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mc4plus double pinout #87

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merged 10 commits into from
Sep 15, 2023
Merged

mc4plus double pinout #87

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9fc9347
changes for [200~parallalerized motor drivers
davidetome Jul 24, 2023
7746aac
mc4plus - renamed fake connectors for double current
davidetome Jul 27, 2023
7c69516
mc4plus doble pin - fixed conn names
davidetome Jul 31, 2023
f001586
updated revision
davidetome Sep 6, 2023
0eba6cc
changes for [200~parallalerized motor drivers
davidetome Jul 24, 2023
bf25acd
mc4plus - renamed fake connectors for double current
davidetome Jul 27, 2023
1c26a30
Add status and maps for handling status strings
MSECode Jul 4, 2023
56a9a9b
Bump minor number
Nicogene Sep 11, 2023
36a3bf2
updated revision 1.36.1
davidetome Sep 14, 2023
3641ed7
Merge branch 'devel' into fix/mc4plus-double-pinout
davidetome Sep 14, 2023
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -6,7 +6,7 @@
cmake_minimum_required(VERSION 3.12)

project(icub_firmware_shared
VERSION 1.35.1)
VERSION 1.36.0)
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find_package(YCM 0.11.0 REQUIRED)

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48 changes: 25 additions & 23 deletions can/canProtocolLib/iCubCanProto_types.h
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Expand Up @@ -57,30 +57,31 @@ extern "C" {
#define ICUBCANPROTO_PER_MC_STATUS_FLAG_CANRECHWOVERRUN 0x40 //in data[4]

// definition of board types.
#define ICUBCANPROTO_BOARDTYPE__DSP 0
#define ICUBCANPROTO_BOARDTYPE__PIC 1
#define ICUBCANPROTO_BOARDTYPE__2DC 2
#define ICUBCANPROTO_BOARDTYPE__4DC 3
#define ICUBCANPROTO_BOARDTYPE__BLL 4
#define ICUBCANPROTO_BOARDTYPE__SKIN 5
#define ICUBCANPROTO_BOARDTYPE__STRAIN 6
#define ICUBCANPROTO_BOARDTYPE__MAIS 7
#define ICUBCANPROTO_BOARDTYPE__2FOC 8
#define ICUBCANPROTO_BOARDTYPE__6SG 9
#define ICUBCANPROTO_BOARDTYPE__JOG 10
#define ICUBCANPROTO_BOARDTYPE__MTB4 11
#define ICUBCANPROTO_BOARDTYPE__STRAIN2 12
#define ICUBCANPROTO_BOARDTYPE__RFE 13
#define ICUBCANPROTO_BOARDTYPE__SG3 14
#define ICUBCANPROTO_BOARDTYPE__PSC 15
#define ICUBCANPROTO_BOARDTYPE__MTB4W 16
#define ICUBCANPROTO_BOARDTYPE__PMC 17
#define ICUBCANPROTO_BOARDTYPE__AMCBLDC 18
#define ICUBCANPROTO_BOARDTYPE__BMS 19
#define ICUBCANPROTO_BOARDTYPE__MTB4C 20
#define ICUBCANPROTO_BOARDTYPE__FFU 21
#define ICUBCANPROTO_BOARDTYPE__DSP 0
#define ICUBCANPROTO_BOARDTYPE__PIC 1
#define ICUBCANPROTO_BOARDTYPE__2DC 2
#define ICUBCANPROTO_BOARDTYPE__4DC 3
#define ICUBCANPROTO_BOARDTYPE__BLL 4
#define ICUBCANPROTO_BOARDTYPE__SKIN 5
#define ICUBCANPROTO_BOARDTYPE__STRAIN 6
#define ICUBCANPROTO_BOARDTYPE__MAIS 7
#define ICUBCANPROTO_BOARDTYPE__2FOC 8
#define ICUBCANPROTO_BOARDTYPE__6SG 9
#define ICUBCANPROTO_BOARDTYPE__JOG 10
#define ICUBCANPROTO_BOARDTYPE__MTB4 11
#define ICUBCANPROTO_BOARDTYPE__STRAIN2 12
#define ICUBCANPROTO_BOARDTYPE__RFE 13
#define ICUBCANPROTO_BOARDTYPE__SG3 14
#define ICUBCANPROTO_BOARDTYPE__PSC 15
#define ICUBCANPROTO_BOARDTYPE__MTB4W 16
#define ICUBCANPROTO_BOARDTYPE__PMC 17
#define ICUBCANPROTO_BOARDTYPE__AMCBLDC 18
#define ICUBCANPROTO_BOARDTYPE__BMS 19
#define ICUBCANPROTO_BOARDTYPE__MTB4C 20
#define ICUBCANPROTO_BOARDTYPE__FFU 21
#define ICUBCANPROTO_BOARDTYPE__STRAIN2C 22
#define ICUBCANPROTO_BOARDTYPE__UNKNOWN 255
#define ICUBCANPROTO_BOARDTYPE__BAT 23
#define ICUBCANPROTO_BOARDTYPE__UNKNOWN 255

// skin types
#define ICUBCANPROTO_SKINTYPE__WITHTEMPCOMP 0
Expand Down Expand Up @@ -118,6 +119,7 @@ typedef enum
icubCanProto_boardType__bms = ICUBCANPROTO_BOARDTYPE__BMS,
icubCanProto_boardType__mtb4c = ICUBCANPROTO_BOARDTYPE__MTB4C,
icubCanProto_boardType__strain2c = ICUBCANPROTO_BOARDTYPE__STRAIN2C,
icubCanProto_boardType__bat = ICUBCANPROTO_BOARDTYPE__BAT,
icubCanProto_boardType__unknown = ICUBCANPROTO_BOARDTYPE__UNKNOWN
} icubCanProto_boardType_t;

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5 changes: 3 additions & 2 deletions eth/embobj/plus/comm-v2/icub/EoAnalogSensors.c
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Expand Up @@ -38,6 +38,8 @@
// --------------------------------------------------------------------------------------------------------------------

#include "EoAnalogSensors.h"
#include "EOtheErrorManager.h"
#include "EoError.h"


// --------------------------------------------------------------------------------------------------------------------
Expand Down Expand Up @@ -222,7 +224,6 @@ extern eoas_pos_ROT_t eoas_string2posrot(const char * string, eObool_t usecompac
return((eoas_pos_ROT_t)eo_common_map_str_str_u08__string2value(map, size, string, usecompactstring, defvalue));
}


enum { in3_mtb_pos = 0, in3_mtb4_pos = 1, in3_strain2_pos = 2, in3_rfe_pos = 3, in3_mtb4c_pos = 4, in3_strain2c_pos = 5 };

static const eObrd_cantype_t s_eoas_inertial3_supportedboards_types[] = { eobrd_cantype_mtb, eobrd_cantype_mtb4, eobrd_cantype_strain2, eobrd_cantype_rfe, eobrd_cantype_mtb4c, eobrd_cantype_strain2c };
Expand Down Expand Up @@ -553,7 +554,7 @@ extern const eObrd_info_t * eoas_temperature_setof_boardinfos_find(const eOas_te
//

static const eObrd_cantype_t s_eoas_ft_supportedboards_types[] = { eobrd_cantype_strain, eobrd_cantype_strain2, eobrd_cantype_strain2c };
static const eObrd_cantype_t s_eoas_bms_supportedboards_types[] = { eobrd_cantype_bms };
static const eObrd_cantype_t s_eoas_bms_supportedboards_types[] = { eobrd_cantype_bms, eobrd_cantype_bat };


extern uint8_t eoas_battery_supportedboards_numberof(void)
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56 changes: 45 additions & 11 deletions eth/embobj/plus/comm-v2/icub/EoAnalogSensors.h
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Expand Up @@ -793,6 +793,41 @@ typedef struct
eOas_ft_status_t status;
} eOas_ft_t; EO_VERIFYsizeof(eOas_ft_t, 64)

typedef enum
{
//shold I define a value to the first element of bat, such as 16,
//thus to give to bms a certain amount of int for the statuses thinking about a future expantion
// so that number from 0 to 15 are restricted to bms and the other to bat
//an then add null values in the map for the empty spaces
eoas_bms_general_alarm_lowvoltage = 1,
eoas_bms_general_alarm_highvoltage = 2,
eoas_bms_general_alarm_overcurrent_discharge = 3,
eoas_bms_general_alarm_overcurrent_charge = 4,
eoas_bms_general_alarm_lowSOC = 5,
eoas_bms_general_alarm_lowtemperature = 6,
eoas_bms_general_alarm_hightemperature = 7,
eoas_bat_status_hsm_mosfet_broken = 16,
eoas_bat_status_hsm_mosfet_normal = 116, //(x-1)+100
eoas_bat_status_hsm_overcurrent_overvoltage = 17,
eoas_bat_status_hsm_normal = 117,
eoas_bat_status_hsm_voltage_power_good = 18,
eoas_bat_status_hsm_voltage_not_guaranteed = 118,
eoas_bat_status_hsm_status_on = 19,
eoas_bat_status_hsm_status_off = 119,
eoas_bat_status_motor_regulator_overcurrent = 20,
eoas_bat_status_motor_regulator_normal = 120,
eoas_bat_status_motor_on = 21,
eoas_bat_status_motor_off = 121,
eoas_bat_status_board_regulator_overcurrent = 22,
eoas_bat_status_board_regulator_normal = 122,
eoas_bat_status_board_on = 23,
eoas_bat_status_board_off = 123,
eoas_bat_status_btn_2_start_up_phase = 24,
eoas_bat_status_btn_2_stable_op = 124,
eoas_bat_status_btn_1_start_up_phase = 25,
eoas_bat_status_btn_1_stable_op = 125
} eOas_battery_alarm_status_t;
enum { eoas_bms_alarm_numberof = 8, eoas_battery_alarm_status_numberof = 27 };


typedef struct
Expand All @@ -808,33 +843,33 @@ typedef struct
uint8_t filler[3];
} eOas_battery_commands_t; EO_VERIFYsizeof(eOas_battery_commands_t, 4)


typedef struct
{
eOabstime_t age; // timeoflife in usec. better using this because yarp may ask the board to have its time
int16_t temperature; // in steps of 0.1 celsius degree (pos and neg).
int8_t status;
uint8_t filler;
eOabstime_t age; // timeoflife in usec. better using this because yarp may ask the board to have its time
int16_t temperature; // in steps of 0.1 celsius degree (pos and neg).
int16_t filler16; // filler to cover the remaining 16bits considired that we are working efficiently in memory packs of 32bits
uint32_t status; // status used on both BAT(10 bits - primary in 0x00000000ffffffff - secondary in 0x000000ff00000000) and BMS(8 MSB)
float32_t voltage;
float32_t current;
float32_t charge;
float32_t charge;
uint32_t filler32; // to keep struct with an even number of memory chunks

} eOas_battery_timedvalue_t; EO_VERIFYsizeof(eOas_battery_timedvalue_t, 24)
} eOas_battery_timedvalue_t; EO_VERIFYsizeof(eOas_battery_timedvalue_t, 32)
//char (*luca)[sizeof( eOas_battery_timedvalue_t )] = 1;

typedef struct
{ // 40 + 12 + 4 = 56
eOas_battery_timedvalue_t timedvalue;
} eOas_battery_status_t; EO_VERIFYsizeof(eOas_battery_status_t, 24)
} eOas_battery_status_t; EO_VERIFYsizeof(eOas_battery_status_t, 32)


typedef struct
{
// size is: 4 + 4 + 56 = 64
// size is: 4 + 4 + 32 = 40
eOas_battery_config_t config;
eOas_battery_commands_t cmmnds;
eOas_battery_status_t status;
} eOas_battery_t; EO_VERIFYsizeof(eOas_battery_t, 32)
} eOas_battery_t; EO_VERIFYsizeof(eOas_battery_t, 40)

// - declaration of extern public variables, ... but better using use _get/_set instead -------------------------------
// empty-section
Expand Down Expand Up @@ -877,7 +912,6 @@ extern eoas_pos_TYPE_t eoas_string2postype(const char * string, eObool_t usecomp
extern const char * eoas_posrot2string(eoas_pos_ROT_t posrot, eObool_t usecompactstring);
extern eoas_pos_ROT_t eoas_string2posrot(const char * string, eObool_t usecompactstring);


/** @}
end of group eo_cevcwervcrev5555
**/
Expand Down
10 changes: 8 additions & 2 deletions eth/embobj/plus/comm-v2/icub/EoBoards.c
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,8 @@ static const uint64_t s_eoboards_is_can_mask = (0x1LL << eobrd_mc4) |
(0x1LL << eobrd_amcbldc)|
(0x1LL << eobrd_bms)|
(0x1LL << eobrd_mtb4c) |
(0x1LL << eobrd_strain2c);
(0x1LL << eobrd_strain2c) |
(0x1LL << eobrd_bat);


static const eOmap_str_str_u08_t s_eoboards_map_of_boards[] =
Expand Down Expand Up @@ -127,6 +128,7 @@ static const eOmap_str_str_u08_t s_eoboards_map_of_boards[] =
{"bms", "eobrd_bms", eobrd_bms},
{"mtb4c", "eobrd_mtb4c", eobrd_mtb4c},
{"strain2c", "eobrd_strain2c", eobrd_strain2c},
{"bat", "eobrd_bat", eobrd_bat},

{"none", "eobrd_none", eobrd_none},
{"unknown", "eobrd_unknown", eobrd_unknown}
Expand Down Expand Up @@ -172,7 +174,9 @@ static const eOmap_str_str_u08_t s_eoboards_map_of_connectors[] =
{"J31", "eobrd_conn_J31", eobrd_conn_J31},
{"J32", "eobrd_conn_J32", eobrd_conn_J32},
{"J33", "eobrd_conn_J33", eobrd_conn_J33},

{"P3P", "eobrd_conn_P3P", eobrd_conn_P3P},
{"P4P", "eobrd_conn_P4P", eobrd_conn_P4P},

{"none", "eobrd_conn_none", eobrd_conn_none},
{"unknown", "eobrd_conn_unknown", eobrd_conn_unknown}
}; EO_VERIFYsizeof(s_eoboards_map_of_connectors, (eobrd_connectors_numberof+2)*sizeof(eOmap_str_str_u08_t))
Expand All @@ -191,6 +195,8 @@ static const eOmap_str_str_u08_u08_u08_t s_eoboards_map_of_ports[] =
{"mc4plusP3", "eobrd_port_mc4plusP3", eobrd_port_mc4plusP3, eobrd_mc4plus, eobrd_conn_P3},
{"mc4plusP4", "eobrd_port_mc4plusP4", eobrd_port_mc4plusP4, eobrd_mc4plus, eobrd_conn_P4},
{"mc4plusP5", "eobrd_port_mc4plusP5", eobrd_port_mc4plusP5, eobrd_mc4plus, eobrd_conn_P5},
{"mc4plusP3P", "eobrd_port_mc4plusP3P", eobrd_port_mc4plusP3P, eobrd_mc4plus, eobrd_conn_P3P},
{"mc4plusP4P", "eobrd_port_mc4plusP4P", eobrd_port_mc4plusP4P, eobrd_mc4plus, eobrd_conn_P4P},
{"mc4plusP10", "eobrd_port_mc4plusP10", eobrd_port_mc4plusP10, eobrd_mc4plus, eobrd_conn_P10},
{"mc4plusP11", "eobrd_port_mc4plusP11", eobrd_port_mc4plusP11, eobrd_mc4plus, eobrd_conn_P11},

Expand Down
18 changes: 12 additions & 6 deletions eth/embobj/plus/comm-v2/icub/EoBoards.h
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Expand Up @@ -58,7 +58,7 @@ extern "C" {
typedef enum
{
eobrd_cantype_dsp = ICUBCANPROTO_BOARDTYPE__DSP, // 0, not used
eobrd_cantype_pic = ICUBCANPROTO_BOARDTYPE__PIC, // 2, not used
eobrd_cantype_pic = ICUBCANPROTO_BOARDTYPE__PIC, // 1, not used
eobrd_cantype_2dc = ICUBCANPROTO_BOARDTYPE__2DC, // 2, not used
eobrd_cantype_mc4 = ICUBCANPROTO_BOARDTYPE__4DC, // 3
eobrd_cantype_bll = ICUBCANPROTO_BOARDTYPE__BLL, // 4, not used
Expand All @@ -78,12 +78,13 @@ typedef enum
eobrd_cantype_amcbldc = ICUBCANPROTO_BOARDTYPE__AMCBLDC, // 18 (amcbldc)
eobrd_cantype_bms = ICUBCANPROTO_BOARDTYPE__BMS, // 19 (bms)
eobrd_cantype_mtb4c = ICUBCANPROTO_BOARDTYPE__MTB4C, // 20 (mtb4c)
eobrd_cantype_strain2c = ICUBCANPROTO_BOARDTYPE__STRAIN2C, // 22 (strain2c)
eobrd_cantype_strain2c = ICUBCANPROTO_BOARDTYPE__STRAIN2C, // 22 (strain2c)
eobrd_cantype_bat = ICUBCANPROTO_BOARDTYPE__BAT, // 23 (bat)
eobrd_cantype_none = 254,
eobrd_cantype_unknown = ICUBCANPROTO_BOARDTYPE__UNKNOWN // 255
} eObrd_cantype_t;

enum { eobrd_cantype_numberof = 21 };
enum { eobrd_cantype_numberof = 23 };


typedef enum
Expand Down Expand Up @@ -134,12 +135,13 @@ typedef enum
eobrd_bms = eobrd_cantype_bms,
eobrd_mtb4c = eobrd_cantype_mtb4c,
eobrd_strain2c = eobrd_cantype_strain2c,
eobrd_bat = eobrd_cantype_bat,

eobrd_none = 254,
eobrd_unknown = 255 // = ICUBCANPROTO_BOARDTYPE__UNKNOWN
} eObrd_type_t;

enum { eobrd_type_numberof = 26 };
enum { eobrd_type_numberof = 27 };


typedef struct
Expand Down Expand Up @@ -314,12 +316,14 @@ typedef enum
eobrd_conn_J31 = 32,
eobrd_conn_J32 = 33,
eobrd_conn_J33 = 34,
eobrd_conn_P3P = 35,
eobrd_conn_P4P = 36,

eobrd_conn_none = 0,
eobrd_conn_unknown = 255
} eObrd_connector_t;

enum { eobrd_connectors_numberof = 34 };
enum { eobrd_connectors_numberof = 36 };


typedef enum
Expand All @@ -339,6 +343,8 @@ typedef enum
eobrd_port_mc4plusP3 = 0, // PWM & QUADENC: hal_motor1, hal_quad_enc1
eobrd_port_mc4plusP4 = 2, // PWM & QUADENC: hal_motor3, hal_quad_enc3
eobrd_port_mc4plusP5 = 3, // PWM & QUADENC: hal_motor4, hal_quad_enc4
eobrd_port_mc4plusP3P = 4, // PWM & QUADENC: hal_motor1, hal_quad_enc1 parrallelized driver
eobrd_port_mc4plusP4P = 5, // PWM & QUADENC: hal_motor3, hal_quad_enc3 parrallelized driver
eobrd_port_mc4plusP10 = 0, // SPI encoder: hal_encoder1
eobrd_port_mc4plusP11 = 1, // SPI encoder: hal_encoder2

Expand Down Expand Up @@ -388,7 +394,7 @@ typedef enum

} eObrd_port_t;

enum { eobrd_ports_numberof = 47 };
enum { eobrd_ports_numberof = 49 };


typedef enum
Expand Down