From bac550539d6789231c4fbea417cff7f123b17e3c Mon Sep 17 00:00:00 2001 From: bjackson312006 Date: Thu, 29 May 2025 12:05:01 -0400 Subject: [PATCH 1/3] Added MSB Zero IMU CAN messages --- cangen/can-messages/calypso_cmd.json | 316 +++++++++++++++++++++++++++ 1 file changed, 316 insertions(+) diff --git a/cangen/can-messages/calypso_cmd.json b/cangen/can-messages/calypso_cmd.json index 297ddb36..84a7def7 100644 --- a/cangen/can-messages/calypso_cmd.json +++ b/cangen/can-messages/calypso_cmd.json @@ -279,5 +279,321 @@ ], "key": "RadFanStatus", "sim_freq": 750 + }, + { + "id": "0x60A", + "desc": "Zero IMU - Front Left MSB", + "points": [ + { + "size": 8, + "default": 0, + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + } + }, + { + "size": 8, + "default": 0, + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + } + }, + { + "size": 8, + "default": 0, + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + } + } + ], + "fields": [ + { + "name": "Calypso/Bidir/MSB/FrontLeft/ZeroIMU/Yaw", + "unit": "bool", + "values": [ + 1 + ] + }, + { + "name": "Calypso/Bidir/MSB/FrontLeft/ZeroIMU/Pitch", + "unit": "bool", + "values": [ + 2 + ] + }, + { + "name": "Calypso/Bidir/MSB/FrontLeft/ZeroIMU/Roll", + "unit": "bool", + "values": [ + 3 + ] + } + ], + "key": "FrontLeftZeroIMU", + "sim_freq": 750 + }, + { + "id": "0x60B", + "desc": "Zero IMU - Front Right MSB", + "points": [ + { + "size": 8, + "default": 0, + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + } + }, + { + "size": 8, + "default": 0, + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + } + }, + { + "size": 8, + "default": 0, + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + } + } + ], + "fields": [ + { + "name": "Calypso/Bidir/MSB/FrontRight/ZeroIMU/Yaw", + "unit": "bool", + "values": [ + 1 + ] + }, + { + "name": "Calypso/Bidir/MSB/FrontRight/ZeroIMU/Pitch", + "unit": "bool", + "values": [ + 2 + ] + }, + { + "name": "Calypso/Bidir/MSB/FrontRight/ZeroIMU/Roll", + "unit": "bool", + "values": [ + 3 + ] + } + ], + "key": "FrontRightZeroIMU", + "sim_freq": 750 + }, + { + "id": "0x60C", + "desc": "Zero IMU - Back Left MSB", + "points": [ + { + "size": 8, + "default": 0, + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + } + }, + { + "size": 8, + "default": 0, + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + } + }, + { + "size": 8, + "default": 0, + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + } + } + ], + "fields": [ + { + "name": "Calypso/Bidir/MSB/BackLeft/ZeroIMU/Yaw", + "unit": "bool", + "values": [ + 1 + ] + }, + { + "name": "Calypso/Bidir/MSB/BackLeft/ZeroIMU/Pitch", + "unit": "bool", + "values": [ + 2 + ] + }, + { + "name": "Calypso/Bidir/MSB/BackLeft/ZeroIMU/Roll", + "unit": "bool", + "values": [ + 3 + ] + } + ], + "key": "BackLeftZeroIMU", + "sim_freq": 750 + }, + { + "id": "0x60D", + "desc": "Zero IMU - Back Right MSB", + "points": [ + { + "size": 8, + "default": 0, + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + } + }, + { + "size": 8, + "default": 0, + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + } + }, + { + "size": 8, + "default": 0, + "sim": { + "options": [ + [ + 0, + 0.95 + ], + [ + 1, + 0.05 + ] + ] + } + } + ], + "fields": [ + { + "name": "Calypso/Bidir/MSB/BackRight/ZeroIMU/Yaw", + "unit": "bool", + "values": [ + 1 + ] + }, + { + "name": "Calypso/Bidir/MSB/BackRight/ZeroIMU/Pitch", + "unit": "bool", + "values": [ + 2 + ] + }, + { + "name": "Calypso/Bidir/MSB/BackRight/ZeroIMU/Roll", + "unit": "bool", + "values": [ + 3 + ] + } + ], + "key": "BackRightZeroIMU", + "sim_freq": 750 } ] \ No newline at end of file From ca48350c1d93168fc9faf52dc8cf3bc150a9c5ab Mon Sep 17 00:00:00 2001 From: bjackson312006 Date: Thu, 29 May 2025 12:07:49 -0400 Subject: [PATCH 2/3] Fixed illegal characters --- cangen/can-messages/calypso_cmd.json | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/cangen/can-messages/calypso_cmd.json b/cangen/can-messages/calypso_cmd.json index 84a7def7..3901389b 100644 --- a/cangen/can-messages/calypso_cmd.json +++ b/cangen/can-messages/calypso_cmd.json @@ -282,7 +282,7 @@ }, { "id": "0x60A", - "desc": "Zero IMU - Front Left MSB", + "desc": "Zero IMU Front Left MSB", "points": [ { "size": 8, @@ -361,7 +361,7 @@ }, { "id": "0x60B", - "desc": "Zero IMU - Front Right MSB", + "desc": "Zero IMU Front Right MSB", "points": [ { "size": 8, @@ -440,7 +440,7 @@ }, { "id": "0x60C", - "desc": "Zero IMU - Back Left MSB", + "desc": "Zero IMU Back Left MSB", "points": [ { "size": 8, @@ -519,7 +519,7 @@ }, { "id": "0x60D", - "desc": "Zero IMU - Back Right MSB", + "desc": "Zero IMU Back Right MSB", "points": [ { "size": 8, From fa035b7b9037803c3083aab758511b54b11179d0 Mon Sep 17 00:00:00 2001 From: bjackson312006 Date: Thu, 29 May 2025 12:15:22 -0400 Subject: [PATCH 3/3] Updated Back Right CAN ID --- cangen/can-messages/calypso_cmd.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cangen/can-messages/calypso_cmd.json b/cangen/can-messages/calypso_cmd.json index 3901389b..5d177246 100644 --- a/cangen/can-messages/calypso_cmd.json +++ b/cangen/can-messages/calypso_cmd.json @@ -518,7 +518,7 @@ "sim_freq": 750 }, { - "id": "0x60D", + "id": "0x60E", "desc": "Zero IMU Back Right MSB", "points": [ {