Add "Common" project to boards and make amcfoc project inherit from it

boards/amcfoc/resources/project/6xhH2l9GP9loT6TdFn_Mo65sDHg/kZdGAwXAm20MTF9LYhv9m8qFUn4d.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Value="true"/>

boards/amcfoc/resources/project/6xhH2l9GP9loT6TdFn_Mo65sDHg/kZdGAwXAm20MTF9LYhv9m8qFUn4p.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="project_services.TraceArtifacts" type="Command"/>

boards/amcfoc/resources/project/8Q5FaY8FPUZIN6BYgmqybHA48HQ/37KraNebfjVjmPyZvMWCUHM-vCsp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="5da8db34-1363-4ce1-b02f-2be76313c3d4" type="snapshot"/>

boards/amcfoc/resources/project/CzFQ_8sNt_AbTj6BzmOIj1BOHB8/CHiPgsIxDBlo3a20coVYgIscV24d.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>

boards/amcfoc/resources/project/CzFQ_8sNt_AbTj6BzmOIj1BOHB8/CHiPgsIxDBlo3a20coVYgIscV24p.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="1" type="DIR_SIGNIFIER"/>

boards/amcfoc/resources/project/CzFQ_8sNt_AbTj6BzmOIj1BOHB8/Og8qzt4f3RAdhjNNkA3yMOcLwBwd.xml

@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="test"/>
+    </Category>
+</Info>

boards/amcfoc/resources/project/CzFQ_8sNt_AbTj6BzmOIj1BOHB8/Og8qzt4f3RAdhjNNkA3yMOcLwBwp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="pmsm.slx" type="File"/>

boards/amcfoc/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/dYlSDXJA26AlZG9EvOq7C53pS0kd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="tests" Type="Relative"/>

boards/amcfoc/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/dYlSDXJA26AlZG9EvOq7C53pS0kp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="a2b7f45c-99bc-4a5b-9642-92fd1e632e16" type="Reference"/>

boards/amcfoc/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/egQ5N3r5rYPh43cg2Kv_OQRsg-wd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="tests/control" Type="Relative"/>

boards/amcfoc/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/egQ5N3r5rYPh43cg2Kv_OQRsg-wp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="03df8db0-b911-4f04-8524-73af43721840" type="Reference"/>

boards/amcfoc/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/pmYrm9Plbv7dHWjvLPRdu-rMB9cd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="tests/motor" Type="Relative"/>

boards/amcfoc/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/pmYrm9Plbv7dHWjvLPRdu-rMB9cp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="398678a5-9afb-4ade-934b-58c90578360e" type="Reference"/>

boards/amcfoc/resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/a9YHTnv1Xtg8q481_VRkFWwDtBQd.xml

@@ -0,0 +1,4 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info File="architectures/functional_architecture.slx" GroupUUID="" Icon="" Name="functional_architecture" Type="StartUp" Visible="0">
+    <Extension Name="StartUpPrev" Value="70cc7954-ad69-4ff9-8afa-6c4f0a8d1684"/>
+</Info>

boards/amcfoc/resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/a9YHTnv1Xtg8q481_VRkFWwDtBQp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="ba60ddb7-8a22-4706-a0db-4905cf71230b" type="EntryPoint"/>

boards/amcfoc/resources/project/LUgSFhI3RPozNzNcutxrczVe6f0/8Q5FaY8FPUZIN6BYgmqybHA48HQd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="../common" Type="Relative"/>

boards/amcfoc/resources/project/LUgSFhI3RPozNzNcutxrczVe6f0/8Q5FaY8FPUZIN6BYgmqybHA48HQp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="400538bb-25f2-4659-84de-22ad0a48fda2" type="Reference"/>

boards/amcfoc/resources/project/PtJGlMO_ce1seGaPJ3DrBdi6e3k/dBtV67XdENmf8rmmsRJhSHPvwI4d.xml

@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="test"/>
+    </Category>
+</Info>

boards/amcfoc/resources/project/PtJGlMO_ce1seGaPJ3DrBdi6e3k/dBtV67XdENmf8rmmsRJhSHPvwI4p.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="control_pmsm_multiple_wrapped.slx" type="File"/>

boards/amcfoc/resources/project/PtJGlMO_ce1seGaPJ3DrBdi6e3k/eZzG11G0zb9LxzWr2I8RPvGfMVAd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>

boards/amcfoc/resources/project/PtJGlMO_ce1seGaPJ3DrBdi6e3k/eZzG11G0zb9LxzWr2I8RPvGfMVAp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="1" type="DIR_SIGNIFIER"/>

boards/amcfoc/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/66WgGCcF5RIH9MCEgPmgjZK9k3Ud.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="codegen" Type="Relative"/>

boards/amcfoc/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/66WgGCcF5RIH9MCEgPmgjZK9k3Up.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="SimulinkCodeGenFolder" type="Reference"/>

boards/amcfoc/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/AtMjXDrOSm8YDv3_4UFXiyrWqNEd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="cache" Type="Relative"/>

boards/amcfoc/resources/project/WZRuNzqc-Db7NcQAZO8Y-R8U9cc/AtMjXDrOSm8YDv3_4UFXiyrWqNEp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="SimulinkCacheFolder" type="Reference"/>

boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/8Qdz0iiiuHlFJjxB6c5reQ4NAkQd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>

boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/8Qdz0iiiuHlFJjxB6c5reQ4NAkQp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="1" type="DIR_SIGNIFIER"/>

boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/CzFQ_8sNt_AbTj6BzmOIj1BOHB8d.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>

boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/CzFQ_8sNt_AbTj6BzmOIj1BOHB8p.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="motor" type="File"/>

boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/PtJGlMO_ce1seGaPJ3DrBdi6e3kd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>

boards/amcfoc/resources/project/hLMKfvmMZYFbdoE4Xco7ryXas6s/PtJGlMO_ce1seGaPJ3DrBdi6e3kp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="control" type="File"/>

boards/amcfoc/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>

boards/amcfoc/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="tests" type="File"/>

boards/amcfoc/resources/project/root/LUgSFhI3RPozNzNcutxrczVe6f0p.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Root" type="References"/>

boards/amcfoc/resources/project/root/WZRuNzqc-Db7NcQAZO8Y-R8U9ccp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="Root" type="WorkingFolders"/>

boards/common/Common.prj

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<MATLABProject xmlns="http://www.mathworks.com/MATLABProjectFile" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" version="1.0"/>

boards/common/models/motion_control/supervision/custom_code/rtw_enable_disable_motors.c

@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2021 iCub Tech Facility - Istituto Italiano di Tecnologia
+ * Author:  German David Rodriguez Arenas
+ * email:   german.rodriguez@iit.it
+ * Permission is granted to copy, distribute, and/or modify this program
+ * under the terms of the GNU General Public License, version 2 or any
+ * later version published by the Free Software Foundation.
+ *
+ * A copy of the license can be found at
+ * http://www.robotcub.org/icub/license/gpl.txt
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details
+*/
+
+#include "rtw_enable_disable_motors.h"
+#ifdef STM32HAL_BOARD_AMCBLDC
+#include "pwm.h"
+#endif /* STM32HAL_BOARD_AMCBLDC */
+
+void rtw_enableMotor(){
+    #ifdef STM32HAL_BOARD_AMCBLDC
+    pwmPhaseEnable(PWM_PHASE_ALL);
+    #endif /* STM32HAL_BOARD_AMCBLDC */
+}
+
+void rtw_disableMotor(){
+    #ifdef STM32HAL_BOARD_AMCBLDC
+    pwmPhaseDisable(PWM_PHASE_ALL);
+    #endif /* STM32HAL_BOARD_AMCBLDC */
+}

boards/common/models/motion_control/supervision/custom_code/rtw_enable_disable_motors.h

@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2021 iCub Tech Facility - Istituto Italiano di Tecnologia
+ * Author:  German David Rodriguez Arenas
+ * email:   german.rodriguez@iit.it
+ * Permission is granted to copy, distribute, and/or modify this program
+ * under the terms of the GNU General Public License, version 2 or any
+ * later version published by the Free Software Foundation.
+ *
+ * A copy of the license can be found at
+ * http://www.robotcub.org/icub/license/gpl.txt
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details
+*/
+
+#ifndef RTW_ENABLE_DISABLE_MOTORS
+#define RTW_ENABLE_DISABLE_MOTORS
+
+#ifdef __cplusplus
+    extern "C" {
+#endif /* __cplusplus */
+
+void rtw_enableMotor();
+
+void rtw_disableMotor();
+
+#ifdef __cplusplus
+    } /* extern "C" */
+#endif /* __cplusplus */        
+
+#endif /* RTW_ENABLE_DISABLE_MOTORS */

boards/common/models/motion_control/supervision/custom_code/rtw_motor_config.c

@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2022 iCub Tech Facility - Istituto Italiano di Tecnologia
+ * Author:  Valentina Gaggero
+ * email:   valentina.gaggero@iit.it
+ * Permission is granted to copy, distribute, and/or modify this program
+ * under the terms of the GNU General Public License, version 2 or any
+ * later version published by the Free Software Foundation.
+ *
+ * A copy of the license can be found at
+ * http://www.robotcub.org/icub/license/gpl.txt
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details
+*/
+
+#include "rtw_motor_config.h"
+#ifdef STM32HAL_BOARD_AMCBLDC
+//put here specific include files
+#endif /* STM32HAL_BOARD_AMCBLDC */
+
+void rtw_configMotor(uint8_t has_quad_enc, int16_t rotor_enc_resolution, uint8_t pole_pairs,
+                     uint8_t has_hall_sens, uint8_t swapBC,
+                     uint16_t hall_sens_offset)
+{
+    #ifdef STM32HAL_BOARD_AMCBLDC
+    //read here the hw encoder
+    #endif /* STM32HAL_BOARD_AMCBLDC */
+}

boards/common/models/motion_control/supervision/custom_code/rtw_motor_config.h

@@ -0,0 +1,38 @@
+/*
+ * Copyright (C) 2022 iCub Tech Facility - Istituto Italiano di Tecnologia
+ * Author:  Valentina Gaggero
+ * email:   valentina.gaggero@iit.it
+ * Permission is granted to copy, distribute, and/or modify this program
+ * under the terms of the GNU General Public License, version 2 or any
+ * later version published by the Free Software Foundation.
+ *
+ * A copy of the license can be found at
+ * http://www.robotcub.org/icub/license/gpl.txt
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details
+*/
+
+#ifndef RTW_MOTOR_CONFIG_MOTORS
+#define RTW_MOTOR_CONFIG_MOTORS
+
+#ifdef __cplusplus
+    extern "C" {
+#endif /* __cplusplus */
+
+#include "stdint.h"
+
+/*inizialize the motor encoder using the data read in the configuration files (yarprobotinterface) 
+swapBC = 1
+hall_sens_offset = 120 *65536/360 ; icubDeg*/
+void rtw_configMotor(uint8_t has_quad_enc, int16_t rotor_enc_resolution, uint8_t pole_pairs,
+                     uint8_t has_hall_sens, uint8_t swapBC,
+                     uint16_t hall_sens_offset);
+
+#ifdef __cplusplus
+    } /* extern "C" */
+#endif /* __cplusplus */        
+
+#endif /* RTW_MOTOR_CONFIG_MOTORS */

boards/common/resources/project/7oKVxVYWZ2WrUSsCBa_oqa7pZb8/LkE4zRwExLPPSDOG-GyPU0wp9d0d.xml

@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

boards/common/resources/project/7oKVxVYWZ2WrUSsCBa_oqa7pZb8/LkE4zRwExLPPSDOG-GyPU0wp9d0p.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="newBoard.sldd" type="File"/>

boards/common/resources/project/7oKVxVYWZ2WrUSsCBa_oqa7pZb8/MCFAyvx613-iozwmfExBN92p_7Md.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>

boards/common/resources/project/7oKVxVYWZ2WrUSsCBa_oqa7pZb8/MCFAyvx613-iozwmfExBN92p_7Mp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="1" type="DIR_SIGNIFIER"/>

boards/common/resources/project/DH9moqhEpU0QpuHSp9PTX5JtgDo/00Wb8GtrZuGRpelLQbcFd5NCEWId.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>

boards/common/resources/project/DH9moqhEpU0QpuHSp9PTX5JtgDo/00Wb8GtrZuGRpelLQbcFd5NCEWIp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="1" type="DIR_SIGNIFIER"/>

boards/common/resources/project/DH9moqhEpU0QpuHSp9PTX5JtgDo/HKBPkyxPJeqY42EjkZ7xhIqTUbgd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info/>

boards/common/resources/project/DH9moqhEpU0QpuHSp9PTX5JtgDo/HKBPkyxPJeqY42EjkZ7xhIqTUbgp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="custom_code" type="File"/>

boards/common/resources/project/DH9moqhEpU0QpuHSp9PTX5JtgDo/V3gJiGAqosDIwDQKbrMwxB6LClYd.xml

@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

boards/common/resources/project/DH9moqhEpU0QpuHSp9PTX5JtgDo/V3gJiGAqosDIwDQKbrMwxB6LClYp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="motor_supervisor.slx" type="File"/>

boards/common/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/DjhF1YyQRQHF8BGsxG7KBp9JYf4d.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="models/motion_control" Type="Relative"/>

boards/common/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/DjhF1YyQRQHF8BGsxG7KBp9JYf4p.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="aa92c3e1-8be5-4c04-b314-b46220e6b5d7" type="Reference"/>

boards/common/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/EH3AJzvx_gP2j_QHg0EtVCSvleUd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="system/dictionaries" Type="Relative"/>

boards/common/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/EH3AJzvx_gP2j_QHg0EtVCSvleUp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="c00dd40a-f3ec-4511-b6cf-6b56645036b8" type="Reference"/>

boards/common/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/FFiRsoJE9U1rrIG9nCWL9yfFFNQd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="models/motion_control/estimation" Type="Relative"/>

boards/common/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/FFiRsoJE9U1rrIG9nCWL9yfFFNQp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="184ccfd3-b9f5-484e-98c8-4d7d7c546ecc" type="Reference"/>

boards/common/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/FnNJabYa5WTcTZRL9rmaENo8YhQd.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="system" Type="Relative"/>

boards/common/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/FnNJabYa5WTcTZRL9rmaENo8YhQp.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info location="a2033d65-b153-4c96-8989-0b245cda1490" type="Reference"/>

boards/common/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/M-NLhf8gs5_PKwSKzWgirVyaJT4d.xml

@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="models/motion_control/supervision" Type="Relative"/>