[draft] Hil2 rewrite

README.md

@@ -1,26 +1,15 @@
-# HIL Tester for PER
+# HIL2 Tester for PER
 
-## Running
+## Folders
 
-- Code in `./TestBench` runs on the Arduino
-	- Basically it just reads commands over the serial port and either executs them or writes messages back over the serial port
-	- To flash it, use the Arduino IDE
-- Code in `./scripts` starts the Python code that runs on your laptop
-	- It uses all the Python files
-	- Each file in `./scripts` can run a Pytest script to test some board or signal set on the car
-- Make sure you correctly set `firmware_path` in `./hil_params.json` to the path of the primary PER firmware repo!
+- `./TestBench`: the Teensy code
+- `./hil2`: the main HIL "engine"
+- `./mk_assert`: a simple and low magic test framework
+- `./tests`: the test scripts and configuration files
+- `./device_configs`: the device configuration files
 
-## Python ibraries
+## Python libraries
 
 - `pyserial` for serial communication
-- `pytest` (and `pytest-check`) for testing
-- `python-can`, `cantools`, and `gs_usb` for CAN communication
-- `numpy` for data types
-- `jsonschema` for validating JSON files
-
-## Notes
-
-### Input vs Output
-
-- `AI`/`DI` = inputs to hil (reads from the car/other board -> Arduino -> laptop/Python)
-- `AO`/`DO` = outputs from hil (writes from laptop/Python -> Arduino -> car/other board)
+- `cantools` for CAN DBC encoding/decoding
+- `colorama` for cross platform colored terminal output

TestBench/Adafruit_MCP4706.cpp

@@ -0,0 +1,77 @@
+/**************************************************************************/
+/*! 
+    Authors:
+    - Original: K.Townsend (Adafruit Industries)
+    - Modified for MCP4706 by Pio Baettig
+    - Now modifed by Millan kumar for PER HIL 2.0 2025 usage
+*/
+/**************************************************************************/
+
+#if ARDUINO >= 100
+ #include "Arduino.h"
+#else
+ #include "WProgram.h"
+#endif
+
+#include <Wire.h>
+
+#include "Adafruit_MCP4706.h"
+
+/**************************************************************************/
+/*! 
+    @brief  Instantiates a new MCP4706 class
+*/
+/**************************************************************************/
+Adafruit_MCP4706::Adafruit_MCP4706() { }
+
+/**************************************************************************/
+/*! 
+    @brief  Setups the HW
+*/
+/**************************************************************************/
+void Adafruit_MCP4706::begin(uint8_t addr, TwoWire &wire) {
+    _i2caddr = addr;
+    _wire = &wire;
+    _wire->begin();
+}
+
+/**************************************************************************/
+/*! 
+    @brief  Sets the output voltage to a fraction of source vref. (Value
+        can be 0..255)
+
+    @param[in]  output
+        The 8-bit value representing the relationship between
+        the DAC's input voltage and its output voltage.
+*/
+/**************************************************************************/
+void Adafruit_MCP4706::setVoltage(uint8_t output) {
+    uint8_t twbrback = TWBR;
+    TWBR = 12; // 400 khz
+    // TWBR = 72; // 100 khz
+    _wire->beginTransmission(_i2caddr);
+    _wire->write(MCP4706_CMD_VOLDAC); // First byte: Command (CMD_VOLDAC = 0)
+    _wire->write(output);             // Second byte: Data bits (D7.D6.D5.D4.D3.D2.D1.D0)
+    _wire->endTransmission();
+    TWBR = twbrback;
+}
+
+
+/**************************************************************************/
+/*! 
+    @brief  Puts the DAC into a low power state using the specified resistor mode
+
+    @param[in]  mode
+        Power-down mode, one of:
+        - MCP4706_AWAKE
+        - MCP4706_PWRDN_1K
+        - MCP4706_PWRDN_100K
+        - MCP4706_PWRDN_500K
+*/
+/**************************************************************************/
+void Adafruit_MCP4706::setMode(uint8_t mode) {
+    uint8_t config = (mode & ~MCP4706_PWRDN_MASK); // ensure only power-down bits are set
+    _wire->beginTransmission(_i2caddr);
+    _wire->write(config | MCP4706_CMD_VOLCONFIG);  // command with config register
+    _wire->endTransmission();
+}

TestBench/Adafruit_MCP4706.h

@@ -0,0 +1,42 @@
+/**************************************************************************/
+/*! 
+  Authors:
+  - Original: K.Townsend (Adafruit Industries)
+  - Modified for MCP4706 by Pio Baettig
+  - Now modifed by Millan kumar for PER HIL 2.0 2025 usage
+*/
+/**************************************************************************/
+
+#if ARDUINO >= 100
+    #include "Arduino.h"
+#else
+    #include "WProgram.h"
+#endif
+
+#include <Wire.h>
+
+// Power Down Mode definitions
+#define MCP4706_PWRDN_MASK     0xF9
+#define MCP4706_AWAKE          0x00
+#define MCP4706_PWRDN_1K       0x02
+#define MCP4706_PWRDN_100K     0x04
+#define MCP4706_PWRDN_500K     0x06
+
+// Command definitioins
+#define MCP4706_CMD_MASK       0x1F
+#define MCP4706_CMD_VOLDAC     0x00
+#define MCP4706_CMD_VOLALL     0x40
+#define MCP4706_CMD_VOLCONFIG  0x80
+#define MCP4706_CMD_ALL        0x60
+
+class Adafruit_MCP4706{
+    public:
+        Adafruit_MCP4706();
+        void begin(uint8_t addr, TwoWire &wire = Wire); 
+        void setVoltage(uint8_t output);
+        void setMode(uint8_t mode);
+
+    private:
+        uint8_t _i2caddr;
+        TwoWire *_wire;
+};