Add latest fault state to motor status data structure (#52)

* Add motor faults bitmask to motor status struct * Add usage of filler data of joint status modes for joint fault states mask * Add file to previous commit * Renamed variables of interest for clarity * Remove unused struct for fault messaging * increase icub-firmware-shared version to 1.22.2
robotology · Dec 15, 2021 · 7c3d107 · 7c3d107
1 parent b1a1875
commit 7c3d107
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Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -6,7 +6,7 @@
 cmake_minimum_required(VERSION 3.12)
 
 project(icub_firmware_shared
-        VERSION 1.22.1)
+        VERSION 1.22.2)
 
 find_package(YCM 0.11.0 REQUIRED)
 

diff --git a/eth/embobj/plus/comm-v2/icub/EoMotionControl.h b/eth/embobj/plus/comm-v2/icub/EoMotionControl.h
@@ -222,8 +222,6 @@ typedef enum
     eomc_calibration_typeUndefined                  = 255   // cannot change
 } eOmc_calibration_type_t;
 
-
-
 // -- all the possible data service structures
 
 
@@ -794,7 +792,7 @@ typedef struct                  //size is 1+1+1+1 = 4
     eOenum08_t                  controlmodestatus;          /**< use eOmc_controlmode_t. */
     eOenum08_t                  interactionmodestatus;      /**< use values from eOmc_interactionmode_t */
     eObool_t                    ismotiondone;               /**< simply eobool_true or eobool_false */                      
-    uint8_t                     filler[1];    
+    uint8_t                     filler[1];
 } eOmc_joint_status_modes_t;
 
 
@@ -945,8 +943,8 @@ typedef struct                  // size is: 4+4+4+2+2+2+2 = 20
  **/
 typedef struct                  // size is: 20+4+0 = 24
 {   
-    eOmc_motor_status_basic_t   basic;                  /**< the basic status of a motor */   
-    uint8_t                     filler[4];    
+    eOmc_motor_status_basic_t   basic;                        /**< the basic status of a motor */   
+    uint32_t                    mc_fault_state;               /**< represents the most recent motion controller fault state */   
 } eOmc_motor_status_t;          EO_VERIFYsizeof(eOmc_motor_status_t, 24)