Merge pull request #45 from oresat/rw-dev

Fix array and corrected rw configs

oresat_configs/_yaml_to_od.py

@@ -137,9 +137,7 @@ def _make_rec(obj: IndexObject) -> Record:
 
     for sub_obj in obj.subindexes:
         if sub_obj.subindex in rec.subindices:
-            raise ValueError(
-                f"subindex 0x{sub_obj.subindex:X} aleady in record at record 0x{index:X}"
-            )
+            raise ValueError(f"subindex 0x{sub_obj.subindex:X} already in record")
         var = _make_var(sub_obj, index, sub_obj.subindex)
         rec.add_member(var)
         var0.default = sub_obj.subindex
@@ -159,42 +157,47 @@ def _make_arr(obj: IndexObject, node_ids: dict[str, int]) -> Array:
     subindexes = []
     names = []
     gen_sub = obj.generate_subindexes
-    if gen_sub is None:
-        raise ValueError("IndexObject for array missing generate_subindexes: {obj}")
-
-    if gen_sub.subindexes == "fixed_length":
-        subindexes = list(range(1, gen_sub.length + 1))
-        names = [obj.name + f"_{subindex}" for subindex in subindexes]
-    elif gen_sub.subindexes == "node_ids":
-        for name, sub in node_ids.items():
-            if sub == 0:
-                continue  # a node_id of 0 is flag for not on can bus
-            names.append(name)
-            subindexes.append(sub)
-
-    for subindex, name in zip(subindexes, names):
-        if subindex in arr.subindices:
-            raise ValueError(f"subindex 0x{subindex:X} aleady in record at array 0x{index:X}")
-        var = canopen.objectdictionary.Variable(name, index, subindex)
-        var.access_type = gen_sub.access_type
-        var.data_type = STR_2_OD_DATA_TYPE[gen_sub.data_type]
-        for name, bits in gen_sub.bit_definitions.items():
-            var.add_bit_definition(name, bits)
-        for name, value in gen_sub.value_descriptions.items():
-            var.add_value_description(value, name)
-        var.unit = gen_sub.unit
-        var.factor = gen_sub.scale_factor
-        if obj.value_descriptions:
-            var.max = gen_sub.high_limit or max(gen_sub.value_descriptions.values())
-            var.min = gen_sub.low_limit or min(gen_sub.value_descriptions.values())
-        else:
-            var.max = gen_sub.high_limit or OD_DATA_TYPES[var.data_type].high_limit
-            var.min = gen_sub.low_limit or OD_DATA_TYPES[var.data_type].low_limit
-        _set_var_default(gen_sub, var)
-        if var.data_type not in DYNAMIC_LEN_DATA_TYPES:
-            var.pdo_mappable = True
-        arr.add_member(var)
-        var0.default = subindex
+    if gen_sub is not None:
+        if gen_sub.subindexes == "fixed_length":
+            subindexes = list(range(1, gen_sub.length + 1))
+            names = [f"{gen_sub.name}_{subindex}" for subindex in subindexes]
+        elif gen_sub.subindexes == "node_ids":
+            for name, sub in node_ids.items():
+                if sub == 0:
+                    continue  # a node_id of 0 is flag for not on can bus
+                names.append(name)
+                subindexes.append(sub)
+
+        for subindex, name in zip(subindexes, names):
+            if subindex in arr.subindices:
+                raise ValueError(f"subindex 0x{subindex:X} already in array")
+            var = canopen.objectdictionary.Variable(name, index, subindex)
+            var.access_type = gen_sub.access_type
+            var.data_type = STR_2_OD_DATA_TYPE[gen_sub.data_type]
+            for name, bits in gen_sub.bit_definitions.items():
+                var.add_bit_definition(name, bits)
+            for name, value in gen_sub.value_descriptions.items():
+                var.add_value_description(value, name)
+            var.unit = gen_sub.unit
+            var.factor = gen_sub.scale_factor
+            if obj.value_descriptions:
+                var.max = gen_sub.high_limit or max(gen_sub.value_descriptions.values())
+                var.min = gen_sub.low_limit or min(gen_sub.value_descriptions.values())
+            else:
+                var.max = gen_sub.high_limit or OD_DATA_TYPES[var.data_type].high_limit
+                var.min = gen_sub.low_limit or OD_DATA_TYPES[var.data_type].low_limit
+            _set_var_default(gen_sub, var)
+            if var.data_type not in DYNAMIC_LEN_DATA_TYPES:
+                var.pdo_mappable = True
+            arr.add_member(var)
+            var0.default = subindex
+    else:
+        for sub_obj in obj.subindexes:
+            if sub_obj.subindex in arr.subindices:
+                raise ValueError(f"subindex 0x{sub_obj.subindex:X} already in array")
+            var = _make_var(sub_obj, index, sub_obj.subindex)
+            arr.add_member(var)
+            var0.default = sub_obj.subindex
 
     return arr
 
@@ -206,7 +209,7 @@ def _add_objects(
 
     for obj in objects:
         if obj.index in od.indices:
-            raise ValueError(f"index 0x{obj.index:X} aleady in OD")
+            raise ValueError(f"index 0x{obj.index:X} already in OD")
 
         if obj.object_type == "variable":
             var = _make_var(obj, obj.index)

oresat_configs/base/reaction_wheel.yaml

@@ -9,6 +9,24 @@ objects:
         data_type: uint8
         description: controller state
         access_type: ro
+        value_descriptions:
+          none: 0
+          idle: 1
+          system_error: 2
+          controller_error: 3
+          torque_control: 4
+          vel_control: 5
+          pos_control: 6
+          motor_resistance_cal: 7
+          motor_inductance_cal: 8
+          encoder_dir_cal: 9
+          encoder_offset_cal: 10
+          encoder_test: 11
+          open_loop_control: 12
+          clear_errors: 13
+          encoder_validation: 14
+          shitty_offset_cal: 15
+          vel_ramp_control: 16
 
       - subindex: 0x2
         name: procedure_result
@@ -21,6 +39,29 @@ objects:
         data_type: uint32
         description: system error bitmask
         access_type: ro
+        bit_definitions:
+          inverter_calibration_invalid: 0
+          phase_currents_invalid: 1
+          phase_currents_measurement_missing: 2
+          pwm_timing_invalid: 3
+          pwm_timing_update_missing: 4
+          vbus_overvoltage: 5
+          vbus_undervoltage: 6
+          ibus_overcurrent: 7
+          motor_overcurrent: 8
+          motor_phase_leakage: 9
+          motor_resistance_out_of_range: 10
+          motor_inductance_out_of_range: 11
+          encoder_reading_missing: 12
+          encoder_estimate_missing: 13
+          encoder_reading_invalid: 14
+          encoder_failure: 15
+          phase_current_usage_missing: 16
+          pwm_timing_usage_missing: 17
+          phase_current_leakage: 18
+          encoder_reading_usage_missing: 19
+          motor_unbalanced_phases: 20
+          modulation: 21
 
   - index: 0x4001
     name: motor
@@ -63,31 +104,15 @@ objects:
   - index: 0x4003
     name: temperature
     description: reaction wheel controller temperatures
-    object_type: record
-    subindexes:
-      - subindex: 0x1
-        name: sensor_1
-        data_type: int16
-        description: temperature sensor 1 temp
-        access_type: ro
-        unit: C
-        scale_factor: 0.01
-
-      - subindex: 0x2
-        name: sensor_2
-        data_type: int16
-        description: temperature sensor 2 temp
-        access_type: ro
-        unit: C
-        scale_factor: 0.01
-
-      - subindex: 0x3
-        name: sensor_3
-        data_type: int16
-        description: temperature sensor 3 temp
-        access_type: ro
-        unit: C
-        scale_factor: 0.01
+    object_type: array
+    generate_subindexes:
+      subindexes: fixed_length
+      length: 3
+      name: sensor
+      data_type: int16
+      access_type: ro
+      unit: C
+      scale_factor: 0.01
 
   - index: 0x4004
     name: requested
@@ -151,23 +176,23 @@ tpdos:
       - [ctrl_stat, current_state]
       - [ctrl_stat, procedure_result]
       - [ctrl_stat, errors]
-    event_timer_ms: 100
+    event_timer_ms: 5000
 
   - num: 2
     fields:
       - [motor, velocity]
       - [motor, current]
-    event_timer_ms: 100
+    event_timer_ms: 5000
 
   - num: 3
     fields:
       - [bus, voltage]
       - [bus, current]
-    event_timer_ms: 100
+    event_timer_ms: 5000
 
   - num: 4
     fields:
       - [temperature, sensor_1]
       - [temperature, sensor_2]
       - [temperature, sensor_3]
-    event_timer_ms: 100
+    event_timer_ms: 5000

oresat_configs/card_config.py

@@ -55,20 +55,55 @@ class GenerateSubindex(ConfigObject):
 
     .. code-block:: yaml
 
-        subindexes: node_ids
-        names: node_ids
-        data_type: uint8
-        access_type: ro
-        value_descriptions:
-          0: "OFF"
-          1: "BOOT"
-          2: "ON"
-          3: "ERROR"
-          4: "NOT_FOUND"
-          0xFF: "DEAD"
+      - index: 0x4000
+        name: my_array
+        object_type: array
+        generate_subindexes:
+            subindexes: fixed_length
+            name: item
+            length: 10
+            data_type: uint16
+            access_type: ro
+            unit: C
+            scale_factor: 0.001
+
+    will generate the equivalent of
+
+    .. code-block:: yaml
+
+      - index: 0x4000
+        name: my_array
+        object_type: array
+        subindexes:
+        generate_subindexes:
+        - subindex: 1
+          name: item_1
+          data_type: uint16
+          access_type: ro
+          unit: C
+          scale_factor: 0.001
+        - subindex: 2
+          name: item_2
+          data_type: uint16
+          access_type: ro
+          unit: C
+          scale_factor: 0.001
+        ...
+        - subindex: 9
+          name: item_9
+          data_type: uint16
+          access_type: ro
+          unit: C
+          scale_factor: 0.001
+        - subindex: 10
+          name: item_10
+          data_type: uint16
+          access_type: ro
+          unit: C
+          scale_factor: 0.001
     """
 
-    names: str = ""
+    name: str = ""
     """Names of objects to generate."""
     subindexes: Union[str, int] = 0
     """Subindexes of objects to generate."""

oresat_configs/standard_objects.yaml

@@ -26,6 +26,7 @@
   object_type: array
   description: emcy history for device
   generate_subindexes:
+    name: error
     subindexes: fixed_length
     length: 8  # can be up to 127
     data_type: uint32