ELEC-620: Add CAN messages for Driver Controls (#38)

Add the CAN messages for the Distributed Driver Controls, consisting of
a Pedal, Steering, and Center Console board. The Pedal board is chosen
to be the Master, and other boards will raise events over CAN.

Also, update Python packaging tools and Python versions used in CI,
as 3.3 and 3.4 are now EOL.

.travis.yml

@@ -6,8 +6,8 @@ dist: trusty
 language: python
 python:
   - '2.7'
-  - '3.3'
-  - '3.4'
+  - '3.5'
+  - '3.6'
 
 branches:
   only:
@@ -16,6 +16,9 @@ branches:
 before_install:
   - sudo apt-get -qq update
   - sudo apt-get install golang
+  # Upgrade Python packaging tools
+  - pip install --upgrade pip
+  - pip install --upgrade setuptools
 
 install:
   - pip install -r requirements.txt

can_messages.asciipb

@@ -101,7 +101,7 @@ msg {
 
 msg {
   id: 7
-  source: DRIVER_CONTROLS
+  source: DRIVER_CONTROLS_PEDAL
   # target: CHAOS
   msg_name: "power state"
   is_critical: true
@@ -115,7 +115,7 @@ msg {
 msg {
   id: 8
   source: CHAOS
-  # target: PLUTUS, MOTOR_CONTROLLER, DRIVER_CONTROLS
+  # target: PLUTUS, MOTOR_CONTROLLER, DRIVER_CONTROLS_PEDAL
   msg_name: "powertrain heartbeat"
   is_critical: true
   can_data {
@@ -124,23 +124,12 @@ msg {
   }
 }
 
-# IDs: 9-14 Reserved
-msg {
-  id: 15
-  source: DRIVER_CONTROLS
-  # target: MOTOR_INTERFACE
-  msg_name: "motor controller reset"
-  can_data {
-    empty {
-    }
-  }
-}
-
+# IDs: 9-15 Reserved
 
 msg {
   id: 16
   source: CHAOS
-  # target: DRIVER_DISPLAY, TELEMETRY
+  # target: TELEMETRY
   msg_name: "ovuv dcdc aux"
   msg_readable_name: "ov uv dcdc and aux bat"
   can_data {
@@ -169,7 +158,7 @@ msg {
 
 msg {
   id: 18
-  source: DRIVER_CONTROLS
+  source: DRIVER_CONTROLS_PEDAL
   # target: MOTOR_INTERFACE
   msg_name: "drive output"
   can_data {
@@ -184,7 +173,7 @@ msg {
 
 msg {
   id: 19
-  source: DRIVER_CONTROLS
+  source: DRIVER_CONTROLS_PEDAL
   # target: DRIVER_DISPLAY
   msg_name: "cruise_target"
   can_data {
@@ -243,7 +232,7 @@ msg {
 
 msg {
   id: 24
-  source: DRIVER_CONTROLS
+  source: DRIVER_CONTROLS_PEDAL
   # target: LIGHTS
   msg_name: "lights state"
   can_data {
@@ -256,7 +245,7 @@ msg {
 
 msg {
   id: 25
-  source: DRIVER_CONTROLS
+  source: DRIVER_CONTROLS_PEDAL
   # target: LIGHTS
   msg_name: "horn"
   can_data {
@@ -293,22 +282,55 @@ msg {
 
 msg {
   id: 28
-  source: DRIVER_CONTROLS
-  # target: TELEMETRY
-  msg_name: "steering angle"
+  source: DRIVER_CONTROLS_STEERING
+  # target: DRIVER_CONTROLS_PEDAL
+  msg_name: "steering event"
+  can_data {
+    u16 {
+      field_name_1: "event_id"
+      field_name_2: "data"
+    }
+  }
+}
+
+msg {
+  id: 29
+  source: DRIVER_CONTROLS_CENTER_CONSOLE
+  # target: DRIVER_CONTROLS_PEDAL
+  msg_name: "center console event"
+  # Buttons:
+  #   * low beam
+  #   * daytime running lights
+  #   * hazards
+  #   * power
+  #   * drive
+  #   * neutral
+  #   * reverse
+  # 5V Monitor
   can_data {
     u16 {
-      field_name_1: "steering_angle"
+      field_name_1: "event_id"
+      field_name_2: "data"
     }
   }
 }
 
-# IDs: 29-30 Reserved
+msg {
+  id: 30
+  source: DRIVER_CONTROLS_PEDAL
+  # target: MOTOR_INTERFACE
+  msg_name: "motor controller reset"
+  can_data {
+    u8 {
+      field_name_1: "motor_controller_index"
+    }
+  }
+}
 
 msg {
   id: 31
   source: PLUTUS
-  # target: DRIVER_DISPLAY, TELEMETRY
+  # target: TELEMETRY
   msg_name: "battery soc"
   can_data {
     empty {
@@ -319,7 +341,7 @@ msg {
 msg {
   id: 32
   source: PLUTUS
-  # target: DRIVER_DISPLAY, TELEMETRY
+  # target: TELEMETRY
   msg_name: "battery vt"
   msg_readable_name: "battery voltage temperature"
   can_data {
@@ -334,7 +356,7 @@ msg {
 msg {
   id: 33
   source: PLUTUS
-  # target: DRIVER_DISPLAY, TELEMETRY
+  # target: TELEMETRY
   msg_name: "battery aggregate vc"
   msg_readable_name: "battery aggregate voltage and current"
   can_data {
@@ -350,7 +372,7 @@ msg {
 msg {
   id: 35
   source: MOTOR_CONTROLLER
-  # target: DRIVER_DISPLAY, TELEMETRY
+  # target: TELEMETRY
   msg_name: "motor controller vc"
   msg_readable_name: "motor controller voltage current"
   can_data {
@@ -366,7 +388,7 @@ msg {
 msg {
   id: 36
   source: MOTOR_CONTROLLER
-  # target: DRIVER_DISPLAY, TELEMETRY
+  # target: TELEMETRY
   msg_name: "motor velocity"
   can_data {
     u16 {
@@ -417,7 +439,7 @@ msg {
 msg {
   id: 40
   source: MOTOR_CONTROLLER
-  # target: DRIVER_DISPLAY, TELEMETRY
+  # target: TELEMETRY
   msg_name: "odometer"
   can_data {
     u32 {
@@ -460,7 +482,7 @@ msg {
 msg {
   id: 45
   source: SOLAR_MASTER_FRONT
-  # target: DRIVER_DISPLAY, TELEMETRY
+  # target: TELEMETRY
   msg_name: "solar data front"
   can_data {
     u16 {
@@ -475,7 +497,7 @@ msg {
 msg {
   id: 46
   source: SOLAR_MASTER_REAR
-  # target: DRIVER_DISPLAY, TELEMETRY
+  # target: TELEMETRY
   msg_name: "solar data rear"
   can_data {
     u16 {

codegen/build_dbc.py

@@ -44,10 +44,10 @@
         'CHAOS',
         'LIGHTS_FRONT',
         'PLUTUS_SLAVE',
-        'DRIVER_CONTROLS'
+        'DRIVER_CONTROLS_PEDAL'
     ],
     1: [
-        'DRIVER_CONTROLS'
+        'DRIVER_CONTROLS_PEDAL'
     ],
     2: [
         'PLUTUS'
@@ -70,7 +70,7 @@
     8: [
         'PLUTUS',
         'MOTOR_CONTROLLER',
-        'DRIVER_CONTROLS'
+        'DRIVER_CONTROLS_PEDAL'
     ],
 }
 

requirements.txt

@@ -6,4 +6,4 @@ isort==4.2.15
 pylint==1.7.2
 nose==1.3.7
 parameterized==0.6.1
-cantools==32.11.2
+cantools==32.19.0

schema/can.proto

@@ -58,12 +58,13 @@ message CanMsg {
     LIGHTS_FRONT = 5;
     LIGHTS_REAR = 6;
     MOTOR_CONTROLLER = 7;
-    DRIVER_CONTROLS = 8;
-    DRIVER_DISPLAY = 9;
+    DRIVER_CONTROLS_PEDAL = 8;
+    DRIVER_CONTROLS_CENTER_CONSOLE = 9;
     SOLAR_MASTER_FRONT = 10;
     SOLAR_MASTER_REAR = 11;
     SENSOR_BOARD = 12;
     CHARGER = 13;
+    DRIVER_CONTROLS_STEERING = 14;
   }
 
   uint32 raw_id = 1;  // 0-2047 only