alro65/AR-Autopilot
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0f00ad10da3213cf9da6c9fa24afa5819f790ea9
AR-Autopilot/arautopilot/shared/modbus_register_map.py
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alro65 0f00ad10da sprint-5: True Course + Track Keeping + XTE + PGN 129026/129284 
- Python: NmeaNavData (COG/SOG/XTE data models with staleness tracking)
- Python: TrueCoursePilot with TRUE_COURSE and TRACK_KEEPING modes
- Python: 26 new tests (test_nmea_data, test_true_course)
- Modbus: COG/SOG/XTE input registers + TC setpoint/XTE-gain holdings
- Firmware: nmea2000_consumer handles PGN 129026 + 129284
- Firmware: pid_outer_task wired for TC + TK modes with live SOG scheduling
- YAML regenerated; 284 tests pass, firmware compiles clean

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-05-19 20:12:57 -04:00

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"""AR-Autopilot Modbus RTU register map -- generated mirror of the firmware.
AUTO-GENERATED. Do not edit by hand.
Source: firmware/ar_autopilot_v1/modbus_registers.yaml
Regenerate with: python tools/gen_modbus_registers.py
"""
from __future__ import annotations
from dataclasses import dataclass
@dataclass(frozen=True)
class Reg:
"""One Modbus register entry as seen from Python tooling."""
addr: int
name: str
desc: str = ""
unit: str = ""
scale: float = 1.0
offset: float = 0.0
MAP_SCHEMA_VERSION = "0.1.0"
SLAVE_ID = 1
BAUDRATE = 38400
PARITY = "N"
DATA_BITS = 8
STOP_BITS = 1
# DISCRETES
DISCRETES: dict[str, Reg] = {
"PILOT_ENGAGED": Reg(addr=0, name="PILOT_ENGAGED", desc='1 if the pilot is currently engaged (any mode other than STANDBY)', unit="", scale=1.0, offset=0.0),
"DI_DISENGAGE_BUTTON": Reg(addr=1, name="DI_DISENGAGE_BUTTON", desc='Live state of the physical Engage/Disengage push-button', unit="", scale=1.0, offset=0.0),
"DI_LIMIT_PORT": Reg(addr=2, name="DI_LIMIT_PORT", desc='Port-side rudder mechanical end-stop reached', unit="", scale=1.0, offset=0.0),
"DI_LIMIT_STBD": Reg(addr=3, name="DI_LIMIT_STBD", desc='Starboard-side rudder mechanical end-stop reached', unit="", scale=1.0, offset=0.0),
"DI_EXTERNAL_ALARM": Reg(addr=4, name="DI_EXTERNAL_ALARM", desc='External critical alarm (VMS / genset) asserted', unit="", scale=1.0, offset=0.0),
"DI_MANUAL_CONFIRM": Reg(addr=5, name="DI_MANUAL_CONFIRM", desc='Manual confirmation switch asserted (emergency override)', unit="", scale=1.0, offset=0.0),
"ACTUATOR_POWER": Reg(addr=8, name="ACTUATOR_POWER", desc='Master actuator power relay (DO3) commanded ON', unit="", scale=1.0, offset=0.0),
"ACTUATOR_DRIVING_PORT": Reg(addr=9, name="ACTUATOR_DRIVING_PORT", desc='Actuator direction output: driving to port', unit="", scale=1.0, offset=0.0),
"ACTUATOR_DRIVING_STBD": Reg(addr=10, name="ACTUATOR_DRIVING_STBD", desc='Actuator direction output: driving to starboard', unit="", scale=1.0, offset=0.0),
"ALARM_OFF_COURSE": Reg(addr=16, name="ALARM_OFF_COURSE", desc='Off-course warning active', unit="", scale=1.0, offset=0.0),
"ALARM_OFF_COURSE_SEVERE": Reg(addr=17, name="ALARM_OFF_COURSE_SEVERE", desc='Severe off-course alarm (auto-disengage)', unit="", scale=1.0, offset=0.0),
"ALARM_RUDDER_NOT_RESP": Reg(addr=18, name="ALARM_RUDDER_NOT_RESP", desc='Rudder command sent but no feedback motion', unit="", scale=1.0, offset=0.0),
"ALARM_HEADING_LOST": Reg(addr=19, name="ALARM_HEADING_LOST", desc='NMEA 2000 heading PGN not received >5 s', unit="", scale=1.0, offset=0.0),
"ALARM_ACTUATOR_OVERCURR": Reg(addr=20, name="ALARM_ACTUATOR_OVERCURR", desc='Actuator current over threshold', unit="", scale=1.0, offset=0.0),
"ALARM_VOLTAGE_LOW": Reg(addr=21, name="ALARM_VOLTAGE_LOW", desc='Supply voltage below safe threshold', unit="", scale=1.0, offset=0.0),
"ALARM_LIMIT_REACHED": Reg(addr=22, name="ALARM_LIMIT_REACHED", desc='Rudder reached mechanical end-stop', unit="", scale=1.0, offset=0.0),
"ALARM_WATCHDOG_TRIPPED": Reg(addr=23, name="ALARM_WATCHDOG_TRIPPED", desc='Firmware watchdog fired -- controller reset', unit="", scale=1.0, offset=0.0),
"ALARM_VMS_CRITICAL": Reg(addr=24, name="ALARM_VMS_CRITICAL", desc='VMS reported blackout or electrical fault', unit="", scale=1.0, offset=0.0),
"ANY_ALARM_ACTIVE": Reg(addr=25, name="ANY_ALARM_ACTIVE", desc='OR of all alarm bits (convenience)', unit="", scale=1.0, offset=0.0),
}
# COILS
COILS: dict[str, Reg] = {
"CMD_ENGAGE_REQUEST": Reg(addr=0, name="CMD_ENGAGE_REQUEST", desc='Rising edge requests pilot engagement (subject to interlocks)', unit="", scale=1.0, offset=0.0),
"CMD_DISENGAGE_REQUEST": Reg(addr=1, name="CMD_DISENGAGE_REQUEST", desc='Rising edge forces pilot to STANDBY', unit="", scale=1.0, offset=0.0),
"CMD_ACK_ALL_ALARMS": Reg(addr=2, name="CMD_ACK_ALL_ALARMS", desc='Rising edge acknowledges every active alarm', unit="", scale=1.0, offset=0.0),
"CMD_KNOB_ARM": Reg(addr=3, name="CMD_KNOB_ARM", desc='Knob arming request (Sprint 7+)', unit="", scale=1.0, offset=0.0),
}
# INPUTS
INPUTS: dict[str, Reg] = {
"FW_VERSION_MAJOR": Reg(addr=0, name="FW_VERSION_MAJOR", desc='Firmware major version', unit="", scale=1.0, offset=0.0),
"FW_VERSION_MINOR": Reg(addr=1, name="FW_VERSION_MINOR", desc='Firmware minor version', unit="", scale=1.0, offset=0.0),
"FW_VERSION_PATCH": Reg(addr=2, name="FW_VERSION_PATCH", desc='Firmware patch version', unit="", scale=1.0, offset=0.0),
"SCHEMA_VERSION": Reg(addr=3, name="SCHEMA_VERSION", desc='Modbus map schema version (0=v0.1.0)', unit="", scale=1.0, offset=0.0),
"UPTIME_SECONDS_LO": Reg(addr=4, name="UPTIME_SECONDS_LO", desc='Uptime seconds, low 16 bits', unit="s", scale=1.0, offset=0.0),
"UPTIME_SECONDS_HI": Reg(addr=5, name="UPTIME_SECONDS_HI", desc='Uptime seconds, high 16 bits', unit="s", scale=1.0, offset=0.0),
"CURRENT_MODE": Reg(addr=6, name="CURRENT_MODE", desc='Current AutopilotMode (0=STANDBY,1=HH,2=TC,3=TK,4=DODGE)', unit="", scale=1.0, offset=0.0),
"FREE_HEAP_KB": Reg(addr=7, name="FREE_HEAP_KB", desc='Current free heap, KiB', unit="KiB", scale=1.0, offset=0.0),
"MIN_FREE_HEAP_KB": Reg(addr=8, name="MIN_FREE_HEAP_KB", desc='Minimum free heap since boot', unit="KiB", scale=1.0, offset=0.0),
"RUDDER_ANGLE_DEG_X100": Reg(addr=16, name="RUDDER_ANGLE_DEG_X100", desc='Filtered rudder angle, deg * 100 (-3500..+3500)', unit="deg", scale=0.01, offset=0.0),
"RUDDER_RAW_ADC": Reg(addr=17, name="RUDDER_RAW_ADC", desc='Raw ADC reading after median filter (0..4095)', unit="counts", scale=1.0, offset=0.0),
"RUDDER_VALID": Reg(addr=18, name="RUDDER_VALID", desc='1 if median filter has filled (>=5 samples)', unit="", scale=1.0, offset=0.0),
"HEADING_DEG_X100": Reg(addr=24, name="HEADING_DEG_X100", desc='Current heading from NMEA 2000 PGN 127250, deg*100 (0..35999)', unit="deg", scale=0.01, offset=0.0),
"ROT_DPS_X100": Reg(addr=25, name="ROT_DPS_X100", desc='Rate of turn from PGN 127251, deg/s*100 (signed int16)', unit="deg/s", scale=0.01, offset=0.0),
"HEADING_AGE_MS": Reg(addr=26, name="HEADING_AGE_MS", desc='Milliseconds since the last heading update (0..60000)', unit="ms", scale=1.0, offset=0.0),
"BATTERY_VOLTAGE_X100": Reg(addr=32, name="BATTERY_VOLTAGE_X100", desc='System battery voltage, V*100', unit="V", scale=0.01, offset=0.0),
"ACTUATOR_CURRENT_X100": Reg(addr=33, name="ACTUATOR_CURRENT_X100", desc='Actuator current, A*100', unit="A", scale=0.01, offset=0.0),
"PID_INNER_SETPOINT_X100": Reg(addr=40, name="PID_INNER_SETPOINT_X100", desc='Inner-loop rudder setpoint, deg*100 (signed int16)', unit="deg", scale=0.01, offset=0.0),
"PID_INNER_OUTPUT_X100": Reg(addr=41, name="PID_INNER_OUTPUT_X100", desc='Last PID command, %*100 (signed int16, -10000..+10000)', unit="%", scale=0.01, offset=0.0),
"PID_INNER_ERROR_X100": Reg(addr=42, name="PID_INNER_ERROR_X100", desc='Last PID error, deg*100 (signed int16)', unit="deg", scale=0.01, offset=0.0),
"PID_INNER_KP_X1000": Reg(addr=43, name="PID_INNER_KP_X1000", desc='Inner-loop kp * 1000 (unsigned)', unit="", scale=0.001, offset=0.0),
"PID_INNER_KI_X1000": Reg(addr=44, name="PID_INNER_KI_X1000", desc='Inner-loop ki * 1000 (unsigned)', unit="", scale=0.001, offset=0.0),
"PID_INNER_KD_X1000": Reg(addr=45, name="PID_INNER_KD_X1000", desc='Inner-loop kd * 1000 (unsigned)', unit="", scale=0.001, offset=0.0),
"PID_OUTER_HEADING_SP_X100": Reg(addr=50, name="PID_OUTER_HEADING_SP_X100", desc='Outer-loop heading setpoint, deg*100 (0..35999)', unit="deg", scale=0.01, offset=0.0),
"PID_OUTER_RUDDER_SP_X100": Reg(addr=51, name="PID_OUTER_RUDDER_SP_X100", desc='Rudder setpoint produced by outer loop, deg*100 (signed int16)', unit="deg", scale=0.01, offset=0.0),
"PID_OUTER_ERROR_X100": Reg(addr=52, name="PID_OUTER_ERROR_X100", desc='Outer-loop heading error, deg*100 (signed int16)', unit="deg", scale=0.01, offset=0.0),
"PID_OUTER_SPEED_KN_X10": Reg(addr=53, name="PID_OUTER_SPEED_KN_X10", desc='SOG currently used for gain scheduling, knots*10', unit="kn", scale=0.1, offset=0.0),
"PID_OUTER_KP_X1000": Reg(addr=54, name="PID_OUTER_KP_X1000", desc='Outer-loop active kp * 1000', unit="", scale=0.001, offset=0.0),
"PID_OUTER_KI_X1000": Reg(addr=55, name="PID_OUTER_KI_X1000", desc='Outer-loop active ki * 1000', unit="", scale=0.001, offset=0.0),
"PID_OUTER_KD_X1000": Reg(addr=56, name="PID_OUTER_KD_X1000", desc='Outer-loop active kd * 1000', unit="", scale=0.001, offset=0.0),
"COG_DEG_X100": Reg(addr=60, name="COG_DEG_X100", desc='Course Over Ground (true) from PGN 129026, deg*100 (0..35999)', unit="deg", scale=0.01, offset=0.0),
"SOG_KN_X10": Reg(addr=61, name="SOG_KN_X10", desc='Speed Over Ground from PGN 129026, knots*10 (unsigned)', unit="kn", scale=0.1, offset=0.0),
"COG_AGE_MS": Reg(addr=62, name="COG_AGE_MS", desc='Milliseconds since last COG/SOG update (0..60000)', unit="ms", scale=1.0, offset=0.0),
"XTE_DM_SIGNED": Reg(addr=63, name="XTE_DM_SIGNED", desc='Cross Track Error from PGN 129284, decimetres (signed int16, +stbd/-port)', unit="dm", scale=0.1, offset=0.0),
"XTE_AGE_MS": Reg(addr=64, name="XTE_AGE_MS", desc='Milliseconds since last XTE update (0..60000)', unit="ms", scale=1.0, offset=0.0),
"DTW_M": Reg(addr=65, name="DTW_M", desc='Distance to next waypoint, metres (unsigned int16, 0..65535)', unit="m", scale=1.0, offset=0.0),
}
# HOLDINGS
HOLDINGS: dict[str, Reg] = {
"MODE_REQUEST": Reg(addr=0, name="MODE_REQUEST", desc='Mode requested by operator (0=STANDBY,1=HH,2=TC,3=TK,4=DODGE)', unit="", scale=1.0, offset=0.0),
"HEADING_SETPOINT_X100": Reg(addr=1, name="HEADING_SETPOINT_X100", desc='Desired heading, deg*100', unit="deg", scale=0.01, offset=0.0),
"BRIGHTNESS_PCT": Reg(addr=2, name="BRIGHTNESS_PCT", desc='Display brightness 0..100', unit="%", scale=1.0, offset=0.0),
"ALARM_VOLUME_PCT": Reg(addr=3, name="ALARM_VOLUME_PCT", desc='Alarm volume 0..100', unit="%", scale=1.0, offset=0.0),
"DODGE_OFFSET_DEG_X100": Reg(addr=8, name="DODGE_OFFSET_DEG_X100", desc='Dodge mode heading offset, deg*100 (signed int16)', unit="deg", scale=0.01, offset=0.0),
"PID_INNER_SETPOINT_REQ_X100": Reg(addr=16, name="PID_INNER_SETPOINT_REQ_X100", desc='Requested inner-loop rudder setpoint, deg*100 (signed int16)', unit="deg", scale=0.01, offset=0.0),
"PID_INNER_KP_REQ_X1000": Reg(addr=17, name="PID_INNER_KP_REQ_X1000", desc='Requested inner-loop kp * 1000 (unsigned)', unit="", scale=0.001, offset=0.0),
"PID_INNER_KI_REQ_X1000": Reg(addr=18, name="PID_INNER_KI_REQ_X1000", desc='Requested inner-loop ki * 1000 (unsigned)', unit="", scale=0.001, offset=0.0),
"PID_INNER_KD_REQ_X1000": Reg(addr=19, name="PID_INNER_KD_REQ_X1000", desc='Requested inner-loop kd * 1000 (unsigned)', unit="", scale=0.001, offset=0.0),
"PID_OUTER_HEADING_SP_REQ_X100": Reg(addr=24, name="PID_OUTER_HEADING_SP_REQ_X100", desc='Requested outer-loop heading setpoint, deg*100 (0..35999)', unit="deg", scale=0.01, offset=0.0),
"PID_OUTER_SPEED_KN_REQ_X10": Reg(addr=25, name="PID_OUTER_SPEED_KN_REQ_X10", desc='Requested SOG for gain scheduling, knots*10', unit="kn", scale=0.1, offset=0.0),
"PID_OUTER_KP_REQ_X1000": Reg(addr=26, name="PID_OUTER_KP_REQ_X1000", desc='Requested outer-loop base kp * 1000', unit="", scale=0.001, offset=0.0),
"PID_OUTER_KI_REQ_X1000": Reg(addr=27, name="PID_OUTER_KI_REQ_X1000", desc='Requested outer-loop base ki * 1000', unit="", scale=0.001, offset=0.0),
"PID_OUTER_KD_REQ_X1000": Reg(addr=28, name="PID_OUTER_KD_REQ_X1000", desc='Requested outer-loop base kd * 1000', unit="", scale=0.001, offset=0.0),
"TRUE_COURSE_SP_X100": Reg(addr=32, name="TRUE_COURSE_SP_X100", desc='Desired COG setpoint for TRUE_COURSE / TRACK_KEEPING, deg*100 (0..35999)', unit="deg", scale=0.01, offset=0.0),
"XTE_GAIN_X1000": Reg(addr=33, name="XTE_GAIN_X1000", desc='XTE correction gain * 1000 (deg of heading correction per metre of XTE)', unit="", scale=0.001, offset=0.0),
"XTE_MAX_CORRECTION_X100": Reg(addr=34, name="XTE_MAX_CORRECTION_X100", desc='Maximum XTE heading correction, deg*100 (default 2000 = 20 deg)', unit="deg", scale=0.01, offset=0.0),
}
ALL_GROUPS: dict[str, dict[str, Reg]] = {
"discretes": DISCRETES,
"coils": COILS,
"inputs": INPUTS,
"holdings": HOLDINGS,
}
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