[VCU] event modes, energy metering (#289)

* autox

* pedal tune

* endurance

* vcu emits current event

* fixed params

* packet

* energy metering

* im a fat chud

* schema: regenerate generated artifacts from CSV

mm/autox added event_mode (0x1C7) and net_energy/regen_energy
(0x1C9) to the CSV but didn't run the full schema-gen chain,
so the schema-drift CI was failing on stale artifacts.

Pure regen of the non-firmware codegen outputs:
- drivers/longhorn-lib/can.json + protobuf/can_packets.proto
- BEVO can.json / can_packets.proto / sensor_data.desc / generated_mapping.rs
- telemtry sensor.proto / orion.proto / Prisma / SQL / ORM models

Firmware-side can_ids.h / can_ids.c are intentionally NOT regenerated
here — Matt is updating those alongside the new packet handlers and
will commit them separately.

---------

Co-authored-by: alicedimauro <alicedimauro@utexas.edu>
Co-authored-by: cyberneel <neelesh.chevuri25@gmail.com>

Author: 3 people

BEVO/sensor_data.desc

@@ -1,6 +1,6 @@
 
-�;
-$nonhermetic/assets/can_packets.protoorion"�
+Ÿ9
+$nonhermetic/assets/can_packets.protoorion"¡
 OrionSensorData
 time
 
(Rtime
 	packet_id 
(RpacketId+
@@ -10,7 +10,7 @@ $nonhermetic/assets/can_packets.protoorion"
 diagnostics_high 
(2.orion.DiagnosticsHighRdiagnosticsHigh>
 diagnostics_low 
(2.orion.DiagnosticsLowRdiagnosticsLow(
 thermal 
(2.orion.ThermalRthermal5
-board_status	 
(2.orion.BoardStatusRboardStatus"�
+board_status	 
(2.orion.BoardStatusRboardStatus"Ï
 BoardStatus%
 csm_last_seen_s
 
(RcsmLastSeenS%
 dui_last_seen_s 
(RduiLastSeenS%
@@ -19,7 +19,7 @@ $nonhermetic/assets/can_packets.protoorion"
 pdu_last_seen_s 
(RpduLastSeenS%
 tsm_last_seen_s 
(RtsmLastSeenS%
 usm_last_seen_s 
(RusmLastSeenS%
-vcu_last_seen_s 
(RvcuLastSeenS"�	
+vcu_last_seen_s 
(RvcuLastSeenS"þ	
 Dynamics
 gps
 (Rgps
 gps_imu (RgpsImu
@@ -34,15 +34,21 @@ $nonhermetic/assets/can_packets.protoorion"
  
(RbrWheelSpeed$
 fl_wheel_speed 
(RflWheelSpeed$
 fr_wheel_speed 
(RfrWheelSpeed&
-steer_col_angle 
(RsteerColAngle
+steer_col_angle
+ 
(R
+steerColAngle
 bl_gyro (RblGyro&
-bl_sprung_accel (RblSprungAccel
+bl_sprung_accel (R
+blSprungAccel
 br_gyro (RbrGyro&
-br_sprung_accel (RbrSprungAccel
+br_sprung_accel (R
+brSprungAccel
 fl_gyro (RflGyro&
-fl_sprung_accel (RflSprungAccel
+fl_sprung_accel (R
+flSprungAccel
 fr_gyro (RfrGyro&
-fr_sprung_accel (RfrSprungAccel$
+fr_sprung_accel (R
+frSprungAccel$
 bl_ride_height 
(RblRideHeight)
 bl_strain_gauge_v 
(RblStrainGaugeV
 bl_sus_pot_v 
(R	blSusPotV$
@@ -58,7 +64,7 @@ $nonhermetic/assets/can_packets.protoorion"
 ride_height" 
(R
 rideHeight
 wheel_speed# 
(R
-wheelSpeed"�
+wheelSpeed"Ý
 Controls
 motor_speed
 
(R
 motorSpeed'
@@ -74,32 +80,38 @@ motorSpeed'
  
(Rbpps2V
 
 brake_bias 
(R	brakeBias&
-brake_light_pct 
(RbrakeLightPct(
-brake_pressure_f 
(RbrakePressureF.
+brake_light_pct 
(R
+brakeLightPct(
+brake_pressure_f
+ 
(RbrakePressureF.
 brake_pressure_rall 
(RbrakePressureRall.
 brake_pressure_rbll 
(RbrakePressureRbll
 bse1_v 
(Rbse1V
 bse2_v 
(Rbse2V
 bse3_v 
(Rbse3V%
-lights_current 
(RlightsCurrent
+lights_current 
(R
+lightsCurrent
 rpm_request 
(R
 rpmRequest%
-torque_command 
(RtorqueCommand!
+torque_command 
(R
+torqueCommand!
 torque_limit 
(RtorqueLimit%
-torque_request 
(RtorqueRequest)
+torque_request 
(R
+torqueRequest)
 commanded_torque 
(RcommandedTorque
 motor_angle 
(R
 motorAngle
 	direction 
(R	direction
 enable 
(Renable*
 line_lock_enabled 
(RlineLockEnabled%
-torque_shudder 
(RtorqueShudder
+torque_shudder 
(R
+torqueShudder
 bse3 
(Rbse3
 
 event_mode' 
(R	eventMode
 
 net_energy( 
(R	netEnergy!
-regen_energy) 
(RregenEnergy"�
+regen_energy) 
(RregenEnergy"Û
 Pack
 bus_voltage
 
(R
 busVoltage*
@@ -108,24 +120,30 @@ busVoltage*
 cells_v (RcellsV
 dc_bus_v 
(RdcBusV0
 delta_resolver_angle 
(RdeltaResolverAngle#
-inverter_freq 
(RinverterFreq(
+
+inverter_freq 
(RinverterFreq(
 neutral_output_v 
(RneutralOutputV"
-time_since_on	 
(RtimeSinceOn
+
+time_since_on	 
(RtimeSinceOn
 vab_vq_v
  
(RvabVqV
 vbc_vd_v 
(RvbcVdV
 cells_temps (R
 cellsTemps$
-dc_bus_current 
(RdcBusCurrent
+dc_bus_current
+ 
(RdcBusCurrent
 hv_c 
(RhvC
 	hv_pack_v 
(RhvPackV
 hv_soc 
(RhvSoc
 	lv_batt_c 
(RlvBattC
 	lv_batt_t 
(RlvBattT
 	lv_batt_v 
(RlvBattV&
-phase_a_current 
(RphaseACurrent&
-phase_b_current 
(RphaseBCurrent&
-phase_c_current 
(RphaseCCurrent"�
+phase_a_current 
(R
+phaseACurrent&
+phase_b_current 
(R
+phaseBCurrent&
+phase_c_current 
(R
+phaseCCurrent"Ì
 DiagnosticsHigh
 prndl_state
 
(R
 prndlState)
@@ -136,28 +154,37 @@ postFaults
 
 run_faults 
(R	runFaults)
 apps1_disconnect 
(Rapps1Disconnect&
-apps1_out_range 
(Rapps1OutRange)
+apps1_out_range 
(R
+apps1OutRange)
 apps2_disconnect 
(Rapps2Disconnect&
-apps2_out_range	 
(Rapps2OutRange#
-apps_implause
+apps2_out_range	 
(R
+apps2OutRange#
+
+apps_implause
  
(RappsImplause#
-apps_mismatch 
(RappsMismatch$
+
+apps_mismatch 
(RappsMismatch$
 batt_fans_fuse 
(RbattFansFuse$
-batt_pump_fuse 
(RbattPumpFuse
+batt_pump_fuse
+ 
(RbattPumpFuse
 boards_fuse 
(R
 boardsFuse)
 bpps1_disconnect 
(Rbpps1Disconnect&
-bpps1_out_range 
(Rbpps1OutRange)
+bpps1_out_range 
(R
+bpps1OutRange)
 bpps2_disconnect 
(Rbpps2Disconnect&
-bpps2_out_range 
(Rbpps2OutRange#
-bpps_mismatch 
(RbppsMismatch(
+bpps2_out_range 
(R
+bpps2OutRange#
+
+bpps_mismatch 
(RbppsMismatch(
 brake_light_fuse 
(RbrakeLightFuse'
 bse1_disconnect 
(Rbse1Disconnect$
 bse1_out_range 
(Rbse1OutRange'
 bse2_disconnect 
(Rbse2Disconnect$
 bse2_out_range 
(Rbse2OutRange
 ll_fuse 
(RllFuse&
-motor_pump_fuse 
(RmotorPumpFuse
+motor_pump_fuse 
(R
+motorPumpFuse
 
 r2d_buzzer 
(R	r2dBuzzer
 rtd_fuse 
(RrtdFuse
@@ -169,33 +196,43 @@ shtdn_fuse 
(R	shtdnFuse0
 spare_fuse  
(R	spareFuse
 stomp_fault! 
(R
 stompFault&
-tssi_green_fuse" 
(RtssiGreenFuse"
-tssi_red_fuse# 
(RtssiRedFuse(
+tssi_green_fuse" 
(R
+tssiGreenFuse"
+
+tssi_red_fuse# 
(RtssiRedFuse(
 neg_hv_contactor$ 
(RnegHvContactor(
 pos_hv_contactor% 
(RposHvContactor/
-precharge_contactor& 
(RprechargeContactor"�
+precharge_contactor& 
(RprechargeContactor"‘
 DiagnosticsLow(
 precharge_r_temp
 
(RprechargeRTemp$
 bmb_comm_error 
(RbmbCommError5
 imd_gnd_isolation_error 
(RimdGndIsolationError%
-r2d_authorized 
(Rr2dAuthorized
+r2d_authorized 
(R
+r2dAuthorized
 
 r2d_status 
(R	r2dStatus#
-shutdown_leg1 
(RshutdownLeg1#
-shutdown_leg2 
(RshutdownLeg2#
-shutdown_leg3 
(RshutdownLeg3#
-shutdown_leg4	 
(RshutdownLeg4
+
+shutdown_leg1 
(RshutdownLeg1#
+
+shutdown_leg2 
(RshutdownLeg2#
+
+shutdown_leg3 
(RshutdownLeg3#
+
+shutdown_leg4	 
(RshutdownLeg4
 
 temp_imd_1
  
(RtempImd1
 
 temp_imd_2 
(RtempImd2&
-temp_shutdown_1 
(RtempShutdown1&
-temp_shutdown_2 
(RtempShutdown2'
+temp_shutdown_1 
(R
+tempShutdown1&
+temp_shutdown_2
+ 
(R
+tempShutdown2'
 charger_current 
(RchargerCurrent'
 charger_voltage 
(RchargerVoltage'
 charger_enabled 
(RchargerEnabled
-imd_led 
(RimdLed"�
+imd_led 
(RimdLed"ÿ
 Thermal0
 batt_cooling_current
 
(RbattCoolingCurrent2
 motor_cooling_current 
(RmotorCoolingCurrent!
@@ -205,25 +242,35 @@ motor_temp 
(R	motorTemp-
 batt_loop_batt_temp 
(RbattLoopBattTemp4
 batt_loop_rad_fan_speed 
(RbattLoopRadFanSpeed+
 batt_loop_rad_temp 
(RbattLoopRadTemp&
-battery_fan_rpm 
(RbatteryFanRpm"
-bus_bar_temp1	 
(RbusBarTemp1"
-bus_bar_temp2
+battery_fan_rpm 
(R
+batteryFanRpm"
+
+bus_bar_temp1	 
(RbusBarTemp1"
+
+bus_bar_temp2
  
(RbusBarTemp2"
-bus_bar_temp3 
(RbusBarTemp3(
+
+bus_bar_temp3 
(RbusBarTemp3(
 cell_bottom_temp 
(RcellBottomTemp"
-cell_top_temp 
(RcellTopTemp(
+
+cell_top_temp
+ 
(RcellTopTemp(
 coolant_flow_lpm 
(RcoolantFlowLpm!
 coolant_temp 
(RcoolantTemp(
 discharge_r_temp 
(RdischargeRTemp
 fan_rpm 
(RfanRpm(
 gate_driver_temp 
(RgateDriverTemp2
 inverter_hotspot_temp 
(RinverterHotspotTemp#
-inverter_temp 
(RinverterTemp(
+
+inverter_temp 
(RinverterTemp(
 max_cell_voltage 
(RmaxCellVoltage(
 min_cell_voltage 
(RminCellVoltage"
-module_a_temp 
(RmoduleATemp"
-module_b_temp 
(RmoduleBTemp"
-module_c_temp 
(RmoduleCTemp7
+
+module_a_temp 
(RmoduleATemp"
+
+module_b_temp 
(RmoduleBTemp"
+
+module_c_temp 
(RmoduleCTemp7
 motor_loop_inverter_temp 
(RmotorLoopInverterTemp1
 motor_loop_motor_temp 
(RmotorLoopMotorTemp-
 motor_loop_rad_temp 
(RmotorLoopRadTemp
@@ -233,9 +280,12 @@ temp_ams_1 
(RtempAms1
 temp_ams_2 
(RtempAms2$
 temp_command_1 
(RtempCommand1$
 temp_command_2  
(RtempCommand2"
-temp_output_1! 
(RtempOutput1"
-temp_output_2" 
(RtempOutput2,
+
+temp_output_1! 
(RtempOutput1"
+
+temp_output_2" 
(RtempOutput2,
 max_charge_current# 
(RmaxChargeCurrent,
 max_charge_voltage$ 
(RmaxChargeVoltage
 bms_led% 
(RbmsLed%
-charger_enable& 
(RchargerEnablebproto3
+charger_enable& 
(R
+chargerEnablebproto3

VCU/firmware/Core/Inc/params/default_params.h

@@ -89,30 +89,6 @@
     }, \
     .regen_linelock = { \
         .disable                             = true, \
-        .pressure_only_test_mode             = false, \
-        .dc_bus_current_regen_is_negative    = true, \
-        .rear_pressure_zero_torque_psi       = 0.0f, \
-        .rear_pressure_reference_psi         = 500.0f, \
-        .rear_pressure_min_engage_psi        = 10.0f, \
-        .regen_torque_at_reference_pressure_nm = 67.0f, \
-        .absolute_regen_torque_cap_nm        = 230.0f, \
-        .pedal_torque_open_pulse_threshold_nm = 70.0f, \
-        .pedal_torque_open_pulse_cancel_threshold_nm = 50.0f, \
-        .linelock_open_pulse_ms              = 250u, \
-        .linelock_close_delay_ms             = 200u, \
-        .pack_current_limit_a                = 45.0f, \
-        .hard_cut_margin_pct                 = 0.20f, \
-        .hard_cut_reset_pressure_psi         = 100.0f, \
-        .pack_terminal_voltage_limit_v       = 546.0f, \
-        .pack_resistance_ohm                 = 0.442f, \
-        .pack_series_cell_count              = 130.0f, \
-        .dynamic_voltage_reserve_v           = 6.0f, \
-        .pack_ocv_enable_v                   = 520.11f, \
-        .pack_ocv_disable_hysteresis_v       = 2.0f, \
-        .max_cell_voltage_regen_disable_v    = 4.05f, \
-        .min_cell_temp_c                     = 10.0f, \
-        .max_cell_temp_c                     = 55.0f, \
-        .min_motor_speed_rpm                 = 219.49f, \
     }, \
     .buzzer_duration_ms     = 1200u, \
     .brake_enable_threshold = 0.1f

VCU/firmware/Core/Inc/params/endurance_params.h

@@ -6,7 +6,31 @@
 static const vcu_parameters_t endurance_params = {
     VCU_DEFAULT_PARAMS,
     .regen_linelock = { \
-        .disable                              = false, \
+        .disable                             = false, \
+        .pressure_only_test_mode             = false, \
+        .dc_bus_current_regen_is_negative    = true, \
+        .rear_pressure_zero_torque_psi       = 0.0f, \
+        .rear_pressure_reference_psi         = 500.0f, \
+        .rear_pressure_min_engage_psi        = 10.0f, \
+        .regen_torque_at_reference_pressure_nm = 67.0f, \
+        .absolute_regen_torque_cap_nm        = 230.0f, \
+        .pedal_torque_open_pulse_threshold_nm = 70.0f, \
+        .pedal_torque_open_pulse_cancel_threshold_nm = 50.0f, \
+        .linelock_open_pulse_ms              = 250u, \
+        .linelock_close_delay_ms             = 200u, \
+        .pack_current_limit_a                = 45.0f, \
+        .hard_cut_margin_pct                 = 0.20f, \
+        .hard_cut_reset_pressure_psi         = 100.0f, \
+        .pack_terminal_voltage_limit_v       = 546.0f, \
+        .pack_resistance_ohm                 = 0.442f, \
+        .pack_series_cell_count              = 130.0f, \
+        .dynamic_voltage_reserve_v           = 6.0f, \
+        .pack_ocv_enable_v                   = 520.11f, \
+        .pack_ocv_disable_hysteresis_v       = 2.0f, \
+        .max_cell_voltage_regen_disable_v    = 4.05f, \
+        .min_cell_temp_c                     = 10.0f, \
+        .max_cell_temp_c                     = 55.0f, \
+        .min_motor_speed_rpm                 = 219.49f, \
     }, \
     .event_mode = 4, \
 };