From 0aea39b3ad9f1129f85f659f8f8134341a540d5d Mon Sep 17 00:00:00 2001 From: Simone Girardi Date: Thu, 16 Feb 2023 16:31:26 +0100 Subject: [PATCH 1/3] Update `eoerror_valuestrings_HW` + `eOerror_value_HW_t` - include diagnostics messages for `aksim2` --- eth/embobj/plus/comm-v2/icub/EoError.c | 10 +++++++--- eth/embobj/plus/comm-v2/icub/EoError.h | 12 ++++++++---- 2 files changed, 15 insertions(+), 7 deletions(-) diff --git a/eth/embobj/plus/comm-v2/icub/EoError.c b/eth/embobj/plus/comm-v2/icub/EoError.c index fd97d8fd..05be867e 100644 --- a/eth/embobj/plus/comm-v2/icub/EoError.c +++ b/eth/embobj/plus/comm-v2/icub/EoError.c @@ -171,9 +171,13 @@ const eoerror_valuestring_t eoerror_valuestrings_SYS[] = const eoerror_valuestring_t eoerror_valuestrings_HW[] = { // very important: fill table with order of eOerror_value_HW_t // in case of holes, use {0, NULL} - {eoerror_value_HW_first, "HW: first error message of category hw"}, - {eoerror_value_HW_second, "HW: second error message of category hw"}, - {eoerror_value_HW_strain_saturation, "HW: strain values saturation. In p16 there is the channel involved, in p64 there are the saturation counts for the last sec of both types (lower: LS32bits, upper MS32bits"}, + {eoerror_value_HW_first, "HW: first error message of category hw"}, + {eoerror_value_HW_second, "HW: second error message of category hw"}, + {eoerror_value_HW_strain_saturation, "HW: strain values saturation. In p16 there is the channel involved, in p64 there are the saturation counts for the last sec of both types (lower: LS32bits, upper MS32bits"}, + {eoerror_value_HW_encoder_invalid_value, "HW - encoder: the position data is not valid"}, + {eoerror_value_HW_encoder_close_to_limits, "HW - encoder: the position data is valid, but some operating conditions are close to limits."}, + {eoerror_value_HW_encoder_crc, "HW - encoder: inverted CRC is invalid"}, + {eoerror_value_HW_encoder_not_connected, "HW - encoder: not connected"} }; EO_VERIFYsizeof(eoerror_valuestrings_HW, eoerror_value_HW_numberof*sizeof(const eoerror_valuestring_t)) diff --git a/eth/embobj/plus/comm-v2/icub/EoError.h b/eth/embobj/plus/comm-v2/icub/EoError.h index 9cc7f796..e916bfc8 100644 --- a/eth/embobj/plus/comm-v2/icub/EoError.h +++ b/eth/embobj/plus/comm-v2/icub/EoError.h @@ -191,12 +191,16 @@ enum { eoerror_value_SYS_numberof = 64 }; **/ typedef enum { - eoerror_value_HW_first = 0, - eoerror_value_HW_second = 1, - eoerror_value_HW_strain_saturation = 2 + eoerror_value_HW_first = 0, + eoerror_value_HW_second = 1, + eoerror_value_HW_strain_saturation = 2, + eoerror_value_HW_encoder_invalid_value = 3, + eoerror_value_HW_encoder_close_to_limits = 4, + eoerror_value_HW_encoder_crc = 5, + eoerror_value_HW_encoder_not_connected = 6 } eOerror_value_HW_t; -enum { eoerror_value_HW_numberof = 3 }; +enum { eoerror_value_HW_numberof = 7 }; From 93ae2580ddcde637b5c4d9d3856bad7281bf3c60 Mon Sep 17 00:00:00 2001 From: Simone Girardi Date: Tue, 21 Feb 2023 14:20:24 +0100 Subject: [PATCH 2/3] Update version to 1.31.0 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index d441728a..09bc0b54 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.12) project(icub_firmware_shared - VERSION 1.30.0) + VERSION 1.31.0) find_package(YCM 0.11.0 REQUIRED) From 6642f163ad93f58c64e3144a4bc989306ec873d7 Mon Sep 17 00:00:00 2001 From: Simone Girardi Date: Tue, 21 Feb 2023 16:04:44 +0100 Subject: [PATCH 3/3] correct typo --- eth/embobj/plus/comm-v2/icub/EoError.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/eth/embobj/plus/comm-v2/icub/EoError.c b/eth/embobj/plus/comm-v2/icub/EoError.c index 05be867e..9e56ccc2 100644 --- a/eth/embobj/plus/comm-v2/icub/EoError.c +++ b/eth/embobj/plus/comm-v2/icub/EoError.c @@ -184,7 +184,7 @@ const eoerror_valuestring_t eoerror_valuestrings_HW[] = const eoerror_valuestring_t eoerror_valuestrings_MC[] = { // very important: fill table with order of eOerror_value_MC_t // in case of holes, use {0, NULL} - {eoerror_value_MC_motor_external_fault, "MC: exernal fault button pressed."}, + {eoerror_value_MC_motor_external_fault, "MC: external fault button pressed."}, {eoerror_value_MC_motor_overcurrent, "MC: overcurrent. The motor has been turned off to prevent it from being damaged by an impulsive spike of current. par16 = ID of joint."}, {eoerror_value_MC_motor_i2t_limit, "MC: i2t limit exceeded. The motor has been turned off to prevent it from being damaged by overheating due to a continuous high current. par16 = ID of joint."}, {eoerror_value_MC_motor_hallsensors, "MC: 2FOC hall sensors fault. Invalid sequence in motor Hall effect sensors, please check motor hall cable connections. par16 = ID of joint."},