART terminal of conneced device")
-def serial(ls: bool = typer.Option(False, "--list", help="Specify the device to connect or disconnect (e.g., /dev/ttyACM0,/dev/ttyUSB0,/dev/ttyUSB1,COM1)"),
+def serial(ls: bool = typer.Option(False, "--list", help='''Specify the device to connect or disconnect (e.g., /dev/ttyACM0,/dev/ttyUSB0,/dev/ttyUSB1,COM1)
+                                                            Mandatory on MacOS, may be optional on otherwise. On Mac, find this by running `ls /dev/tty.usb*' '''),
            device: str = typer.Option("", "--device", "-d", help="Specify the board to connect to")):
 
     if ls:

diff --git a/ner_environment/build_system/miniterm.py b/ner_environment/build_system/miniterm.py
@@ -19,8 +19,7 @@ def list_usb_devices():
             print(f"Failed to list USB devices on Windows: {e}", file=sys.stderr)
             sys.exit(1)
 
-    elif os_name == 'Linux' or os_name == 'Darwin':  # Darwin is macOS
-        # List USB devices on Unix-like systems
+    elif os_name == 'Linux':
         try:
             result = subprocess.run(['ls /dev/tty*'], shell=True, capture_output=True, text=True)