Msb yaml (#133)

* init msb yaml * add all other wheels * fix wierd dup * add mpu gyro
Northeastern-Electric-Racing · Jun 24, 2024 · 14ee4ff · 14ee4ff
1 parent e3359df
commit 14ee4ff
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Showing 3 changed files with 405 additions and 6 deletions.
diff --git a/cangen/can-messages/dti.yaml b/cangen/can-messages/dti.yaml
@@ -316,7 +316,7 @@ msgs:
     desc: "Brake_Current_Command"
     fields:
     - !NetField
-        name: "DTI/Commands/Brake_Current_Target"
+        name: "MPU/Commands/Brake_Current_Target"
         unit: "A"
         points:
         - !CANPoint

diff --git a/cangen/can-messages/mpu.yaml b/cangen/can-messages/mpu.yaml
@@ -30,19 +30,34 @@ msgs:
         - !CANPoint
             size: 8
 
-        
+
 - !CANMsg
     id: "0x500"
-    desc: "MPU Acceleromter"
+    desc: "MPU Sense Acceleromter"
     fields:
     - !NetField   # X, Y, and Z should be decoded together
-        name: "MPU/Accel"
+        name: "MPU/Sense/Accel"
         unit: "g"
         points:
         - !CANPoint
             size: 16
         - !CANPoint
-            size: 8
+            size: 16
+        - !CANPoint
+            size: 16
+
+- !CANMsg
+    id: "0x506"
+    desc: "MPU Sense Gyro"
+    fields:
+    - !NetField   # X, Y, and Z should be decoded together
+        name: "MPU/Sense/Gyro"
+        unit: ""
+        points:
+        - !CANPoint
+            size: 16
+        - !CANPoint
+            size: 16
         - !CANPoint
             size: 16
 
@@ -66,7 +81,7 @@ msgs:
 
 - !CANMsg
     id: "0x503"
-    desc: "MPU Sense"
+    desc: "MPU Sense Voltage"
     fields:
     - !NetField
         name: "MPU/Sense/Voltage"