Bring up complete motor controller yamcan definition

Added support for signal ID offset

components/bms_boss/include/CANIO_componentSpecific.h

@@ -54,5 +54,8 @@ CAN_prechargeContactorState_E CANIO_tx_getContactorState(void);
 #define set_taskUsage10Hz(m,b,n,s) set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_10Hz_TASK));
 #define set_taskUsage1Hz(m,b,n,s) set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_1Hz_TASK));
 #define set_taskUsageIdle(m,b,n,s) set(m,b,n,s, Module_getTotalRuntimePercentage(MODULE_IDLE_TASK));
+#define transmit_BMSB_currentLimit (SYS_SFT_checkMCTimeout() == false)
+#define set_maxCharge(m,b,n,s) set(m,b,n,s, BMS.pack_charge_limit);
+#define set_maxDischarge(m,b,n,s) set(m,b,n,s, BMS.pack_discharge_limit);
 
 #include "TemporaryStubbing.h"

network/NetworkGen/NetworkGen.py

@@ -207,7 +207,23 @@ def process_node(node: CanNode):
                 break
             definition.update(templates["messages"][definition["template"]])
 
-        definition["id"] = definition["id"] + node.offset;
+        if "idOffset" in definition and "id" in definition:
+            print(f"Message '{name}' has a 'id' and 'idOffset' specified")
+            ERROR = True
+            break
+        elif "idOffset" not in definition and "id" not in definition:
+            print(f"Message '{name}' has no 'id' or 'idOffset' specified")
+            ERROR = True
+            break
+        elif "idOffset" in definition:
+            if node.baseId is None:
+                print(f"Message '{name}' has a 'idOffset' specified and {node.name} does not have a 'baseId' specified")
+                ERROR = True
+                break
+            else:
+                definition["id"] = definition["idOffset"] + node.baseId + node.offset
+        else:
+            definition["id"] = definition["id"] + node.offset
 
         for existing_node in can_nodes:
             for msg in can_nodes[existing_node].messages:

network/NetworkGen/classes/Can.py

@@ -398,7 +398,6 @@ def validate_msg(self):
                         signal.start_bit + signal.native_representation.bit_width
                     )
                 except Exception as e:
-                    breakpoint()
                     raise Exception(e)
 
         # validate validationRoles of signals
@@ -475,7 +474,7 @@ def __init__(self, name, node_def):
             self.duplicateNode = True
             self.alias = self.name + str(self.offset)
             self.total_duplicates = get_if_exists(node_def, "duplicateNode", int, 1)
-
+        self.baseId = get_if_exists(node_def, "baseId", int, None)
         self.def_files = node_def["def_files"]
         self.description: str = get_if_exists(node_def, "description", str, "")
         self.messages: Dict[str, CanMessage] = {}

network/NetworkGen/classes/Types.py

@@ -92,6 +92,11 @@ class Units(Enum):
     amps = "A"
     rpm = "RPM"
     pct = "%"
+    Nm = "Nm"
+    deg = "deg"
+    Hz = "Hz"
+    Wb = "Wb"
+
 
 
 class ValidationRole(Enum):

network/definition/data/components/bmsb/bmsb-message.yaml

@@ -45,3 +45,13 @@ messages:
     id: 0x550
     sourceBuses: veh
     template: rtosTaskInfo
+
+  currentLimit:
+    description: BMS Torque limit
+    id: 0x202
+    cycleTimeMs: 10
+    sourceBuses: veh
+    signals:
+      maxDischarge:
+      maxCharge:
+

network/definition/data/components/bmsb/bmsb-signals.yaml

@@ -92,3 +92,25 @@ signals:
   packContactorState:
     description: Pack Contactor Status
     discreteValues: prechargeContactorState
+
+  maxDischarge:
+    unit: 'A'
+    description: Max Discharge Current
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: 0
+        max: 1000
+    continuous: true
+
+  maxCharge:
+    unit: 'A'
+    description: Max Charge Current
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: 0
+        max: 75
+    continuous: true

network/definition/data/components/pm100dx/pm100dx-message.yaml

@@ -1,9 +1,254 @@
 messages:
+
+  temps1:
+    cycleTimeMs: 100
+    description: PM100DXR Temperatures 1
+    idOffset: 0xA0
+    lengthBytes: 8 
+    signals:
+      tempModuleA:
+      tempModuleB:
+      tempModuleC:
+      tempGateDriver:
+
+  temps2:
+    cycleTimeMs: 100
+    description: PM100DXR Temperatures 2
+    idOffset: 0xA1
+    lengthBytes: 8 
+    signals:
+      controlBoardTemp:
+      rtdTemp1:
+      rtdTemp2:
+      rtdTemp3:
+
+  temps3AndTorqueShudder:
+    cycleTimeMs: 100
+    description: PM100DXR Temperatures 3 & Torque Shudder 
+    idOffset: 0xA2
+    lengthBytes: 8 
+    signals:
+      rtdTemp4:
+      rtdTemp5:
+      motorTemp:
+      torqueShudder:
+
+  analogInputVoltages:
+    cycleTimeMs: 10
+    description: PM100DXR Analog Input Voltages 
+    idOffset: 0xA3
+    lengthBytes: 8
+    signals:
+      analogInputVoltage1:
+      analogInputVoltage2:
+      analogInputVoltage3:
+      analogInputVoltage4:
+           startBit: 32
+      analogInputVoltage5:
+      analogInputVoltage6:
+
+  digitalInputStatus:
+    cycleTimeMs: 10
+    description: PM100DXR Digital Input Status
+    idOffset: 0xA4
+    lengthBytes: 8
+    signals:
+      forwardSwitchStatus:
+      reverseSwitchStatus:
+      brakeSwitchStatus:
+      regenDisableSwitchStatus:
+      ignitionSwitchStatus:
+      startSwitchStatus:
+      valetModeStatus:
+      digitalInput8Status:
+
+  motorPositionInfo:
+    cycleTimeMs: 10
+    description: PM100DXR Motor Position Information
+    idOffset: 0xA5
+    lengthBytes: 8
+    signals:
+      electricalMotorAngle:
+      motorSpeed:
+      electricalOutputFreq:
+      deltaResolverFiltered:
+
+  currentInfo:
+    cycleTimeMs: 10
+    description: PM100DXR Current Info
+    idOffset: 0xA6
+    lengthBytes: 8
+    signals:
+      currentPhaseA:
+      currentPhaseB:
+      currentPhaseC:
+      dcBusCurrent:
+
+  voltageInfo:
+    cycleTimeMs: 10
+    description: PM100DXR Voltage Info
+    idOffset: 0xA7
+    lengthBytes: 8
+    signals:
+      dcBusVoltage: 
+      outputVoltage:
+      voltageVAB:
+      voltageVBC:
+
+  fluxInfo:
+    cycleTimeMs: 10
+    description: PM100DXR Flux Info
+    idOffset: 0xA8
+    lengthBytes: 8
+    signals:
+      fluxCommand:
+      fluxFeedback:
+      idFeedback:
+      iqFeedback:
+
+  internalVoltages:
+    cycleTimeMs: 100
+    description: PM100DXR Internal Voltages
+    idOffset: 0xA9
+    lengthBytes: 8
+    signals:
+      refVoltage1.5V: 
+      refVoltage2.5V:
+      refVoltage5V:
+      systemVoltage12V:
+
+  internalStates:
+    cycleTimeMs: 100
+    description: PM100DXR Internal States
+    idOffset: 0xAA
+    lengthBytes: 8
+    signals: 
+      vsmState:
+      pwmFrequency:
+      inverterState:
+      relayStatus1:
+      inverterRunMode:
+      selfSensingAssistEnable:
+      inverterActiveDischargeState:
+      inverterCommandMode:
+      rollingCounter:
+      inverterEnableState:
+      burstModelMode:
+      startModeActive:
+      inverterEnableLockout:
+      directionCommand:
+      bmsActive:
+      bmsLimitingTorque:
+      limitMaxSpeed:
+      limitHotSpot:
+      lowSpeedLimiting:
+      coolantTemperatureLimiting:
+      limitStallBurstModel:
+
+  faultCodes:
+    cycleTimeMs: 100
+    description: PM100DXR POST & Run Fault Codes
+    idOffset: 0xAB
+    lengthBytes: 8
+    signals:
+        postHWGateFault:
+        postHWOverCurrentFault:
+        postAcceleratorShorted:
+        postAcceleratorOpen:
+        postCurrentSensorLo:
+        postCurrentSensorHi:
+        postModuleTempLo:
+        postModuleTempHi:
+        postControlPCBTempLo:
+        postControlPCBTempHi:
+        postGateDrivePCBTempLo:
+        postGateDrivePCBTempHi:
+        post5vSenseVoltageLo:
+        post5vSenseVoltageHi:
+        post12vSenseVoltageLo:
+        post12vSenseVoltageHi:
+        post2.5vSenseVoltageLo:
+        post2.5vSenseVoltageHi:
+        post1.5vSenseVoltageLo:
+        post1.5vSenseVoltageHi:
+        postDCBusVoltageHi:
+        postDCBusVoltageLo:
+        postPreChargeTimeOut:
+        postPreChargeVoltageFailure:
+        postEepromChecksumInvalid:
+        postEepromDataOutOfRange:
+        postEepromUpdateRequired:
+        postHWDCBusOverVoltageDuringInit: 
+        postBrakeShorted:
+          startBit: 30
+        postBrakeOpen:
+        runMotorOverSpeedFault:
+        runOverCurrentFault:
+        runOverVoltageFault:
+        runInverterOverTempFault:
+        runAcceleratorInputShortedFault:
+        runAcceleratorInputOpenFault:
+        runDirectionCommandFault:
+        runInverterResponseTimeOutFault:
+        runHWGateFault:
+        runHWOverCurrentFault:
+        runUnderVoltageFault:
+        runCanCommandMessageLostFault:
+        runMotorOverTempFault:
+        runBrakeInputShortedFault:
+          startBit: 48
+        runBrakeInputOpenFault:
+        runModuleAOverTempFault:
+        runModuleBOverTempFault:
+        runModuleCOverTempFault:
+        runPcbOverTempFault:
+        runGateDriveBoard1OverTempFault:
+        runGateDriveBoard2OverTempFault:
+        runGateDriveBoard3OverTempFault:
+        runCurrentSensorFault: 
+        runHwDCBusOverVoltageFault:
+          startBit: 59
+        runResolverNotConnected:
+          startBit: 62
+
+  torqueAndTimerInfo:
+    cycleTimeMs: 3
+    description: Torque and Timer Info
+    idOffset: 0xAC
+    lengthBytes: 8
+    signals:
+      commandedTorque:
+      feedbackTorque:
+      powerOnTimer:
+
+  modulationIndexAndFluxWeakeningOutputInfo:
+    cycleTimeMs: 10
+    description: Modulation Index and Flux Weakening Output Info
+    idOffset: 0xAD
+    lengthBytes: 8
+    signals:
+      modulationIndex:
+      fluxWeakeningOutput:
+      idCommand:
+      iqCommand:
+
+
   criticalData:
+    cycleTimeMs: 10
     description: PM100DXR Critical Data
     cycleTimeMs: 10
-    id: 0x11
+    idOffset: 0xB0
+    lengthBytes: 8
+    signals:
+      torqueCommand:
+      torqueFeedback:
+      motorSpeed:
+      tractiveSystemVoltage: #DC bus voltage
+
+  torqueCapability:
+    cycleTimeMs: 10
+    description: Motor Controller Torque Capability
+    idOffset: 0xB1
     lengthBytes: 8
     signals:
-      tractiveSystemVoltage:
-        startBit: 48
+      torqueCapability:

network/definition/data/components/pm100dx/pm100dx-rx.yaml

@@ -1,2 +1,3 @@
 messages:
+  BMSB_currentLimit:
 signals: