amc v1.9, ems v3.83, mc2plus v3.65, mc4plus v3.86, bat v1.3.3, bat_r v1.3.3 #126
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Tested on ergocub SN001 and it working fine as shown here:
As you can see the CANReal shows the message with ID: 202, class: 07 and value 01 meaning that it is sent from the EMS to the BAT (which has address 2 ) and having value 01 it tells to stop the transmission. To enable the transmission an equivalent message with value 00 is sent by the EMS The YRI shows that we do not have errors on the canmonitor |
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valegagge
approved these changes
Jan 9, 2024
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LGTM.
The EMS works properly only if the pr robotology/robots-configuration#603 has been merged, because the battery needs the CAN address 2 as it is explained in the note Just a more note about the need to set the address 2 to the bat board in this comment
marcoaccame
changed the title
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amc v1.9, ems v3.83, mc2plus v3.65, mc4plus v3.86, bat v1.3.3, bat_r v1.3.3
This firmware versions introduce the following changes:
yarprobotinterfacestarts the Battery service (w/ deviceembObjBattery) in order to activate the transmission over CAN. Before that, the BAT board remains silent, like all others CAN boards, in order to do not saturate the CAN bus. That allowsFirmwareUpdaterto work fine.