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Update abs encoder diagnostic #102

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merged 2 commits into from
Dec 9, 2024
Merged

Update abs encoder diagnostic #102

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6a822e0
Update abs encoder diagnostic
MSECode Nov 22, 2024
d2d8a43
Update patch version to v1.41.1
MSECode Dec 2, 2024
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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 1.41.0)
VERSION 1.41.1)

find_package(YCM 0.11.0 REQUIRED)

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6 changes: 3 additions & 3 deletions eth/embobj/plus/comm-v2/icub/EoError.c
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Expand Up @@ -194,9 +194,9 @@ const eoerror_valuestring_t eoerror_valuestrings_MC[] =
{eoerror_value_MC_motor_can_generic, "MC: 2FOC CAN generic error. Errors happened in the CAN bus between the EMS and the 2FOC board.", "In par16 = ID of joint."},
{eoerror_value_MC_motor_can_no_answer, "MC: 2FOC CAN no answer. The communication between the EMS and the 2FOC board has been lost for more than 50 ms.", "In par16 = ID of joint."},
{eoerror_value_MC_axis_torque_sens, "MC: torque sensor timeout. The joint is in a compliant interaction mode or torque control mode, and data from torque sensor have been unavailable for more than 100 ms.", "In par16 = ID of joint."},
{eoerror_value_MC_aea_abs_enc_invalid, "MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings.", "In par16 = AEA port (msb) and ID of joint (lsb)."},
{eoerror_value_MC_aea_abs_enc_timeout, "MC: AEA encoder timeout. No answer from the magnetic position sensor of the joint (cable broken?).", "In par16 = AEA port (msb) and ID of joint (lsb)."},
{eoerror_value_MC_aea_abs_enc_spikes, "MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint.", "In par16 = AEA port (msb) and ID of joint (lsb)."},
{eoerror_value_MC_abs_enc_invalid, "MC: Absolute encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings.", "In par16 = abs encoder port (msb) and ID of joint (lsb)."},
{eoerror_value_MC_abs_enc_timeout, "MC: Absolute encoder timeout. No answer from the magnetic position sensor of the joint (cable broken?).", "In par16 = abs encoder port (msb) and ID of joint (lsb)."},
{eoerror_value_MC_abs_enc_spikes, "MC: Absolute encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint.", "In par16 = abs encoder port (msb) and ID of joint (lsb)."},
{eoerror_value_MC_motor_qencoder_dirty, "MC: 2FOC quadrature encoder dirty. The number of thicks in a complete revolution of the motor was lower than expected, the optical disks need to be cleaned.", "In par64 0xFF is the mask of raw encoder value. par16 = ID of joint."},
{eoerror_value_MC_motor_qencoder_index, "MC: 2FOC quadrature encoder index broken. The reference special thick was not detected during a complete revolution of the motor, please check motor encoder cables.", "In par64 0xFF is the mask of raw encoder value. par16 = ID of joint."},
{eoerror_value_MC_motor_qencoder_phase, "MC: 2FOC quadrature encoder phase broken. The motor encoder is not counting even if the motor is moving, please check motor encoder cables.", "In par64 0xFF is the mask of raw encoder value. par16 = ID of joint."},
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6 changes: 3 additions & 3 deletions eth/embobj/plus/comm-v2/icub/EoError.h
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Expand Up @@ -220,9 +220,9 @@ typedef enum
eoerror_value_MC_motor_can_generic = 5,
eoerror_value_MC_motor_can_no_answer = 6,
eoerror_value_MC_axis_torque_sens = 7,
eoerror_value_MC_aea_abs_enc_invalid = 8,
eoerror_value_MC_aea_abs_enc_timeout = 9,
eoerror_value_MC_aea_abs_enc_spikes = 10,
eoerror_value_MC_abs_enc_invalid = 8,
eoerror_value_MC_abs_enc_timeout = 9,
eoerror_value_MC_abs_enc_spikes = 10,

eoerror_value_MC_motor_qencoder_dirty = 11,
eoerror_value_MC_motor_qencoder_index = 12,
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