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Add latest fault state to motor status data structure #52

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merged 6 commits into from
Dec 15, 2021
Merged

Add latest fault state to motor status data structure #52

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645d658
Add motor faults bitmask to motor status struct
mfussi66 Dec 2, 2021
4510ae2
Add usage of filler data of joint status modes for joint fault states…
mfussi66 Dec 3, 2021
ef88d8e
Add file to previous commit
mfussi66 Dec 3, 2021
02711fd
Renamed variables of interest for clarity
mfussi66 Dec 7, 2021
497ec14
Remove unused struct for fault messaging
mfussi66 Dec 7, 2021
05290d1
increase icub-firmware-shared version to 1.22.2
mfussi66 Dec 9, 2021
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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 1.22.1)
VERSION 1.22.2)

find_package(YCM 0.11.0 REQUIRED)

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8 changes: 3 additions & 5 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 @@ -222,8 +222,6 @@ typedef enum
eomc_calibration_typeUndefined = 255 // cannot change
} eOmc_calibration_type_t;



// -- all the possible data service structures


Expand Down Expand Up @@ -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;


Expand Down Expand Up @@ -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)


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