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Move MotorFaultState to EoMotionControl #94

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merged 1 commit into from
Mar 13, 2024
Merged

Move MotorFaultState to EoMotionControl #94

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51 changes: 51 additions & 0 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 @@ -56,6 +56,57 @@ extern "C" {

// - declaration of public user-defined types -------------------------------------------------------------------------

typedef union
{
struct
{
//B0 L
unsigned ExternalFaultAsserted :1;
unsigned UnderVoltageFailure :1;
unsigned OverVoltageFailure :1;
unsigned OverCurrentFailure :1;
//B0 H
unsigned DHESInvalidValue :1;
unsigned AS5045CSumError :1;
unsigned DHESInvalidSequence :1;
unsigned CANInvalidProtocol :1;
//B1 L
unsigned CAN_BufferOverRun :1;
unsigned SetpointExpired :1;
unsigned CAN_TXIsPasv :1;
unsigned CAN_RXIsPasv :1;
//B1 H
unsigned CAN_IsWarnTX :1;
unsigned CAN_IsWarnRX :1;
unsigned OverHeatingFailure :1;
unsigned unused :1;
//B2 L
unsigned ADCCalFailure :1;
unsigned I2TFailure :1;
unsigned EMUROMFault :1;
unsigned EMUROMCRCFault :1;
//B2 H
unsigned EncoderFault :1;
unsigned FirmwareSPITimingError :1;
unsigned AS5045CalcError :1;
unsigned FirmwarePWMFatalError :1;
//B3 L
unsigned CAN_TXWasPasv :1;
unsigned CAN_RXWasPasv :1;
unsigned CAN_RTRFlagActive :1;
unsigned CAN_WasWarn :1;
//B3 H
unsigned CAN_DLCError :1;
unsigned SiliconRevisionFault :1;
unsigned PositionLimitUpper :1;
unsigned PositionLimitLower :1;
} bits;

uint32_t bitmask;

} eOmc_motorFaultState_t;

enum {eOmc_motorFaultState_numberof = 32};

/** @typedef typedef enum eOmc_entity_t;
@brief It contains all the possible entities managed by motion control.
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