Handling of overcurrent flag

[pattacini]

This PR addresses #58 by adding up the transmission of the overcurrent flag via CAN.

Here's a list of things I did:

🔘 Updated Flags in the dictionary

🔘 Updated SupervisorRX FSM

🔘 Updated SupervisorTX/MSG_STATUS_HANDLER FSM

🔘 Updated CAN_Encoder/STATUS/format_status_pck function

function pl = format_status_pck(control_mode, pwm_fbk, flags, shift, CAN_VOLT_REF_SHIFT)

pl = uint8((zeros(8, 1)));

pl(1) = uint8(control_mode);

pl(2) = uint8(0);

tmp1 = bitshift(pwm_fbk, CAN_VOLT_REF_SHIFT - shift);
tmp2 = typecast(tmp1, 'uint8');
pl(3) = tmp2(1);
pl(4) = tmp2(2);

% See https://github.com/robotology/icub-firmware/blob/devel/emBODY/eBcode/arch-arm/board/amc2c/bsp/motorhal/motorhal_faults.h
pl(5) = bitset(pl(5), 1, flags.ExternalFaultAsserted);
pl(5) = bitset(pl(5), 4, flags.OverCurrentFailure);
pl(6) = uint8(0);
pl(7) = uint8(0);
pl(8) = uint8(0);

📝 AOB

Warning

I also had to update some test models (see the tab Files changed) to comply with the changes in the dictionary.

Note

@mfussi66, we're required to port these modifications to the new architectural model.

⚙️ Tests

Important

The changes need to be tested!

---

cc @valegagge @Nicogene @mfussi66 @sgiraz

[pattacini]

We need to finalize the test of this PR within this week.
cc @sgiraz @Nicogene

[pattacini]

/remind tomorrow

[octo-reminder]

⏰ Reminder
Wednesday, February 28, 2024 10:00 AM (GMT+01:00)

[octo-reminder]

🔔 @pattacini

[sgiraz]

Hi @pattacini,

I'm going to test this features in the next few hours , stay tuned! 📢

cc @Nicogene

[sgiraz]

Hi @pattacini,

Here are the results promised:

yarpmotorgui_teY1F2z47a.mp4

I tested the new codegen on AMC2C with the following current limits using the yarprobotinterface:

        <param name="motorNominalCurrents">     30               </param>
        <param name="motorPeakCurrents">        40               </param>
        <param name="motorOverloadCurrents">    50               </param>

I also tested succefully the same codegen w/ AMCBLDC using the experiment-supervisor test model.

A new PR on icub-firmware and icub-firmware-build will follow. I think we can merge this PR ✅.

cc @mfussi66 @marcoaccame @Nicogene

[pattacini]

Thanks heaps!

[mfussi66]

I'll address the change asap on the WIP version of the new architectural model.