feat: add Modbus drivers for Jig, TPU, and RPU

drivers/rpu.py

@@ -0,0 +1,43 @@
+import time
+
+from common.config_loader import load_garuda_registers
+from drivers.modbus_device import ModbusDevice
+
+DEFAULT_DATASETS = ["Sec_normal", "sec_flash"]
+
+
+class Rpu(ModbusDevice):
+    """Covers every register in Sec_normal + sec_flash by label via read()/write()
+    (inherited from ModbusDevice). Extra datasets can be added per-test via
+    extra_datasets. Only registers that need real logic beyond a 1:1 read/write
+    get a dedicated method below.
+    """
+
+    Q128_DIVISOR = 128.0
+    REWRITE_PASSWORD_LO = 0xFEED
+    REWRITE_PASSWORD_HI = 0xCEE5
+    REWRITE_WAIT_S = 5
+
+    def __init__(self, port, extra_datasets=None, slave_id=0x10):
+        registers = load_garuda_registers(DEFAULT_DATASETS + list(extra_datasets or []))
+        super().__init__(port, "RPU", registers, slave_id=slave_id)
+
+    def set_charging(self, enable):
+        self.write_coil(self._addr("Enable_charger"), enable)
+
+    def set_runtime_voltage(self, volts):
+        self.write_holding_register(self._addr("Runtime_voltage_setting_Q128"), round(volts * self.Q128_DIVISOR))
+
+    def set_runtime_current(self, amps):
+        self.write_holding_register(self._addr("Runtime_current_setting_Q128"), round(amps * self.Q128_DIVISOR))
+
+    def read_error_code(self):
+        return (self.read("Error_code_hi") << 16) | self.read("Error_code_lo")
+
+    def read_shadow_error_code(self):
+        return (self.read("Shadow_error_code_hi") << 16) | self.read("Shadow_error_code_lo")
+
+    def rewrite_config(self):
+        self.write_holding_register(self._addr("PASSWORD_LO"), self.REWRITE_PASSWORD_LO)
+        self.write_holding_register(self._addr("PASSWORD_HI"), self.REWRITE_PASSWORD_HI)
+        time.sleep(self.REWRITE_WAIT_S)