Merge remote-tracking branch 'origin/main' into 81-bmsfaultpriority

Northeastern-Electric-Racing · Dec 8, 2024 · 49ff933 · 49ff933
2 parents a08bdeb + f6ffa63
commit 49ff933
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Showing 4 changed files with 159 additions and 100 deletions.
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/general/include/pca9539.h b/general/include/pca9539.h
@@ -5,8 +5,7 @@
 #include <stdint.h>
 
 /*
-PCA 9539 16 bit GPIO expander.  Datasheet:
-https://www.ti.com/lit/ds/symlink/pca9539.pdf?ts=1716785085909
+PCA 9539 16 bit GPIO expander.  Datasheet: https://www.ti.com/lit/ds/symlink/pca9539.pdf?ts=1716785085909
 */
 
 /// Possible I2C addresses, see comment below
@@ -36,31 +35,83 @@ PCA 9539 16 bit GPIO expander.  Datasheet:
 #define PCA_DIRECTION_0_REG 0x06
 #define PCA_DIRECTION_1_REG 0x07
 
+/**
+ * @brief Pointer to write function
+ * 
+ */
+typedef int (*WritePtr)(uint16_t dev_addr, uint16_t mem_address,
+			uint16_t mem_add_size, uint8_t *data, uint16_t size,
+			int delay);
+
+/**
+ * @brief Pointer to read function
+ * 
+ */
+typedef int (*ReadPtr)(uint16_t dev_addr, uint16_t mem_address,
+		       uint16_t mem_add_size, uint8_t *data, uint16_t size,
+		       int delay);
+
 typedef struct {
-	I2C_HandleTypeDef *i2c_handle;
+	WritePtr write;
+	ReadPtr read;
+
 	uint16_t dev_addr;
 } pca9539_t;
 
-/// Init PCA9539, a 16 bit I2C GPIO expander
-void pca9539_init(pca9539_t *pca, I2C_HandleTypeDef *i2c_handle,
+/**
+ * @brief Initialize the PCA9539 Driver
+ * 
+ * @param pca pointer to a new driver struct
+ * @param writeFunc function pointer to HAL specific write func
+ * @param readFunc function pointer to HAL specific read func
+ * @param dev_addr i2c device address
+ */
+void pca9539_init(pca9539_t *pca, WritePtr writeFunc, ReadPtr readFunc,
 		  uint8_t dev_addr);
 
-/// @brief Read all pins on a bus, for example using reg_type input to get
-/// incoming logic level
-HAL_StatusTypeDef pca9539_read_reg(pca9539_t *pca, uint8_t reg_type,
-				   uint8_t *buf);
-/// @brief Read a specific pin on a bus, do not iterate over this, use read_pins
-/// instead
-HAL_StatusTypeDef pca9539_read_pin(pca9539_t *pca, uint8_t reg_type,
-				   uint8_t pin, uint8_t *buf);
-
-/// @brief Write all pins on a bus, for example using reg_type OUTPUT to set
-/// logic level or DIRECTION to set as output
-HAL_StatusTypeDef pca9539_write_reg(pca9539_t *pca, uint8_t reg_type,
-				    uint8_t buf);
-/// @brief Write a specific pin on a bus, do not iterate over this, use
-/// write_pins instead
-HAL_StatusTypeDef pca9539_write_pin(pca9539_t *pca, uint8_t reg_type,
-				    uint8_t pin, uint8_t buf);
+/**
+ * @brief Read the register of the PCA9539
+ * 
+ * @param pca pointer to driver struct with read & write funcs
+ * @param reg_type type of register being read
+ * @param buf pointer to buffer storing reg data
+ * @return int Error code return
+ */
+int pca9539_read_reg(pca9539_t *pca, uint8_t reg_type, uint8_t *buf);
+
+/**
+ * @brief Read the pin state of the PCA9539
+ * 
+ * @param pca pointer to driver struct with read & write funcs
+ * @param reg_type type of register being read
+ * @param pin pin num to read
+ * @param buf pointer storing buffer state
+ * @return int Error code return
+ */
+int pca9539_read_pin(pca9539_t *pca, uint8_t reg_type, uint8_t pin,
+		     uint8_t *buf);
+
+/**
+
+ * @brief Write the register of the PCA9539
+ * 
+ * @param pca pointer to driver struct with read & write funcs
+ * @param reg_type type of register being written to 
+ * @param buf pointer with value to write to reg
+ * @return int Error code return
+ */
+int pca9539_write_reg(pca9539_t *pca, uint8_t reg_type, uint8_t buf);
+
+/**
+ * @brief Write the pin of the PCA9539
+ * 
+ * @param pca pointer to driver struct with read & write funcs
+ * @param reg_type type of register being written to
+ * @param pin pin to modify
+ * @param buf pointer with value to write to reg
+ * @return int Error code return
+ */
+int pca9539_write_pin(pca9539_t *pca, uint8_t reg_type, uint8_t pin,
+		      uint8_t buf);
 
 #endif