Fix to ICC communication between the amc and amc2c board
#491
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…e and current w/ EMBOT_ENABLE_hw_analog_ish the amcbldc uses the same EMBOT_ENABLE_hw_analog_ish but its undefinition does not stop the used HW
now we can switch one to another at each launch of YRI by simply changing the xml file and there is no need to restart the board as before. to put the previous behavior define COMM_BUS_LOCKED_AT_FIRST_MC_RECEPTION
- increased priority of COMM thread so that the CM4 gets / sends messages as early as possible from CM7 - increased priority of HSEM1_IRQn and HSEM2_IRQn so that the chain IRQ handler, rxICC / txICC threads is executed faster and the CM7 is unlocked earlier
none is 8 fast blinks ICC is one medium blink CAN is two medium blinks
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This PR fixes the ICC communication mode between the
amcandamc2cboard that was not correctly working.In details
The ICC introduced in #474 has stopped working. Only the CAN is working. That is probably due to recent additions to the features of the
amc2cboard that further reduce its idle time and prevent teh ICC communication mode to work effectively because the reduced CPU time is used by other threads. The ICC requires a tight handshaking between the CM7 (amc) and teh CM4 (amc2c) because for each communication a thread on each core is locked until teh other unlocks teh shared resource.CAN is less demanding as it uses a HW peripheral.
The solution was to rise the priority of the COMM thread in the
amc2cas well as the IRQ priority of the HSEM interrupt handler.This PR also contains some other changes:
Tests
I have tested the change on the lego setup and it works.
Tested also on ergoCub SN002. It works.
Linked PRs
The binaries:
amcandamc2cboard icub-firmware-build#147