test-rig-pj.yaml

components:
  - type: generalpurpose
    name: homenet
    net: homenet

  - type: generalpurpose
    name: rpi
    ssh: odrv
    net: homenet
    components:
      - type: uart
        name: uart0
        port: /dev/ttyS0
        connected-to: main_uart
      - type: can
        name: can0
        interface: can0
        connected-to: odrive.can
       # need to specify GPIOs explicitly for the generalpurpose type
      - {type: gpio, num: 16}
      - {type: gpio, num: 19}
      - {type: gpio, num: 20}
      - {type: gpio, num: 26}

#  - type: programmer
#    name: The Blue STLink/v2
#    id: '\x53\x3f\x75\x06\x49\x3f\x49\x51\x44\x54\x19\x3f'

  - type: odrive
    name: odrive
    board-version: v3.6-58V
    serial-number: "2061398A4D4D"
    brake-resistance: 0.50
    usb: auto
    can: main_canbus
    vbus-voltage: 24 # [V]
    max-brake-power: 150 # [W]
    encoder0: virtual_encoder0
    encoder1: virtual_encoder1
    motor0: D5065-270KV_0
    motor1: floating

  - type: motor
    name: D5065-270KV_0
    phase-resistance: 0.039
    phase-inductance: 1.57e-05
    pole-pairs: 7
    direction: 1
    kv: 270
    max-current: 70
    max-voltage: 40

  - type: encoder
    name: real_encoder
    cpr: 8192
    max-rpm: 7000

  - type: arduino
    name: teensy
    board-version: teensy:avr:teensy40

  - {type: lpf, name: lpf0}
  - {type: lpf, name: lpf1}

connections:
  - ['odrive.can', 'rpi.can0']
  - ['teensy.program', 'rpi.gpio26']
  - ['teensy.gpio12', 'rpi.uart0.tx']
  - ['teensy.gpio13', 'rpi.uart0.rx']
  - ['teensy.gpio11', 'odrive.gpio1']
  - ['teensy.gpio10', 'odrive.gpio2']
  - ['teensy.gpio9', 'odrive.gpio3']
  - ['teensy.gpio8', 'odrive.gpio4']
  - ['teensy.gpio14', 'odrive.gpio5']
  - ['teensy.gpio15', 'odrive.gpio6']
  - ['teensy.gpio16', 'odrive.gpio7']
  - ['teensy.gpio17', 'odrive.gpio8']
  - ['teensy.gpio6', 'rpi.gpio20']
  - ['teensy.gpio7', 'rpi.gpio19']
  - ['teensy.gpio23', 'odrive.encoder0.z']
  - ['teensy.gpio22', 'odrive.encoder0.b']
  - ['teensy.gpio21', 'odrive.encoder0.a']
  - ['teensy.gpio20', 'odrive.encoder1.z']
  - ['teensy.gpio19', 'odrive.encoder1.b']
  - ['teensy.gpio18', 'odrive.encoder1.a']
  - ['teensy.gpio0', 'real_encoder.z']
  - ['teensy.gpio1', 'real_encoder.a']
  - ['teensy.gpio2', 'real_encoder.b']
  - ['teensy.gpio3', 'odrive.spi.mosi']
  - ['teensy.gpio4', 'odrive.spi.miso']
  - ['teensy.gpio5', 'odrive.spi.sck']
  - ['odrive.axis0', 'D5065-270KV_0.phases']
  - ['D5065-270KV_0.shaft', 'real_encoder.shaft']
  - ['odrive.gpio3', 'lpf0']
  - ['odrive.gpio4', 'lpf1']
  - ['lpf0.en', 'lpf1.en', 'rpi.gpio16']