alro65/AR-Autopilot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
5238bd31f0adfdf3f86a387c59135614ed166f45
AR-Autopilot/firmware/ar_autopilot_v1/modbus_registers.yaml
T
alro65 45642fda0e sprint-8: EKF + adaptive tuner + HWID + SHA-256 audit hash-chain 
- heading_ekf.py: 2-state Kalman filter fusing PGN 127250 heading and
  127251 ROT with shortest-arc innovation and symmetric covariance update
- adaptive_tuner.py: gradient-descent outer-loop Kp/Ki adjuster bounded
  to ±adaptive_max_deviation_pct; oscillation vs steady-state detection
- hwid.py: HMAC-SHA256 activation token (verify side); hwid_from_mac_words
  converts three Modbus uint16 MAC words to 12-char hex HWID
- audit.py: SHA-256 hash-chain -- each JSONL line carries prev_hash and
  line_hash; verify_chain() detects tampering, deletion, insertion
- firmware/system/hwid.h+cpp: esp_efuse_mac_get_default wrapper + FNV-32
  hash + "AA:BB:CC:DD:EE:FF" formatter
- modbus_registers.yaml + generated .h/.py: HWID_MAC_01/23/45 at
  input addrs 9/10/11 (three 16-bit words = 6-byte MAC)
- modbus_slave.cpp: INPUT_HWID_MAC_01/23/45 cases read eFuse MAC
- main.cpp: logs HWID string + FNV-32 hash at boot (activation traceability)
- tests: 72 new tests (audit signing, EKF, adaptive tuner, HWID) -- 398 total

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-05-20 03:07:27 -04:00

153 lines
12 KiB
YAML
Raw Blame History

# =============================================================================
# AR-Autopilot -- Modbus RTU register map (single source of truth)
# =============================================================================
#
# This file is read by tools/gen_modbus_registers.py to produce:
#
# firmware/ar_autopilot_v1/src/protocols/modbus_registers.h
# -> compile-time constants used by the firmware
#
# arautopilot/shared/modbus_register_map.py
# -> runtime constants used by the Studio simulator, the dedicated
# display (via the Flutter side mirror), and the Python tools
#
# Do NOT edit the generated files by hand. Always edit this YAML and run:
#
# python tools/gen_modbus_registers.py
#
# Register types (Modbus RTU standard):
# discrete -- read-only single bit (function code 0x02) addr 10001+
# coil -- read-write single bit (function codes 0x01/0x05/0x0F) addr 1+
# input -- read-only 16-bit register (function code 0x04) addr 30001+
# holding -- read-write 16-bit register (function codes 0x03/0x06/0x10) addr 40001+
#
# Addresses below are zero-based offsets within their type. Modbus over the
# wire adds the type base (10001 / 1 / 30001 / 40001).
#
# Scale factor: physical value = raw * scale + offset
# e.g. heading_deg with scale=0.01 means raw 4500 -> 45.00 deg.
# =============================================================================
schema_version: "0.1.0"
slave_id: 1 # Modbus slave (server) address
baudrate: 38400 # bps; 8N1 framing assumed
parity: "N"
data_bits: 8
stop_bits: 1
# -----------------------------------------------------------------------------
# Discrete inputs (read-only bits) -- status flags published by the firmware
# -----------------------------------------------------------------------------
discretes:
- { addr: 0, name: PILOT_ENGAGED, desc: "1 if the pilot is currently engaged (any mode other than STANDBY)" }
- { addr: 1, name: DI_DISENGAGE_BUTTON, desc: "Live state of the physical Engage/Disengage push-button" }
- { addr: 2, name: DI_LIMIT_PORT, desc: "Port-side rudder mechanical end-stop reached" }
- { addr: 3, name: DI_LIMIT_STBD, desc: "Starboard-side rudder mechanical end-stop reached" }
- { addr: 4, name: DI_EXTERNAL_ALARM, desc: "External critical alarm (VMS / genset) asserted" }
- { addr: 5, name: DI_MANUAL_CONFIRM, desc: "Manual confirmation switch asserted (emergency override)" }
- { addr: 8, name: ACTUATOR_POWER, desc: "Master actuator power relay (DO3) commanded ON" }
- { addr: 9, name: ACTUATOR_DRIVING_PORT, desc: "Actuator direction output: driving to port" }
- { addr: 10, name: ACTUATOR_DRIVING_STBD, desc: "Actuator direction output: driving to starboard" }
- { addr: 16, name: ALARM_OFF_COURSE, desc: "Off-course warning active" }
- { addr: 17, name: ALARM_OFF_COURSE_SEVERE, desc: "Severe off-course alarm (auto-disengage)" }
- { addr: 18, name: ALARM_RUDDER_NOT_RESP, desc: "Rudder command sent but no feedback motion" }
- { addr: 19, name: ALARM_HEADING_LOST, desc: "NMEA 2000 heading PGN not received >5 s" }
- { addr: 20, name: ALARM_ACTUATOR_OVERCURR, desc: "Actuator current over threshold" }
- { addr: 21, name: ALARM_VOLTAGE_LOW, desc: "Supply voltage below safe threshold" }
- { addr: 22, name: ALARM_LIMIT_REACHED, desc: "Rudder reached mechanical end-stop" }
- { addr: 23, name: ALARM_WATCHDOG_TRIPPED, desc: "Firmware watchdog fired -- controller reset" }
- { addr: 24, name: ALARM_VMS_CRITICAL, desc: "VMS reported blackout or electrical fault" }
- { addr: 25, name: ANY_ALARM_ACTIVE, desc: "OR of all alarm bits (convenience)" }
# -----------------------------------------------------------------------------
# Coils (read-write bits) -- commands written by the display / Studio
# -----------------------------------------------------------------------------
coils:
- { addr: 0, name: CMD_ENGAGE_REQUEST, desc: "Rising edge requests pilot engagement (subject to interlocks)" }
- { addr: 1, name: CMD_DISENGAGE_REQUEST, desc: "Rising edge forces pilot to STANDBY" }
- { addr: 2, name: CMD_ACK_ALL_ALARMS, desc: "Rising edge acknowledges every active alarm" }
- { addr: 3, name: CMD_KNOB_ARM, desc: "Knob arming request (Sprint 7+)" }
# -----------------------------------------------------------------------------
# Input registers (read-only 16-bit words) -- telemetry
# -----------------------------------------------------------------------------
# Two-register values (e.g. timestamps, floats) occupy consecutive addresses.
# -----------------------------------------------------------------------------
inputs:
- { addr: 0, name: FW_VERSION_MAJOR, desc: "Firmware major version", unit: "" }
- { addr: 1, name: FW_VERSION_MINOR, desc: "Firmware minor version", unit: "" }
- { addr: 2, name: FW_VERSION_PATCH, desc: "Firmware patch version", unit: "" }
- { addr: 3, name: SCHEMA_VERSION, desc: "Modbus map schema version (0=v0.1.0)", unit: "" }
- { addr: 4, name: UPTIME_SECONDS_LO, desc: "Uptime seconds, low 16 bits", unit: "s" }
- { addr: 5, name: UPTIME_SECONDS_HI, desc: "Uptime seconds, high 16 bits", unit: "s" }
- { addr: 6, name: CURRENT_MODE, desc: "Current AutopilotMode (0=STANDBY,1=HH,2=TC,3=TK,4=DODGE)", unit: "" }
- { addr: 7, name: FREE_HEAP_KB, desc: "Current free heap, KiB", unit: "KiB" }
- { addr: 8, name: MIN_FREE_HEAP_KB, desc: "Minimum free heap since boot", unit: "KiB" }
- { addr: 9, name: HWID_MAC_01, desc: "Hardware ID bytes [0..1] (MAC eFuse high word)", unit: "" }
- { addr: 10, name: HWID_MAC_23, desc: "Hardware ID bytes [2..3] (MAC eFuse mid word)", unit: "" }
- { addr: 11, name: HWID_MAC_45, desc: "Hardware ID bytes [4..5] (MAC eFuse low word)", unit: "" }
- { addr: 16, name: RUDDER_ANGLE_DEG_X100, desc: "Filtered rudder angle, deg * 100 (-3500..+3500)", unit: "deg", scale: 0.01 }
- { addr: 17, name: RUDDER_RAW_ADC, desc: "Raw ADC reading after median filter (0..4095)", unit: "counts" }
- { addr: 18, name: RUDDER_VALID, desc: "1 if median filter has filled (>=5 samples)", unit: "" }
- { addr: 24, name: HEADING_DEG_X100, desc: "Current heading from NMEA 2000 PGN 127250, deg*100 (0..35999)", unit: "deg", scale: 0.01 }
- { addr: 25, name: ROT_DPS_X100, desc: "Rate of turn from PGN 127251, deg/s*100 (signed int16)", unit: "deg/s", scale: 0.01 }
- { addr: 26, name: HEADING_AGE_MS, desc: "Milliseconds since the last heading update (0..60000)", unit: "ms" }
- { addr: 32, name: BATTERY_VOLTAGE_X100, desc: "System battery voltage, V*100", unit: "V", scale: 0.01 }
- { addr: 33, name: ACTUATOR_CURRENT_X100, desc: "Actuator current, A*100", unit: "A", scale: 0.01 }
# ----- PID inner loop telemetry (Sprint 2) -----
- { addr: 40, name: PID_INNER_SETPOINT_X100, desc: "Inner-loop rudder setpoint, deg*100 (signed int16)", unit: "deg", scale: 0.01 }
- { addr: 41, name: PID_INNER_OUTPUT_X100, desc: "Last PID command, %*100 (signed int16, -10000..+10000)", unit: "%", scale: 0.01 }
- { addr: 42, name: PID_INNER_ERROR_X100, desc: "Last PID error, deg*100 (signed int16)", unit: "deg", scale: 0.01 }
- { addr: 43, name: PID_INNER_KP_X1000, desc: "Inner-loop kp * 1000 (unsigned)", scale: 0.001 }
- { addr: 44, name: PID_INNER_KI_X1000, desc: "Inner-loop ki * 1000 (unsigned)", scale: 0.001 }
- { addr: 45, name: PID_INNER_KD_X1000, desc: "Inner-loop kd * 1000 (unsigned)", scale: 0.001 }
# ----- PID outer loop telemetry (Sprint 3) -----
- { addr: 50, name: PID_OUTER_HEADING_SP_X100, desc: "Outer-loop heading setpoint, deg*100 (0..35999)", unit: "deg", scale: 0.01 }
- { addr: 51, name: PID_OUTER_RUDDER_SP_X100, desc: "Rudder setpoint produced by outer loop, deg*100 (signed int16)", unit: "deg", scale: 0.01 }
- { addr: 52, name: PID_OUTER_ERROR_X100, desc: "Outer-loop heading error, deg*100 (signed int16)", unit: "deg", scale: 0.01 }
- { addr: 53, name: PID_OUTER_SPEED_KN_X10, desc: "SOG currently used for gain scheduling, knots*10", unit: "kn", scale: 0.1 }
- { addr: 54, name: PID_OUTER_KP_X1000, desc: "Outer-loop active kp * 1000", scale: 0.001 }
- { addr: 55, name: PID_OUTER_KI_X1000, desc: "Outer-loop active ki * 1000", scale: 0.001 }
- { addr: 56, name: PID_OUTER_KD_X1000, desc: "Outer-loop active kd * 1000", scale: 0.001 }
# ----- Sprint 5: True Course + Track Keeping (PGN 129026 / 129284) -----
- { addr: 60, name: COG_DEG_X100, desc: "Course Over Ground (true) from PGN 129026, deg*100 (0..35999)", unit: "deg", scale: 0.01 }
- { addr: 61, name: SOG_KN_X10, desc: "Speed Over Ground from PGN 129026, knots*10 (unsigned)", unit: "kn", scale: 0.1 }
- { addr: 62, name: COG_AGE_MS, desc: "Milliseconds since last COG/SOG update (0..60000)", unit: "ms" }
- { addr: 63, name: XTE_DM_SIGNED, desc: "Cross Track Error from PGN 129284, decimetres (signed int16, +stbd/-port)", unit: "dm", scale: 0.1 }
- { addr: 64, name: XTE_AGE_MS, desc: "Milliseconds since last XTE update (0..60000)", unit: "ms" }
- { addr: 65, name: DTW_M, desc: "Distance to next waypoint, metres (unsigned int16, 0..65535)", unit: "m" }
# -----------------------------------------------------------------------------
# Holding registers (read-write 16-bit words) -- setpoints and config
# -----------------------------------------------------------------------------
holdings:
- { addr: 0, name: MODE_REQUEST, desc: "Mode requested by operator (0=STANDBY,1=HH,2=TC,3=TK,4=DODGE)", unit: "" }
- { addr: 1, name: HEADING_SETPOINT_X100, desc: "Desired heading, deg*100", unit: "deg", scale: 0.01 }
- { addr: 2, name: BRIGHTNESS_PCT, desc: "Display brightness 0..100", unit: "%" }
- { addr: 3, name: ALARM_VOLUME_PCT, desc: "Alarm volume 0..100", unit: "%" }
- { addr: 8, name: DODGE_OFFSET_DEG_X100, desc: "Dodge mode heading offset, deg*100 (signed int16)", unit: "deg", scale: 0.01 }
# ----- PID inner loop tunable holdings (Sprint 2) -----
- { addr: 16, name: PID_INNER_SETPOINT_REQ_X100, desc: "Requested inner-loop rudder setpoint, deg*100 (signed int16)", unit: "deg", scale: 0.01 }
- { addr: 17, name: PID_INNER_KP_REQ_X1000, desc: "Requested inner-loop kp * 1000 (unsigned)", scale: 0.001 }
- { addr: 18, name: PID_INNER_KI_REQ_X1000, desc: "Requested inner-loop ki * 1000 (unsigned)", scale: 0.001 }
- { addr: 19, name: PID_INNER_KD_REQ_X1000, desc: "Requested inner-loop kd * 1000 (unsigned)", scale: 0.001 }
# ----- PID outer loop tunable holdings (Sprint 3) -----
- { addr: 24, name: PID_OUTER_HEADING_SP_REQ_X100, desc: "Requested outer-loop heading setpoint, deg*100 (0..35999)", unit: "deg", scale: 0.01 }
- { addr: 25, name: PID_OUTER_SPEED_KN_REQ_X10, desc: "Requested SOG for gain scheduling, knots*10", unit: "kn", scale: 0.1 }
- { addr: 26, name: PID_OUTER_KP_REQ_X1000, desc: "Requested outer-loop base kp * 1000", scale: 0.001 }
- { addr: 27, name: PID_OUTER_KI_REQ_X1000, desc: "Requested outer-loop base ki * 1000", scale: 0.001 }
- { addr: 28, name: PID_OUTER_KD_REQ_X1000, desc: "Requested outer-loop base kd * 1000", scale: 0.001 }
# ----- Sprint 5: True Course + Track Keeping -----
- { 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 }
- { addr: 33, name: XTE_GAIN_X1000, desc: "XTE correction gain * 1000 (deg of heading correction per metre of XTE)", scale: 0.001 }
- { addr: 34, name: XTE_MAX_CORRECTION_X100, desc: "Maximum XTE heading correction, deg*100 (default 2000 = 20 deg)", unit: "deg", scale: 0.01 }
Reference in New Issue View Git Blame Copy Permalink