From e7d34409df4ec5b7a9cf593378157925a1cb5a2d Mon Sep 17 00:00:00 2001
From: DC <dc>
Date: Thu, 9 Nov 2023 21:12:24 -0800
Subject: [PATCH] Updates to CANOpen data for ADCS

---
 oresat_configs/base/imu.yaml | 122 +++++++++++++++++++++--------------
 1 file changed, 72 insertions(+), 50 deletions(-)

diff --git a/oresat_configs/base/imu.yaml b/oresat_configs/base/imu.yaml
index 008f037..0443980 100644
--- a/oresat_configs/base/imu.yaml
+++ b/oresat_configs/base/imu.yaml
@@ -202,84 +202,100 @@ objects:
         high_limit: 8192
 
   - index: 0x4007
-    name: magnetorquer_current_x
+    name: magnetorquer_feedback_x
     object_type: record
     description: Magnetorquer Current Feedback in uA
     subindexes:
       - subindex: 0x1
-        name: current_feedback
+        name: current
         data_type: int32
         description: current feedback
         access_type: ro
 
       - subindex: 0x2
-        name: current_set
-        data_type: int32
-        description: Set current
-        access_type: rw
+        name: pwm
+        data_type: int16
+        description: X axis
+        access_type: ro
+        low_limit: 0
+        high_limit: 10000
+
+
 
   - index: 0x4008
-    name: magnetorquer_current_y
+    name: magnetorquer_feedback_y
     object_type: record
     description: Magnetorquer Current Feedback in uA
     subindexes:
       - subindex: 0x1
-        name: current_feedback
+        name: current
         data_type: int32
         description: current feedback
         access_type: ro
 
       - subindex: 0x2
-        name: current_set
-        data_type: int32
-        description: Set current
-        access_type: rw
+        name: pwm
+        data_type: int16
+        description: Y axis
+        access_type: ro
+        low_limit: 0
+        high_limit: 10000
+        
+
 
   - index: 0x4009
-    name: magnetorquer_current_z
+    name: magnetorquer_feedback_z
     object_type: record
     description: Magnetorquer Current Feedback in uA
     subindexes:
       - subindex: 0x1
-        name: current_feedback
+        name: current
         data_type: int32
         description: current feedback
         access_type: ro
 
       - subindex: 0x2
+        name: pwm
+        data_type: int16
+        description: Z axis
+        access_type: ro
+        low_limit: 0
+        high_limit: 10000
+        
+      
+
+  - index: 0x4010
+    name: magnetorquer_x
+    object_type: record
+    description: Magnetorquer Set Current
+    subindexes:
+      - subindex: 0x1
         name: current_set
         data_type: int32
         description: Set current
         access_type: rw
 
-  - index: 0x4010
-    name: magnetorquer_pwm_percent
+  - index: 0x4011
+    name: magnetorquer_y
     object_type: record
-    description: Magnetorquer PWM Percent
+    description: Magnetorquer Set Current
     subindexes:
       - subindex: 0x1
-        name: x
-        data_type: int16
-        description: X axis
-        access_type: ro
-        low_limit: 0
-        high_limit: 10000
-
-      - subindex: 0x2
-        name: y
-        data_type: int16
-        description: Y axis
-        access_type: ro
-        low_limit: 0
-        high_limit: 10000
-
-      - subindex: 0x3
-        name: z
-        data_type: int16
-        description: Z axis
-        access_type: ro
-        low_limit: 0
-        high_limit: 10000
+        name: current_set
+        data_type: int32
+        description: Set current
+        access_type: rw
+        
+  - index: 0x4012
+    name: magnetorquer_z
+    object_type: record
+    description: Magnetorquer Set Current
+    subindexes:
+      - subindex: 0x1
+        name: current_set
+        data_type: int32
+        description: Set current
+        access_type: rw
 
 
 tpdos:
@@ -332,28 +348,34 @@ tpdos:
 
   - num: 8
     fields:
-      - [magnetorquer_current_x, current_feedback]
-      - [magnetorquer_current_x, current_set]
+      - [magnetorquer_feedback_x, current]
+      - [magnetorquer_feedback_x, pwm]
     event_timer_ms: 1000
-
+    
   - num: 9
     fields:
-      - [magnetorquer_current_y, current_feedback]
-      - [magnetorquer_current_y, current_set]
+      - [magnetorquer_feedback_y, current]
+      - [magnetorquer_feedback_y, pwm]
     event_timer_ms: 1000
 
   - num: 10
     fields:
-      - [magnetorquer_current_z, current_feedback]
-      - [magnetorquer_current_z, current_set]
+      - [magnetorquer_feedback_z, current]
+      - [magnetorquer_feedback_z, pwm]
     event_timer_ms: 1000
 
   - num: 11 
     fields:
-      - [magnetorquer_pwm_percent, x]
-      - [magnetorquer_pwm_percent, y]
-      - [magnetorquer_pwm_percent, z]
-    event_timer_ms: 1000
+      - [magnetorquer_x, current_set]
+      
+  - num: 12
+    fields:
+      - [magnetorquer_y, current_set]
+      
+  - num: 13
+    fields:
+      - [magnetorquer_z, current_set]
+