fixes to gen fw output and add inibit time emcy to all ods

oresat · Nov 5, 2023 · 9469a73 · 9469a73
1 parent 82e1f2a
commit 9469a73
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Showing 4 changed files with 19 additions and 6 deletions.
diff --git a/oresat_configs/base/fw_common.yaml b/oresat_configs/base/fw_common.yaml
@@ -5,6 +5,7 @@ std_objects:
   - communication_cycle_period
   - identity
   - cob_id_emergency_message
+  - inhibit_time_emcy
   - consumer_heartbeat_time
   - producer_heartbeat_time
   - sdo_server_parameter

diff --git a/oresat_configs/base/sw_common.yaml b/oresat_configs/base/sw_common.yaml
@@ -4,6 +4,7 @@ std_objects:
   - cob_id_sync
   - identity
   - cob_id_emergency_message
+  - inhibit_time_emcy
   - consumer_heartbeat_time
   - producer_heartbeat_time
   - sdo_server_parameter

diff --git a/oresat_configs/scripts/gen_fw_files.py b/oresat_configs/scripts/gen_fw_files.py
@@ -592,13 +592,17 @@ def write_canopennode_h(od: canopen.ObjectDictionary, dir_path: str = "."):
     lines.append("extern OD_ATTR_OD OD_t *OD;")
     lines.append("")
 
+    num = 0
     for i in od:
-        lines.append(f"#define OD_ENTRY_H{i:X} &OD->list[0x{i:X}]")
+        lines.append(f"#define OD_ENTRY_H{i:X} &OD->list[{num}]")
+        num += 1
     lines.append("")
 
+    num = 0
     for i in od:
         name = format_name(od[i].name)
-        lines.append(f"#define OD_ENTRY_H{i:X}_{name.upper()} &OD->list[0x{i:X}]")
+        lines.append(f"#define OD_ENTRY_H{i:X}_{name.upper()} &OD->list[{num}]")
+        num += 1
     lines.append("")
 
     # add nice #defines for indexes and subindex values
@@ -685,7 +689,7 @@ def gen_fw_files(sys_args=None):
             var = canopen.objectdictionary.Variable("cob_id", index, 0x1)
             var.access_type = "const"
             var.data_type = canopen.objectdictionary.UNSIGNED32
-            var.default = ((i % 4) * 0x100) + 0xC0000200  # disabled and no rtr
+            var.default = ((i % 4) * 0x100) + 0x80000200  # disabled and no rtr
             rec.add_member(var)
 
             var = canopen.objectdictionary.Variable("transmission_type", index, 0x2)
@@ -798,19 +802,19 @@ def gen_fw_files(sys_args=None):
                 var = canopen.objectdictionary.Variable(
                     f"mapping_object_{subindex}", index, subindex
                 )
-                var.access_type = "const"
+                var.access_type = "rw"
                 var.data_type = canopen.objectdictionary.UNSIGNED32
                 var.default = 0
                 rec.add_member(var)
         else:
-            for subindex in range(8):
+            for subindex in range(1, 9):
                 if subindex in od[index]:
                     continue
 
                 var = canopen.objectdictionary.Variable(
                     f"mapping_object_{subindex}", index, subindex
                 )
-                var.access_type = "const"
+                var.access_type = "rw"
                 var.data_type = canopen.objectdictionary.UNSIGNED32
                 var.default = 0
                 od[index].add_member(var)

diff --git a/oresat_configs/standard_objects.yaml b/oresat_configs/standard_objects.yaml
@@ -49,6 +49,13 @@
   access_type: rw
   default: "0x80+$NODE_ID"
 
+- index: 0x1015
+  name: inhibit_time_emcy
+  object_type: variable
+  description: inhibit time (in 100 us) for emcy messages
+  data_type: uint16
+  access_type: rw
+
 - index: 0x1016
   name: consumer_heartbeat_time
   object_type: array