Setaremalekiii/chimera pwm

.vscode/settings.json

@@ -12,5 +12,26 @@
     // "--compile-commands-dir=build_fw_test",
     "--query-driver=/usr/local/bin/arm-none-eabi-gcc"
   ],
-  "files.associations": {}
+  "files.associations": {
+    "hw_chimeraconfig_v2.h": "c",
+    "hw_pwminput.h": "c",
+    "hw_spis.h": "c",
+    "hw_pwmoutput.h": "c",
+    "hw_gpios.h": "c",
+    "shared.pb.h": "c",
+    "ssm.pb.h": "c",
+    "pb.h": "c",
+    "hw_pwms.h": "c",
+    "hw_spi.h": "c",
+    "main.h": "c",
+    "hw_i2c.h": "c",
+    "stdint.h": "c",
+    "hw_pwminputfreqonly.h": "c",
+    "hw_hal.h": "c",
+    "format": "c",
+    "hw_chimera_v2.h": "c",
+    "hw_usb.h": "c",
+    "io_log.h": "c",
+    "usb_device.h": "c"
+  }
 }

firmware/chimera/proto/shared.proto

@@ -77,4 +77,4 @@ message I2cNetName {
   oneof name {
     DAM.I2cNetName dam_net_name = 6;
   }
-}
+}

firmware/chimera_v2/chimera_v2.py

@@ -280,7 +280,71 @@ def spi_device(self, net_name: str) -> SpiDevice:
 
         """
         return SpiDevice(self, net_name)
+
+    def pwm_input(self, net_name: str) -> SpiDevice:
+        """Read incoming PWM signal's frequency and duty cycle.
 
+        Args:
+            net_name: Identifier of the PWM sender.
+
+        Returns:
+            Frequency and duty cycle values.
+
+        """
+        request = proto_autogen.shared_pb2.ChimeraV2Request()
+        setattr(
+            request.pwm_read.net_name,
+            self._net_name_tag,
+            self.board_module.PwmNetName.Value(net_name),
+        )
+        self._write(request)
+
+        # Wait for response.
+        response = self._read()
+        assert response.WhichOneof("payload") == "pwm_full_input"
+        return {"freq_hz":response.pwm_full_input.frequency_hz, "duty_cycle": response.pwn_full_input.duty_cycle}
+
+    def pwm_input_freq_only(self, net_name: str) -> SpiDevice:
+        """Read incoming PWM signal's frequency only.
+
+        Args:
+            net_name: Identifier of the PWM sender.
+
+        Returns:
+            Only the frequency value of the PWM signal.
+
+        """
+        request = proto_autogen.shared_pb2.ChimeraV2Request()
+        setattr(
+            request.pwm_read.net_name,
+            self._net_name_tag,
+            self.board_module.PwmNetName.Value(net_name),
+        )
+        self._write(request)
+
+        # Wait for response.
+        response = self._read()
+        assert response.WhichOneof("payload") == "pwm_freq_only_input"
+        return {"freq_hz":response.pwm_full_input.frequency_hz}
+
+    def pwm_output(self, net_name: str, duty_cycle: float, frequency_hz: float) -> SpiDevice:
+        """Send a PWM signal to a designated board with specific timer channel frequency and desired duty cycle.
+
+        Args:
+            net_name: Identifier of the PWM receiver.
+        """
+        request = proto_autogen.shared_pb2.ChimeraV2Request()
+        setattr(
+            request.pwm_read.net_name,
+            self._net_name_tag,
+            self.board_module.PwmNetName.Value(net_name),
+        )
+        self._write(request)
+
+        # Wait for response.
+        response = self._read()
+        assert response.WhichOneof("payload") == "pwm_full_output"
+        return {"freq_hz":response.pwm_full_output.frequency_hz}
 
 class I2cDevice:
     def __init__(self, owner: _Board, net_name: str):

firmware/chimera_v2/proto/bms.proto

@@ -51,4 +51,9 @@ enum SpiNetName {
     SPI_NET_NAME_UNSPECIFIED = 0;
     SPI_LTC6813_LS = 1;
     SPI_LTC6813_HS = 2;
+}
+
+enum PwmNetName {
+    PWM_NET_NAME_UNSPECIFIED = 0;
+    PWM_CHARGER = 1;
 }

firmware/chimera_v2/proto/crit.proto

@@ -21,3 +21,8 @@ enum GpioNetName {
   GPIO_LED_SRCK = 15;
   GPIO_SEVEN_SEG_SRCK = 16;
 }
+
+enum PwmNetName { 
+  PWM_NET_NAME_UNSPECIFIED = 0;
+  PWM_LED_BRIGHTNESS = 0;
+}

firmware/chimera_v2/proto/rsm.proto

@@ -27,3 +27,8 @@ enum I2cNetName {
   I2C_IMU_I2C = 1;
   I2C_R_PUMP_I2C = 2;
 }
+
+enum PwmNetName {
+  PWM_NET_NAME_UNSPECIFIED = 0;
+  PWM_FLOW_RATE_LPS = 1;
+}

firmware/chimera_v2/proto/shared.proto

@@ -177,6 +177,46 @@ message SpiTransactionResponse {
   bytes rx_data = 1 [(nanopb).max_size = 128];
 }
 
+/* PWMs */
+message PwmNetName {
+  oneof name {
+    bms.PwmNetName bms_net_name = 1;
+    rsm.PwmNetName rsm_net_name = 2;
+    crit.PwmNetName crit_net_name = 3;
+  }
+}
+
+message PwmInputRequest {
+  PwmNetName net_name = 1;
+  float frequency_hz = 2;
+  float duty_cycle = 3;
+}
+
+message FullPwmInputResponse {
+  float measured_frequency_hz = 1;
+  float measured_duty_cycle = 2;
+}
+
+message PwmInputFreqOnlyRequest {
+  PwmNetName net_name = 1;
+  float frequency_hz = 2;
+}
+
+message FreqOnlyPwmInputResponse {
+  float measured_frequency_hz = 1;
+}
+
+message PwmOutputRequest {
+  PwmNetName net_name = 1;
+  float frequency_hz = 2;
+  float duty_cycle = 3;
+}
+
+message PwmOutputResponse {
+  float assigned_frequency_hz = 2;
+  float assigned_duty_cycle = 3;
+}
+
 /* 
   Wrapper around all messages 
 
@@ -205,6 +245,11 @@ message ChimeraV2Request {
     SpiReceiveRequest spi_receive = 9;
     SpiTransmitRequest spi_transmit = 10;
     SpiTransactionRequest spi_transaction = 11;
+
+    // PWM.
+    PwmInputRequest pwm_full_input = 12;
+    PwmInputFreqOnlyRequest pwm_freq_only_input = 13;
+    PwmOutputRequest pwm_full_output = 14;
   }
 }
 
@@ -228,5 +273,10 @@ message ChimeraV2Response {
     SpiReceiveResponse spi_receive = 9;
     SpiTransmitResponse spi_transmit = 10;
     SpiTransactionResponse spi_transaction = 11;
+
+    // PWM.
+    FullPwmInputResponse pwm_full_input = 12;
+    FreqOnlyPwmInputResponse pwm_freq_only_input = 13;
+    PwmOutputResponse pwm_full_output = 14;
   }
 }

firmware/chimera_v2/proto_autogen/bms_pb2.py

@@ -4,9 +4,9 @@
 from google.protobuf import runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
 from google.protobuf.internal import builder as _builder
-_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 3, '', 'bms.proto')
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 4, '', 'bms.proto')
 _sym_db = _symbol_database.Default()
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\tbms.proto\x12\x03bms*\xaa\x05\n\x0bGpioNetName\x12\x1d\n\x19GPIO_NET_NAME_UNSPECIFIED\x10\x00\x12\r\n\tGPIO_LEDB\x10\x01\x12\x10\n\x0cGPIO_BSPD_OK\x10\x02\x12\x17\n\x13GPIO_ACCEL_BRAKE_OK\x10\x03\x12\x19\n\x15GPIO_nBRAKE_PRESS_3V3\x10\x04\x12\x1b\n\x17GPIO_nHIGH_CURRENT_BSPD\x10\x05\x12\x15\n\x11GPIO_MSD_SHDN_SNS\x10\x06\x12\x18\n\x14GPIO_HV_P_INTLCK_SNS\x10\x07\x12\x18\n\x14GPIO_HV_N_INTLCK_SNS\x10\x08\x12\x12\n\x0eGPIO_IMD_LATCH\x10\t\x12\r\n\tGPIO_DIAG\x10\n\x12\x0e\n\nGPIO_SD_CD\x10\x0b\x12\r\n\tGPIO_LEDR\x10\x0c\x12\x12\n\x0eGPIO_SPI_CS_LS\x10\r\x12\x14\n\x10GPIO_TSENSE_SEL0\x10\x0e\x12\x14\n\x10GPIO_TSENSE_SEL1\x10\x0f\x12\x14\n\x10GPIO_TSENSE_SEL2\x10\x10\x12\x15\n\x11GPIO_BSPD_TEST_EN\x10\x11\x12\x1e\n\x1aGPIO_TS_ISENSE_OCSC_OK_3V3\x10\x12\x12\x12\n\x0eGPIO_SPI_CS_HS\x10\x13\x12\x0f\n\x0bGPIO_BMS_OK\x10\x14\x12\x19\n\x15GPIO_nEVSE_I_LIM_GPIO\x10\x15\x12\x10\n\x0cGPIO_IR_P_EN\x10\x16\x12\x10\n\x0cGPIO_SHDN_EN\x10\x17\x12\x12\n\x0eGPIO_BMS_LATCH\x10\x18\x12\x0f\n\x0bGPIO_IMD_OK\x10\x19\x12\x13\n\x0fGPIO_BSPD_LATCH\x10\x1a\x12\x16\n\x12GPIO_PRE_CHARGE_EN\x10\x1b\x12\x15\n\x11GPIO_FB_STBY_SHDN\x10\x1c\x12\x0f\n\x0bGPIO_FAN_EN\x10\x1d\x12\x12\n\x0eGPIO_FAN_PGOOD\x10\x1e*\xbe\x01\n\nAdcNetName\x12\x1c\n\x18ADC_NET_NAME_UNSPECIFIED\x10\x00\x12\x10\n\x0cADC_FAN_ISNS\x10\x01\x12\x13\n\x0fADC_TS_VSENSE_P\x10\x02\x12\x13\n\x0fADC_TS_VSENSE_N\x10\x03\x12\x11\n\rADC_SHDN_ISNS\x10\x04\x12\x18\n\x14ADC_EMETER_THERM_SNS\x10\x05\x12\x14\n\x10ADC_TS_ISNS_400A\x10\x06\x12\x13\n\x0fADC_TS_ISNS_50A\x10\x07*R\n\nSpiNetName\x12\x1c\n\x18SPI_NET_NAME_UNSPECIFIED\x10\x00\x12\x12\n\x0eSPI_LTC6813_LS\x10\x01\x12\x12\n\x0eSPI_LTC6813_HS\x10\x02b\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\tbms.proto\x12\x03bms*\xaa\x05\n\x0bGpioNetName\x12\x1d\n\x19GPIO_NET_NAME_UNSPECIFIED\x10\x00\x12\r\n\tGPIO_LEDB\x10\x01\x12\x10\n\x0cGPIO_BSPD_OK\x10\x02\x12\x17\n\x13GPIO_ACCEL_BRAKE_OK\x10\x03\x12\x19\n\x15GPIO_nBRAKE_PRESS_3V3\x10\x04\x12\x1b\n\x17GPIO_nHIGH_CURRENT_BSPD\x10\x05\x12\x15\n\x11GPIO_MSD_SHDN_SNS\x10\x06\x12\x18\n\x14GPIO_HV_P_INTLCK_SNS\x10\x07\x12\x18\n\x14GPIO_HV_N_INTLCK_SNS\x10\x08\x12\x12\n\x0eGPIO_IMD_LATCH\x10\t\x12\r\n\tGPIO_DIAG\x10\n\x12\x0e\n\nGPIO_SD_CD\x10\x0b\x12\r\n\tGPIO_LEDR\x10\x0c\x12\x12\n\x0eGPIO_SPI_CS_LS\x10\r\x12\x14\n\x10GPIO_TSENSE_SEL0\x10\x0e\x12\x14\n\x10GPIO_TSENSE_SEL1\x10\x0f\x12\x14\n\x10GPIO_TSENSE_SEL2\x10\x10\x12\x15\n\x11GPIO_BSPD_TEST_EN\x10\x11\x12\x1e\n\x1aGPIO_TS_ISENSE_OCSC_OK_3V3\x10\x12\x12\x12\n\x0eGPIO_SPI_CS_HS\x10\x13\x12\x0f\n\x0bGPIO_BMS_OK\x10\x14\x12\x19\n\x15GPIO_nEVSE_I_LIM_GPIO\x10\x15\x12\x10\n\x0cGPIO_IR_P_EN\x10\x16\x12\x10\n\x0cGPIO_SHDN_EN\x10\x17\x12\x12\n\x0eGPIO_BMS_LATCH\x10\x18\x12\x0f\n\x0bGPIO_IMD_OK\x10\x19\x12\x13\n\x0fGPIO_BSPD_LATCH\x10\x1a\x12\x16\n\x12GPIO_PRE_CHARGE_EN\x10\x1b\x12\x15\n\x11GPIO_FB_STBY_SHDN\x10\x1c\x12\x0f\n\x0bGPIO_FAN_EN\x10\x1d\x12\x12\n\x0eGPIO_FAN_PGOOD\x10\x1e*\xbe\x01\n\nAdcNetName\x12\x1c\n\x18ADC_NET_NAME_UNSPECIFIED\x10\x00\x12\x10\n\x0cADC_FAN_ISNS\x10\x01\x12\x13\n\x0fADC_TS_VSENSE_P\x10\x02\x12\x13\n\x0fADC_TS_VSENSE_N\x10\x03\x12\x11\n\rADC_SHDN_ISNS\x10\x04\x12\x18\n\x14ADC_EMETER_THERM_SNS\x10\x05\x12\x14\n\x10ADC_TS_ISNS_400A\x10\x06\x12\x13\n\x0fADC_TS_ISNS_50A\x10\x07*R\n\nSpiNetName\x12\x1c\n\x18SPI_NET_NAME_UNSPECIFIED\x10\x00\x12\x12\n\x0eSPI_LTC6813_LS\x10\x01\x12\x12\n\x0eSPI_LTC6813_HS\x10\x02*;\n\nPwmNetName\x12\x1c\n\x18PWM_NET_NAME_UNSPECIFIED\x10\x00\x12\x0f\n\x0bPWM_CHARGER\x10\x01b\x06proto3')
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'bms_pb2', _globals)
@@ -17,4 +17,6 @@
     _globals['_ADCNETNAME']._serialized_start = 704
     _globals['_ADCNETNAME']._serialized_end = 894
     _globals['_SPINETNAME']._serialized_start = 896
-    _globals['_SPINETNAME']._serialized_end = 978
+    _globals['_SPINETNAME']._serialized_end = 978
+    _globals['_PWMNETNAME']._serialized_start = 980
+    _globals['_PWMNETNAME']._serialized_end = 1039

firmware/chimera_v2/proto_autogen/bms_pb2.pyi

@@ -128,4 +128,19 @@ class SpiNetName(_SpiNetName, metaclass=_SpiNetNameEnumTypeWrapper):
 SPI_NET_NAME_UNSPECIFIED: SpiNetName.ValueType
 SPI_LTC6813_LS: SpiNetName.ValueType
 SPI_LTC6813_HS: SpiNetName.ValueType
-global___SpiNetName = SpiNetName
+global___SpiNetName = SpiNetName
+
+class _PwmNetName:
+    ValueType = typing.NewType('ValueType', builtins.int)
+    V: typing_extensions.TypeAlias = ValueType
+
+class _PwmNetNameEnumTypeWrapper(google.protobuf.internal.enum_type_wrapper._EnumTypeWrapper[_PwmNetName.ValueType], builtins.type):
+    DESCRIPTOR: google.protobuf.descriptor.EnumDescriptor
+    PWM_NET_NAME_UNSPECIFIED: _PwmNetName.ValueType
+    PWM_CHARGER: _PwmNetName.ValueType
+
+class PwmNetName(_PwmNetName, metaclass=_PwmNetNameEnumTypeWrapper):
+    ...
+PWM_NET_NAME_UNSPECIFIED: PwmNetName.ValueType
+PWM_CHARGER: PwmNetName.ValueType
+global___PwmNetName = PwmNetName

firmware/chimera_v2/proto_autogen/dam_pb2.py

@@ -4,7 +4,7 @@
 from google.protobuf import runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
 from google.protobuf.internal import builder as _builder
-_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 3, '', 'dam.proto')
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 4, '', 'dam.proto')
 _sym_db = _symbol_database.Default()
 DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\tdam.proto\x12\x03dam*\x9e\x02\n\x0bGpioNetName\x12\x1d\n\x19GPIO_NET_NAME_UNSPECIFIED\x10\x00\x12\x15\n\x11GPIO_TELEM_PWR_EN\x10\x01\x12\x16\n\x12GPIO_BUZZER_PWR_EN\x10\x02\x12\x14\n\x10GPIO_TSIM_RED_EN\x10\x03\x12\x15\n\x11GPIO_NTSIM_GRN_EN\x10\x04\x12\x15\n\x11GPIO_R_SHDN_SENSE\x10\x05\x12\x15\n\x11GPIO_L_SHDN_SENSE\x10\x06\x12\x0c\n\x08GPIO_LED\x10\x07\x12\r\n\tGPIO_BOOT\x10\x08\x12\x13\n\x0fGPIO_SD_PRESENT\x10\t\x12\x13\n\x0fGPIO_N_RTC_INT1\x10\n\x12\r\n\tGPIO_900M\x10\x0b\x12\x10\n\x0cGPIO_SD_FAIL\x10\x0c*7\n\nI2cNetName\x12\x1c\n\x18I2C_NET_NAME_UNSPECIFIED\x10\x00\x12\x0b\n\x07I2C_RTC\x10\x01b\x06proto3')
 _globals = globals()

firmware/chimera_v2/proto_autogen/f4dev_pb2.py

@@ -4,7 +4,7 @@
 from google.protobuf import runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
 from google.protobuf.internal import builder as _builder
-_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 3, '', 'f4dev.proto')
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 4, '', 'f4dev.proto')
 _sym_db = _symbol_database.Default()
 DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0bf4dev.proto\x12\x05f4dev*D\n\x0bGpioNetName\x12\x1d\n\x19GPIO_NET_NAME_UNSPECIFIED\x10\x00\x12\n\n\x06GPIO_6\x10\x01\x12\n\n\x06GPIO_5\x10\x02b\x06proto3')
 _globals = globals()

firmware/chimera_v2/proto_autogen/fsm_pb2.py

@@ -4,7 +4,7 @@
 from google.protobuf import runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
 from google.protobuf.internal import builder as _builder
-_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 3, '', 'fsm.proto')
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 4, '', 'fsm.proto')
 _sym_db = _symbol_database.Default()
 DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\tfsm.proto\x12\x03fsm*\xb1\x02\n\x0bGpioNetName\x12\x1d\n\x19GPIO_NET_NAME_UNSPECIFIED\x10\x00\x12\x11\n\rGPIO_BOTS_3v3\x10\x01\x12\x19\n\x15GPIO_COCKPIT_SHDN_3v3\x10\x02\x12\x11\n\rGPIO_IMU_INT1\x10\x03\x12\x11\n\rGPIO_IMU_INT2\x10\x04\x12\x16\n\x12GPIO_NSUSP_FL_OCSC\x10\x05\x12\x16\n\x12GPIO_NSUSP_FR_OCSC\x10\x06\x12\x13\n\x0fGPIO_FR_INT_3v3\x10\x07\x12\x13\n\x0fGPIO_FL_INT_3v3\x10\x08\x12\x12\n\x0eGPIO_DEBUG_LED\x10\t\x12\x18\n\x14GPIO_NSTR_ANGLE_OCSC\x10\n\x12\x14\n\x10GPIO_NBPS_F_OCSC\x10\x0b\x12\x11\n\rGPIO_BOOT_LED\x10\x0c*\x8c\x01\n\nAdcNetName\x12\x1c\n\x18ADC_NET_NAME_UNSPECIFIED\x10\x00\x12\x0f\n\x0bADC_SUSP_FL\x10\x01\x12\x0f\n\x0bADC_SUSP_FR\x10\x02\x12\r\n\tADC_APPS2\x10\x03\x12\r\n\tADC_BPS_F\x10\x04\x12\x11\n\rADC_STR_ANGLE\x10\x05\x12\r\n\tADC_APPS1\x10\x06*7\n\nI2cNetName\x12\x1c\n\x18I2C_NET_NAME_UNSPECIFIED\x10\x00\x12\x0b\n\x07I2C_IMU\x10\x01b\x06proto3')
 _globals = globals()