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[Spinal][Config] Additional features and new configuration for Spinal #630

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[Spinal][Config] Additional features and new configuration for Spinal #630

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Commits on Mar 1, 2024

  1. [Spinal][Dynamixel] transplanted dynamixel interface to spinal

    @sugihara-16
    sugihara-16 committed Mar 1, 2024
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  2. [Spinal][Encoder] modified encorder interface imitating neuron one

    @sugihara-16
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  3. [Spinal] change usart3 bardrate as 1Mbps

    @sugihara-16
    sugihara-16 committed Mar 1, 2024
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  4. [Spinal][Servo][WIP] create a new universal interface to control servos

    @sugihara-16
    sugihara-16 committed Mar 1, 2024
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Commits on Mar 2, 2024

  1. [Spinal][Servo] fix complile erors in servo interface (stil not work)

    @sugihara-16
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  2. [Spinal][Servo] add implimentation to call servo interface from main.cpp

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  3. [Spinal][Servo][WIP] modifed some details and add MPU setting

    @sugihara-16
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Commits on Mar 4, 2024

  1. [Spinal][Servo] add new task to treat servos directly

    @sugihara-16
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  2. [Spinal][Servo] change servo flag name

    @sugihara-16
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  3. [Spinal][Servo][WIP] workaround send command to dynamixel

    @sugihara-16
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Commits on Mar 5, 2024

  1. [Spinal][Servo] create a new service to set configuration of direct c… 

    …ontrol servos
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  2. [Spinal][Servo] workaround to set configuration of direct servos to f… 

    …lashmemory
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  3. [Spinal][Servo] add interface to set target angle directly

    @sugihara-16
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Commits on Mar 6, 2024

  1. [Spinal][Servo] fix some bugs

    @sugihara-16
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Commits on Mar 7, 2024

  1. [Spinal][Servo] change the priority of servotask from idle to realtime

    @sugihara-16
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  2. [Spinal][Servo] fixed bug in a function of toruqe enabling

    @sugihara-16
    sugihara-16 committed Mar 7, 2024
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Commits on May 12, 2024

  1. [Spinal][Dynamixel] limit the situation in which offset and torque pa… 

    …rameter can be set to only during torqe off state.
    @sugihara-16
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Commits on May 13, 2024

  1. [Spinal][Dynamixel] modified maximum servo number from 4 to 8.

    @sugihara-16
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  2. [Spinal][servo] Create README for servo interface

    @sugihara-16
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Commits on May 15, 2024

  1. [Spinal][Servo] resize the servo message as same as maximum servo num.

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Commits on Jun 4, 2024

  1. [ServoBridge] workaroud to use servo profiles in spinal firmware.

    @sugihara-16
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  2. [Spinal][Servo] use servo index to indentify servo

    @sugihara-16
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  3. [Spinal][Servo] workaround to use rqt to monitor and setup direct ser… 

    …vos.
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  4. [Spinal][Servo] debug around reading servo from rqt

    Kaneko committed Jun 4, 2024
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Commits on Jun 5, 2024

  1. Merge pull request #6 from koutarou-kaneko/PR/Spinal/dynamixel 

    [Spinal][Servo] debug around reading servo from rqt
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Commits on Jun 7, 2024

  1. [Spinal][Servo] debug around boad configurator

    hisaaki committed Jun 7, 2024
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  2. Merge pull request #7 from HisaakiIida/PR/Spinal/dynamixel

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Commits on Jun 24, 2024

  1. Merge branch 'PR/feature/spinal/imu/icm20948' into develop/spinal/jsk… 

    …_lib/dynamixel/spinal_v2
    @sugihara-16
    sugihara-16 committed Jun 24, 2024
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  2. [Spinal][Servo] change the port for servo control from usart3 to usart2

    @sugihara-16
    sugihara-16 committed Jun 24, 2024
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  3. [Spinal][Servo] workaround to use servo and gps simultaneously

    @sugihara-16
    sugihara-16 committed Jun 24, 2024
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Commits on Oct 2, 2024

  1. [Spinal][DShot] add telemetry function for the ESCs that support. The… 

    … code can be flashed into mcu. However, the telemetry has not been tested yet, since the DShot function should be implemented first.
    @Li-Jinjie @sugihara-16
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  2. [Spinal][DShot] add DShot code from https://github.com/mokhwasomssi/s… 

    …tm32_hal_dshot
    @Li-Jinjie @sugihara-16
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  3. [Spinal][DShot] add DMA function for DShot PWM. only set the CubeMX a… 

    …nd generate code, not tested.
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  4. [Spinal][DShot]: remove redundant code for esc_telem

    @Li-Jinjie @sugihara-16
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  5. [Spinal][DShot]: create the new dshot class

    @Li-Jinjie @sugihara-16
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  6. [Spinal][DShot]: change the PWM setting in CubeMX for DShot; fix a ty… 

    …pe error in dshot.cpp; fix a 'static' keyword error and add dma address for STM32H7 in dshot.h. When building, some include errors occur.
    @Li-Jinjie @sugihara-16
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  7. [Spinal][DShot]: try to change pwm to dshot. Not tested.

    @Li-Jinjie @sugihara-16
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  8. [Spinal][DShot]: fix bugs, now the code can be built without errors.

    @Li-Jinjie @sugihara-16
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  9. [Spinal][DShot]: change the memory size for dma buffer. The original … 

    …size is too small. However, error still occur when accessing the memory.
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  10. [Spinal][DShot]: only one motor can rotate. do not know why

    @Li-Jinjie @sugihara-16
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  11. [Spinal][DShot]: [SUCCESS] change settings to use NPU. NPU is critica… 

    …l for DMA in stm32H7. change a permission setting to allow NPU access. pwm_test works fine on real machine!
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  12. [Spinal][DShot]: add one flag to decide if using telemetry or not.

    @Li-Jinjie @sugihara-16
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  13. [Spinal][DShot]: change the UART for receiving dshot telemetry to RX … 

    …only.
    @Li-Jinjie @sugihara-16
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  14. [Spinal][DShot]: add msg for telemetry

    @Li-Jinjie @sugihara-16
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  15. [Spinal][DShot]: achieve dshot telemetry of one motor. test using deb… 

    …ug. the received data is checked in a clever way.
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  16. [Spinal][DShot]: add code to communicate with ros. tested successfully!

    @Li-Jinjie @sugihara-16
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  17. [Spinal][DShot]: refactor dshot class to triggering one by one. teste… 

    …d successfully!
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  18. [Spinal][DShot]: refactor esc_telem class to measure one by one. Unsu… 

    …ccessful. Still problem
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  19. Revert "[Spinal][DShot]: refactor esc_telem class to measure one by o… 

    …ne. Unsuccessful. Still problem"

This reverts commit 699c1d1.
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  20. Revert "[Spinal][DShot]: refactor dshot class to triggering one by on… 

    …e. tested successfully!"

This reverts commit 5d1518e.
    @Li-Jinjie @sugihara-16
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  21. [Spinal][DShot]: add time stamp to ESCTelemetryArray.msg

    @Li-Jinjie @sugihara-16
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  22. [Spinal][DShot]: add esc_reader support for different esc_msgs

    @Li-Jinjie @sugihara-16
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  23. [Spinal][DShot]: send telem flag to different motors. one telem for o… 

    …ne motor during one round. [tested using Oscilloscope]
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  24. [Spinal][DShot]: finish the eRPM measurement of different motors. Tes… 

    …ted! Now the freq. is limited to 125hz. 250 hz will cause strange behavior.
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  25. [Spinal][DShot]: polish the dshot code for rotor measurement

    @Li-Jinjie @sugihara-16
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  26. [Spinal][DShot]: add crc to ESCTelemetry.msg for debugging

    @Li-Jinjie @sugihara-16
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  27. [Spinal][DShot]: refactor some names; add constraints for dshot value

    @Li-Jinjie @sugihara-16
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  28. [Spinal][DShot]: add support to reverse rotation directions. tested!

    @Li-Jinjie @sugihara-16
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  29. [Spinal][DShot]: change telemetry info from erpm to real rpm!

    @Li-Jinjie @sugihara-16
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  30. [Spinal]: fix typo

    @Li-Jinjie @sugihara-16
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  31. [Spinal][DShot]: refactor rx_buf_ to esc_telem_rx_, in case of unambi… 

    …guous
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  32. [Spinal][DShot]: remove code for dshot config, since unsuccessful

    @Li-Jinjie @sugihara-16
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  33. [Spinal][Battery]: use dshot telemetry to update the battery voltage

    @Li-Jinjie @sugihara-16
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Commits on Oct 3, 2024

  1. [Spinal][Dynamixel] change the Dynamixel reading procedure from send-… 

    …receive to receive-send. Not working.
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  2. [Spinal][Dynamixel] make the send freq. the same as INST_GET_PRESENT_POS

    @Li-Jinjie
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  3. [Spinal][Dynamixel] refactor code to support quick reading for Dynami… 

    …xel. The current freq. for servo is 100hz, and the current freq. for dshot is 125hz. Tested on real machine.
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  4. [Spinal][Dynamixel] fix a bug after cherry-pick

    @Li-Jinjie
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  5. [Spinal][DShot][WIP] workaround to use dshot in Spinal 4.1

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Commits on Oct 4, 2024

  1. [Spinal][DShot] workaround to use Dshot and ESC telemetry in Spinal v… 

    …ersion 4.1
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  2. [Spinal][DShot] modified volatage sensing update procudure

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Commits on Oct 15, 2024

  1. Merge branch 'develop/spinal/jsk_lib/dynamixel/spinal_v2' into develo… 

    …p/Spinal/Dshot
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Commits on Oct 16, 2024

  1. [Spinal4.1][DShot] restore the procedure of reading esc telem as prev… 

    …ious version
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  2. Merge branch 'PR/feature/Spinal_4_1/DShot' into develop/Spinal/Dshot

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  3. [Spinal][Config][ver4.1] workaround to enable servo control in spinal… 

    … 4.1
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  4. [Spinal][Config][ver4.1] add roslib build instruction for stm32h7_v2

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  5. Merge pull request #8 from Li-Jinjie/PR/Spinal/dynamixel 

    Modify the sequence of reading data
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  6. Merge branch 'PR/Spinal/dynamixel' into develop/Spinal/Config/ver_4_1

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  7. [Spinal][Dynamixel] modified servo task priority

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  8. [Spinal][Dynamixel] modified max servo number

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  9. [Spinal][Servo] modified way of gain transmitting to avoid write error

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Commits on Oct 24, 2024

  1. [Spinal][Servo] debug around the method to distinguish invalid servo ID.

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Commits on Oct 29, 2024

  1. [Spinal][H7_V1] revert ping uart2 and 3 config as master

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  2. [Spinal][Config] add new flag to distinguish special board version

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  3. [Spinal][DirectServo] choose correct MPU region according to board ve… 

    …rsion.
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  4. [Spinal][DirectServo] dynamically configure Pin setting for servo.

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    sugihara-16 committed Oct 29, 2024
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  5. [Spinal][Config][WIP] create separated config files corresponding to … 

    …each Spinal board.
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  6. [Spinal][Config][F7] configure CubeIDE project for SpinalF7 based on … 

    …its own config.
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  7. [Spinal][Config][H7] configure CubeIDE project for SpinalH7 based on … 

    …its own config.
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  8. [Spinal][Config][H7_v2] configure CubeIDE project for SpinalH7_v2 bas… 

    …ed on its own config.
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  9. [Spinal][F7] update the way to call magencoder

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    sugihara-16 committed Oct 29, 2024
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  10. [Spinal][H7&H7_V2] modified imu select condition

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    sugihara-16 committed Oct 29, 2024
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  11. [Spinal][config] delete previous common config file.

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    sugihara-16 committed Oct 29, 2024
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  12. [Spinal][Dshot] deleted unused include path.

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    sugihara-16 committed Oct 29, 2024
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Commits on Oct 30, 2024

  1. [Spinal][Controller] add a dynamic board configurator for the method … 

    …of thrust signal transmission(PWM or DSHOT).
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  2. [Spinal][Config] add new flag to determine whether Spinal uses dshot … 

    …or not.
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    sugihara-16 committed Oct 30, 2024
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Commits on Oct 31, 2024

  1. [Spinal][ACD] Rvert adc channel from 18 to 15 to revive previous volt… 

    …age sensing way.
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  2. [Spinal][Servo] Debug of infinity loop in sevoTask function when dire… 

    …ct servo mode is disenabled.
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    sugihara-16 committed Oct 31, 2024
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  3. [Spinal] Initialize battery instance according to Dshot falg.

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    sugihara-16 committed Oct 31, 2024
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Commits on Nov 2, 2024

  1. [Spinal] remove the exectuable attribute for config files

    @tongtybj
    tongtybj committed Nov 2, 2024
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  2. Merge pull request #9 from tongtybj/develop/Spinal/Config/ver_4_1

    @sugihara-16
    sugihara-16 authored Nov 2, 2024
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Commits on Nov 4, 2024

  1. Revert "[Spinal][Encoder] modified encorder interface imitating neuro… 

    …n one"

This reverts commit af3f910.
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  2. Revert "[Spinal][F7] update the way to call magencoder" 

    This reverts commit 366b3d1.
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    sugihara-16 committed Nov 4, 2024
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  3. [Spinal][Config] add new flag to determine Spinal or Neuron.

    @sugihara-16
    sugihara-16 committed Nov 4, 2024
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  4. [Spinal][Dynamixel] Add build macro abount the part related to extern… 

    …al encoder.
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    sugihara-16 committed Nov 4, 2024
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  5. Merge remote-tracking branch 'sugihara/PR/Spinal_4_1/new_config' into… 

    … PR/Spinal_4_1/new_config
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    sugihara-16 committed Nov 4, 2024
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