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Adding emergency testing sensors: IMUs and lin pots #232

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24418c0
Added new IMU and lin pots CAN IDs and message parsing
Shrav816 Oct 24, 2026
fe9c352
Fixed scaling formula for gyros
Shrav816 Oct 24, 2026
ea98376
No longer need `git` in the dockerfile
dchansen06 Oct 24, 2026
6ee1a69
Changed power level torque map to forward and regen current
Shrav816 Oct 24, 2026
7758378
Fixed a little casting error for the forward current
Shrav816 Oct 24, 2026
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23 changes: 20 additions & 3 deletions gr26/model/ecu.go
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,23 @@ import (
mp "github.com/gaucho-racing/mapache/mapache-go/v3"
)

func map_forward_current(raw_current uint8) float64 {
switch raw_current {
case 0:
return 50
case 1:
return 100
case 2:
return 200
case 3:
return 300
case 4:
return 325
default:
return 0
}
}

var ECUStatus1 = mp.Message{
mp.NewField("ecu_state", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
return []mp.Signal{
Expand All @@ -27,10 +44,10 @@ var ECUStatus1 = mp.Message{
{Name: "ping_group_3", Value: float64(f.Value), RawValue: f.Value},
}
}),
mp.NewField("power_torque", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
mp.NewField("forward_ac_i_code_regen_ac_i_code", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
return []mp.Signal{
{Name: "power_level", Value: float64(f.Value & 0x0F), RawValue: f.Value & 0x0F},
{Name: "torque_map", Value: float64((f.Value >> 4) & 0x0F), RawValue: (f.Value >> 4) & 0x0F},
{Name: "forward_ac_i_code", Value: map_forward_current(uint8(f.Value & 0x0F)), RawValue: f.Value & 0x0F},
{Name: "regen_ac_i_code", Value: float64((f.Value>>4)&0x0F) * 15.0, RawValue: (f.Value >> 4) & 0x0F},
}
}),
mp.NewField("max_cell_temp", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
Expand Down
3 changes: 3 additions & 0 deletions gr26/model/message.go
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,9 @@ var messageMap = map[int]mp.Message{
0x201: TCMResourceUtil,
0x210: TCMShelterHeartbeat,
0x211: TCMShelterBatch,
// SAM
0x026: SAMIMU,
0x02B: SAMSusPots,
// GPS
0x030: DGPS_UVW,
0x031: GPSLatitude,
Expand Down
74 changes: 74 additions & 0 deletions gr26/model/sam.go
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Original file line number Diff line number Diff line change
@@ -0,0 +1,74 @@
package model

import (
mp "github.com/gaucho-racing/mapache/mapache-go/v3"
)

var SAMIMU = mp.Message{
mp.NewField("bmi323_acc_x", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "bmi323_acc_x",
Value: (float64(f.Value) * 0.01) - 327.68,
RawValue: f.Value,
})
return signals
}),
mp.NewField("bmi323_acc_y", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "bmi323_acc_y",
Value: (float64(f.Value) * 0.01) - 327.68,
RawValue: f.Value,
})
return signals
}),
mp.NewField("bmi323_acc_z", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "bmi323_acc_z",
Value: (float64(f.Value) * 0.01) - 327.68,
RawValue: f.Value,
})
return signals
}),
mp.NewField("bmi323_gyro_x", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "bmi323_gyro_x",
Value: (float64(f.Value) * 0.001) - 32.768,
RawValue: f.Value,
})
return signals
}),
mp.NewField("bmi323_gyro_y", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "bmi323_gyro_y",
Value: (float64(f.Value) * 0.001) - 32.768,
RawValue: f.Value,
})
return signals
}),
mp.NewField("bmi323_gyro_z", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "bmi323_gyro_z",
Value: (float64(f.Value) * 0.001) - 32.768,
RawValue: f.Value,
})
return signals
}),
}

var SAMSusPots = mp.Message{
mp.NewField("sus_pot_pos", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "sus_pot_pos",
Value: float64(f.Value),
RawValue: f.Value,
})
return signals
}),
}
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