alro65
0f00ad10da
- 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>
150 lines
12 KiB
YAML
150 lines
12 KiB
YAML
# =============================================================================
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# AR-Autopilot -- Modbus RTU register map (single source of truth)
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# =============================================================================
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#
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# This file is read by tools/gen_modbus_registers.py to produce:
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#
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# firmware/ar_autopilot_v1/src/protocols/modbus_registers.h
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# -> compile-time constants used by the firmware
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#
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# arautopilot/shared/modbus_register_map.py
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# -> runtime constants used by the Studio simulator, the dedicated
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# display (via the Flutter side mirror), and the Python tools
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#
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# Do NOT edit the generated files by hand. Always edit this YAML and run:
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#
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# python tools/gen_modbus_registers.py
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#
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# Register types (Modbus RTU standard):
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# discrete -- read-only single bit (function code 0x02) addr 10001+
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# coil -- read-write single bit (function codes 0x01/0x05/0x0F) addr 1+
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# input -- read-only 16-bit register (function code 0x04) addr 30001+
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# holding -- read-write 16-bit register (function codes 0x03/0x06/0x10) addr 40001+
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#
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# Addresses below are zero-based offsets within their type. Modbus over the
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# wire adds the type base (10001 / 1 / 30001 / 40001).
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#
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# Scale factor: physical value = raw * scale + offset
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# e.g. heading_deg with scale=0.01 means raw 4500 -> 45.00 deg.
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# =============================================================================
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schema_version: "0.1.0"
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slave_id: 1 # Modbus slave (server) address
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baudrate: 38400 # bps; 8N1 framing assumed
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parity: "N"
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data_bits: 8
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stop_bits: 1
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# -----------------------------------------------------------------------------
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# Discrete inputs (read-only bits) -- status flags published by the firmware
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# -----------------------------------------------------------------------------
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discretes:
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- { addr: 0, name: PILOT_ENGAGED, desc: "1 if the pilot is currently engaged (any mode other than STANDBY)" }
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- { addr: 1, name: DI_DISENGAGE_BUTTON, desc: "Live state of the physical Engage/Disengage push-button" }
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- { addr: 2, name: DI_LIMIT_PORT, desc: "Port-side rudder mechanical end-stop reached" }
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- { addr: 3, name: DI_LIMIT_STBD, desc: "Starboard-side rudder mechanical end-stop reached" }
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- { addr: 4, name: DI_EXTERNAL_ALARM, desc: "External critical alarm (VMS / genset) asserted" }
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- { addr: 5, name: DI_MANUAL_CONFIRM, desc: "Manual confirmation switch asserted (emergency override)" }
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- { addr: 8, name: ACTUATOR_POWER, desc: "Master actuator power relay (DO3) commanded ON" }
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- { addr: 9, name: ACTUATOR_DRIVING_PORT, desc: "Actuator direction output: driving to port" }
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- { addr: 10, name: ACTUATOR_DRIVING_STBD, desc: "Actuator direction output: driving to starboard" }
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- { addr: 16, name: ALARM_OFF_COURSE, desc: "Off-course warning active" }
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- { addr: 17, name: ALARM_OFF_COURSE_SEVERE, desc: "Severe off-course alarm (auto-disengage)" }
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- { addr: 18, name: ALARM_RUDDER_NOT_RESP, desc: "Rudder command sent but no feedback motion" }
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- { addr: 19, name: ALARM_HEADING_LOST, desc: "NMEA 2000 heading PGN not received >5 s" }
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- { addr: 20, name: ALARM_ACTUATOR_OVERCURR, desc: "Actuator current over threshold" }
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- { addr: 21, name: ALARM_VOLTAGE_LOW, desc: "Supply voltage below safe threshold" }
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- { addr: 22, name: ALARM_LIMIT_REACHED, desc: "Rudder reached mechanical end-stop" }
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- { addr: 23, name: ALARM_WATCHDOG_TRIPPED, desc: "Firmware watchdog fired -- controller reset" }
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- { addr: 24, name: ALARM_VMS_CRITICAL, desc: "VMS reported blackout or electrical fault" }
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- { addr: 25, name: ANY_ALARM_ACTIVE, desc: "OR of all alarm bits (convenience)" }
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# -----------------------------------------------------------------------------
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# Coils (read-write bits) -- commands written by the display / Studio
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# -----------------------------------------------------------------------------
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coils:
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- { addr: 0, name: CMD_ENGAGE_REQUEST, desc: "Rising edge requests pilot engagement (subject to interlocks)" }
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- { addr: 1, name: CMD_DISENGAGE_REQUEST, desc: "Rising edge forces pilot to STANDBY" }
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- { addr: 2, name: CMD_ACK_ALL_ALARMS, desc: "Rising edge acknowledges every active alarm" }
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- { addr: 3, name: CMD_KNOB_ARM, desc: "Knob arming request (Sprint 7+)" }
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# -----------------------------------------------------------------------------
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# Input registers (read-only 16-bit words) -- telemetry
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# -----------------------------------------------------------------------------
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# Two-register values (e.g. timestamps, floats) occupy consecutive addresses.
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# -----------------------------------------------------------------------------
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inputs:
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- { addr: 0, name: FW_VERSION_MAJOR, desc: "Firmware major version", unit: "" }
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- { addr: 1, name: FW_VERSION_MINOR, desc: "Firmware minor version", unit: "" }
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- { addr: 2, name: FW_VERSION_PATCH, desc: "Firmware patch version", unit: "" }
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- { addr: 3, name: SCHEMA_VERSION, desc: "Modbus map schema version (0=v0.1.0)", unit: "" }
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- { addr: 4, name: UPTIME_SECONDS_LO, desc: "Uptime seconds, low 16 bits", unit: "s" }
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- { addr: 5, name: UPTIME_SECONDS_HI, desc: "Uptime seconds, high 16 bits", unit: "s" }
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- { addr: 6, name: CURRENT_MODE, desc: "Current AutopilotMode (0=STANDBY,1=HH,2=TC,3=TK,4=DODGE)", unit: "" }
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- { addr: 7, name: FREE_HEAP_KB, desc: "Current free heap, KiB", unit: "KiB" }
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- { addr: 8, name: MIN_FREE_HEAP_KB, desc: "Minimum free heap since boot", unit: "KiB" }
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- { addr: 16, name: RUDDER_ANGLE_DEG_X100, desc: "Filtered rudder angle, deg * 100 (-3500..+3500)", unit: "deg", scale: 0.01 }
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- { addr: 17, name: RUDDER_RAW_ADC, desc: "Raw ADC reading after median filter (0..4095)", unit: "counts" }
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- { addr: 18, name: RUDDER_VALID, desc: "1 if median filter has filled (>=5 samples)", unit: "" }
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- { addr: 24, name: HEADING_DEG_X100, desc: "Current heading from NMEA 2000 PGN 127250, deg*100 (0..35999)", unit: "deg", scale: 0.01 }
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- { addr: 25, name: ROT_DPS_X100, desc: "Rate of turn from PGN 127251, deg/s*100 (signed int16)", unit: "deg/s", scale: 0.01 }
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- { addr: 26, name: HEADING_AGE_MS, desc: "Milliseconds since the last heading update (0..60000)", unit: "ms" }
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- { addr: 32, name: BATTERY_VOLTAGE_X100, desc: "System battery voltage, V*100", unit: "V", scale: 0.01 }
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- { addr: 33, name: ACTUATOR_CURRENT_X100, desc: "Actuator current, A*100", unit: "A", scale: 0.01 }
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# ----- PID inner loop telemetry (Sprint 2) -----
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- { addr: 40, name: PID_INNER_SETPOINT_X100, desc: "Inner-loop rudder setpoint, deg*100 (signed int16)", unit: "deg", scale: 0.01 }
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- { addr: 41, name: PID_INNER_OUTPUT_X100, desc: "Last PID command, %*100 (signed int16, -10000..+10000)", unit: "%", scale: 0.01 }
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- { addr: 42, name: PID_INNER_ERROR_X100, desc: "Last PID error, deg*100 (signed int16)", unit: "deg", scale: 0.01 }
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- { addr: 43, name: PID_INNER_KP_X1000, desc: "Inner-loop kp * 1000 (unsigned)", scale: 0.001 }
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- { addr: 44, name: PID_INNER_KI_X1000, desc: "Inner-loop ki * 1000 (unsigned)", scale: 0.001 }
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- { addr: 45, name: PID_INNER_KD_X1000, desc: "Inner-loop kd * 1000 (unsigned)", scale: 0.001 }
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# ----- PID outer loop telemetry (Sprint 3) -----
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- { addr: 50, name: PID_OUTER_HEADING_SP_X100, desc: "Outer-loop heading setpoint, deg*100 (0..35999)", unit: "deg", scale: 0.01 }
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- { addr: 51, name: PID_OUTER_RUDDER_SP_X100, desc: "Rudder setpoint produced by outer loop, deg*100 (signed int16)", unit: "deg", scale: 0.01 }
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- { addr: 52, name: PID_OUTER_ERROR_X100, desc: "Outer-loop heading error, deg*100 (signed int16)", unit: "deg", scale: 0.01 }
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- { addr: 53, name: PID_OUTER_SPEED_KN_X10, desc: "SOG currently used for gain scheduling, knots*10", unit: "kn", scale: 0.1 }
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- { addr: 54, name: PID_OUTER_KP_X1000, desc: "Outer-loop active kp * 1000", scale: 0.001 }
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- { addr: 55, name: PID_OUTER_KI_X1000, desc: "Outer-loop active ki * 1000", scale: 0.001 }
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- { addr: 56, name: PID_OUTER_KD_X1000, desc: "Outer-loop active kd * 1000", scale: 0.001 }
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# ----- Sprint 5: True Course + Track Keeping (PGN 129026 / 129284) -----
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- { addr: 60, name: COG_DEG_X100, desc: "Course Over Ground (true) from PGN 129026, deg*100 (0..35999)", unit: "deg", scale: 0.01 }
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- { addr: 61, name: SOG_KN_X10, desc: "Speed Over Ground from PGN 129026, knots*10 (unsigned)", unit: "kn", scale: 0.1 }
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- { addr: 62, name: COG_AGE_MS, desc: "Milliseconds since last COG/SOG update (0..60000)", unit: "ms" }
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- { addr: 63, name: XTE_DM_SIGNED, desc: "Cross Track Error from PGN 129284, decimetres (signed int16, +stbd/-port)", unit: "dm", scale: 0.1 }
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- { addr: 64, name: XTE_AGE_MS, desc: "Milliseconds since last XTE update (0..60000)", unit: "ms" }
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- { addr: 65, name: DTW_M, desc: "Distance to next waypoint, metres (unsigned int16, 0..65535)", unit: "m" }
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# -----------------------------------------------------------------------------
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# Holding registers (read-write 16-bit words) -- setpoints and config
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# -----------------------------------------------------------------------------
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holdings:
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- { addr: 0, name: MODE_REQUEST, desc: "Mode requested by operator (0=STANDBY,1=HH,2=TC,3=TK,4=DODGE)", unit: "" }
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- { addr: 1, name: HEADING_SETPOINT_X100, desc: "Desired heading, deg*100", unit: "deg", scale: 0.01 }
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- { addr: 2, name: BRIGHTNESS_PCT, desc: "Display brightness 0..100", unit: "%" }
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- { addr: 3, name: ALARM_VOLUME_PCT, desc: "Alarm volume 0..100", unit: "%" }
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- { addr: 8, name: DODGE_OFFSET_DEG_X100, desc: "Dodge mode heading offset, deg*100 (signed int16)", unit: "deg", scale: 0.01 }
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# ----- PID inner loop tunable holdings (Sprint 2) -----
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- { addr: 16, name: PID_INNER_SETPOINT_REQ_X100, desc: "Requested inner-loop rudder setpoint, deg*100 (signed int16)", unit: "deg", scale: 0.01 }
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- { addr: 17, name: PID_INNER_KP_REQ_X1000, desc: "Requested inner-loop kp * 1000 (unsigned)", scale: 0.001 }
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- { addr: 18, name: PID_INNER_KI_REQ_X1000, desc: "Requested inner-loop ki * 1000 (unsigned)", scale: 0.001 }
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- { addr: 19, name: PID_INNER_KD_REQ_X1000, desc: "Requested inner-loop kd * 1000 (unsigned)", scale: 0.001 }
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# ----- PID outer loop tunable holdings (Sprint 3) -----
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- { addr: 24, name: PID_OUTER_HEADING_SP_REQ_X100, desc: "Requested outer-loop heading setpoint, deg*100 (0..35999)", unit: "deg", scale: 0.01 }
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- { addr: 25, name: PID_OUTER_SPEED_KN_REQ_X10, desc: "Requested SOG for gain scheduling, knots*10", unit: "kn", scale: 0.1 }
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- { addr: 26, name: PID_OUTER_KP_REQ_X1000, desc: "Requested outer-loop base kp * 1000", scale: 0.001 }
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- { addr: 27, name: PID_OUTER_KI_REQ_X1000, desc: "Requested outer-loop base ki * 1000", scale: 0.001 }
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- { addr: 28, name: PID_OUTER_KD_REQ_X1000, desc: "Requested outer-loop base kd * 1000", scale: 0.001 }
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# ----- Sprint 5: True Course + Track Keeping -----
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- { 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 }
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- { addr: 33, name: XTE_GAIN_X1000, desc: "XTE correction gain * 1000 (deg of heading correction per metre of XTE)", scale: 0.001 }
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- { addr: 34, name: XTE_MAX_CORRECTION_X100, desc: "Maximum XTE heading correction, deg*100 (default 2000 = 20 deg)", unit: "deg", scale: 0.01 }
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