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Add eOmc_kalman_filter_config_t to EoMotionControl #64

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merged 3 commits into from
Jun 21, 2022
Merged

Add eOmc_kalman_filter_config_t to EoMotionControl #64

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d10a889
Add eOmc_kalman_filter_config_t
sgiraz May 24, 2022
f73cb38
Bump minor version 1.25.1
sgiraz Jun 20, 2022
48aa688
Update EoProtocolMC minor version to 25
sgiraz Jun 21, 2022
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
cmake_minimum_required(VERSION 3.12)

project(icub_firmware_shared
VERSION 1.25.0)
VERSION 1.25.1)

find_package(YCM 0.11.0 REQUIRED)

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22 changes: 18 additions & 4 deletions eth/embobj/plus/comm-v2/icub/EoMotionControl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -655,11 +655,24 @@ typedef uint8_t eOmc_jointId_t;
typedef uint8_t eOmc_torqueControlFilterType_t;


/** @typedef typedef struct eOmc_kalman_filter_config_t
@brief eOmc_kalman_filter_config_t contains the values required to configure the Kalman Filter
**/
typedef struct // size is: 1+3+12+12+4+4= 36
{
eObool_t enabled;
uint8_t filler[3]; // just for explicit padding
float32_t x0[3];
float32_t Q[3];
float32_t R;
float32_t P0;
} eOmc_kalman_filter_config_t; EO_VERIFYsizeof(eOmc_kalman_filter_config_t, 36)


/** @typedef typedef struct eOmc_joint_config_t
@brief eOmc_joint_config_t contains the values required to configure a joint
**/
typedef struct // size is: 40+40+40+8+8+12+4+4+28+2+1+1+4+4+4= 200
typedef struct // size is: 40+40+40+8+8+12+4+4+28+2+1+1+4+4+4+36= 236
{
eOmc_PID_t pidtrajectory; /**< the pid for trajectory control */
eOmc_PID_t piddirect; /**< the pid for direct control */
Expand All @@ -676,7 +689,8 @@ typedef struct // size is: 40+40+40+8+8+12+4+4+28+2+1+1+4+4+4=
float32_t jntEncTolerance;
float32_t gearbox_E2J;
float32_t deadzone;
} eOmc_joint_config_t; EO_VERIFYsizeof(eOmc_joint_config_t, 200)
eOmc_kalman_filter_config_t kalman_params; /**< the kalman filter parameters */
} eOmc_joint_config_t; EO_VERIFYsizeof(eOmc_joint_config_t, 236)


/** @typedef typedef struct eOmc_status_ofpid_legacy_t
Expand Down Expand Up @@ -873,13 +887,13 @@ typedef struct // size is 28+12+1+1+1+1+0 = 44
/** @typedef typedef struct eOmc_joint_t
@brief contains the whole joint
**/
typedef struct // size is 200+96+4+44+0 = 344
typedef struct // size is 236+96+4+44+0 = 380
{
eOmc_joint_config_t config; /**< the configuration of the joint */
eOmc_joint_status_t status; /**< the status of the joint */
eOmc_joint_inputs_t inputs; /**< it contains all the values that a host can send to a joint as inputs */
eOmc_joint_commands_t cmmnds; /**< it contains all the commands that a host can send to a joint */
} eOmc_joint_t; EO_VERIFYsizeof(eOmc_joint_t, 344);
} eOmc_joint_t; EO_VERIFYsizeof(eOmc_joint_t, 380);



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2 changes: 1 addition & 1 deletion eth/embobj/plus/comm-v2/protocol/api/EoProtocolMC.h
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Expand Up @@ -57,7 +57,7 @@ extern "C" {
// - declaration of public user-defined types -------------------------------------------------------------------------


enum { eoprot_version_mc_major = 1, eoprot_version_mc_minor = 24 };
enum { eoprot_version_mc_major = 1, eoprot_version_mc_minor = 25 };

enum { eoprot_entities_mc_numberof = eomc_entities_numberof };

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