v1.40.0

What's Changed

• This EMS 3.90 version fixes the bug that affected the stiff <-> compliant interaction mode transitions by @ale-git in #498
• Update diagnostic for aksim2 by @MSECode in #500
• Fix timing of EOMtheEMSrunner by @marcoaccame in #501
• Runtime configuration of diagnostics related to the RX-DO-TX phases by @marcoaccame in #502
• Improvement in 2FOC fw and improved quadrature_encoder diagnostic by @valegagge in #503
• Boards mtb4 and mtb4c: added SWO debug capabilities + multisda source files are now shared by @simeonedussoni in #505
• Feat/5th i2c to be merged for implementing the 5th I2C bus - first step by @simeonedussoni in #506

Full Changelog: v1.39.0...v1.40.0

v1.39.0

What's Changed

• The amc board uses ICC and CAN to move the wrist of ergoCub. by @marcoaccame in #474
• Clean up of example test projects of amc and amc2c by @marcoaccame in #475
• The amc2c board runs the UDP stack by @marcoaccame in #477
• amcbldc v2.0.11 + amc2c v3.0.1.0 Handling of overcurrent flag w/ the new codegen by @sgiraz in #478
• Fixed the bsp of amcfoc cm4 and cm7 by @marcoaccame in #479
• Feat/amc2c vcc reading by @sgiraz in #480
• Demo projects for amcfoc that boots from CM4 and/or CM7 by @marcoaccame in #481
• codegen: pwm scaled by Vcc when set as target in openloop - icub-fw-models: 1be8d979 by @mfussi66 in #482
• Fix/diagnostic gen error by @MSECode in #472
• Improved dual core boot for amcfoc by @marcoaccame in #483
• Fix/versions alignment amc2c v3.0.3 + amcbldc 2.0.13 by @sgiraz in #484
• AMC - fix programmed packets count by @davidetome in #485
• Update amc v2.1, ems v3.86, mc4plus v3.89, mc2plus v3.68 by @MSECode in #486
• BAT updates by @MSECode in #487
• Uniformization of behaviour of the eUpdater of amc, ems, mc4plus and mc2plus by @marcoaccame in #490
• Add jomo to diagnostic aksim. EMS ver 3.88 by @valegagge in #489
• Fix to ICC communication between the amc and amc2c board by @marcoaccame in #491
• Add file for enabling SignalEventViewer in ems by @MSECode in #492
• Legacy ETH boards has support for earlier TX of CAN frames by @marcoaccame in #493
• Add comment lines for temperature reading by @MSECode in #495
• Improved EOMtheEMSrunner by @marcoaccame in #496

Full Changelog: v1.38.0...v1.39.0

v1.38.0

What's Changed

• Add velocityThres parameter for friction compensation by @sgiraz in #410
• EoInertials3: refactor in order to make it work also w/ ems and mtb3. by @Nicogene in #439
• AMC-BLDC - adding test project by @davidetome in #441
• Feature/temperature reading by @MSECode in #430
• Remove EOtheInertials2 service by @Nicogene in #442
• Fix/battery version by @MSECode in #443
• Board amc: test project for streaming AEA3 values by @marcoaccame in #444
• fix aea3 spi config + minor cleanup by @sgiraz in #449
• Update AMCBLDC codegen with matlab 2023b by @sgiraz in #448
• Feature/fw updater bat by @MSECode in #447
• AMC2C bugfix polepairs type from size_t to uint8_t by @sgiraz in #456
• AMC-BLDC - test FW by @davidetome in #453
• Reset quadrature encoder counter via HW by @ale-git in #455
• Improved HW CAN filtering on the amc2c board by @marcoaccame in #458
• Fix the control mode management in case of wrist decoupler by @valegagge in #459
• amcbldc + amc2c v2.0.8 by @sgiraz in #457
• amc-bldc - add tests using temporary test jig by @davidetome in #460
• Revert the PR 459. AMC ver 1.11 by @valegagge in #461
• Fix namespace when calling embot partition() by @mfussi66 in #462
• amc-bldc - test fw minor fix by @davidetome in #463
• Use IF instead of WHILE in check motor encoder error by @MSECode in #464
• Fix/temperature reading by @MSECode in #466
• amcbldc + amc2c v209 Ts_FOC alignment by @sgiraz in #468
• Wrist stuck at startup bug fixed by @ale-git in #467
• wrist_decoupler moved to automatically generated software dedicated folder by @ale-git in #470
• AMC V1.13 with improved wrist Mk2 direct kinematics solver by @ale-git in #469
• Fix on all Diagnostic error by @MSECode in #471

Full Changelog: v1.37.0...v1.38.0

v1.37.0

What's Changed

• mc4plus double pinout by @davidetome in #412
• amc: bugfix reading chipMA730 by @sgiraz in #415
• Bugfix about the reduced torque of 2FOC V 3.6 firmware by @ale-git in #416
• amc: bugfix SPI by @sgiraz in #419
• amc bugfix reading aea3 bitshift by @sgiraz in #420
• Update fw to v1.3.1 and display variable: by @MSECode in #421
• Fix debug message by @MSECode in #423
• fix euler angles by @davidetome in #425
• Parametrized Wrist decoupler and aea3 support in AMC board by @valegagge in #424
• The amc2c binary moves a motor using CAN communication by @marcoaccame in #426
• Cleanup of the amc application by @marcoaccame in #429
• Support for addressing ICC communication in MC by @marcoaccame in #431
• support for amc: stm32hal v1B1 by @marcoaccame in #433
• Correct disabling of led toggling at 100ms wrongly removed in previous fw by @MSECode in #432
• HW test projects using embot environment: ems, mc4plus and amc by @marcoaccame in #434
• Now the joints can run based only to motor encoder - without AMO sensors - and calibrate in hard stop. by @ale-git in #438
• hal2.h - add missing header by @davidetome in #440

Full Changelog: v1.36.0...v1.37.0

v1.36.0

What's Changed

• Fix/battery charge by @MSECode in #395
• Motor Control library used by ETH boards is now compiled in C++ by @marcoaccame in #397
• Board amcbldc: fix of application version in EEPROM + TIM1 update removal optimization by @marcoaccame in #398
• Add fix for not causing joints to go in hw fault at yri restart by @MSECode in #400
• Use of embot::app::eth::theEncoderReader in all ETH boards by @marcoaccame in #399
• Update evaluation of final offset for calibratio14 + bugfix by @MSECode in #402
• amc2c – introduce changes to fix debugging + enable SWO trace features by @sgiraz in #404
• Cleanup of MC: removed code for old management of 7 joints in handv3 by @marcoaccame in #406
• 2FOC: Added temperature sensor reading by I2C by @ale-git in #401
• amc2c: minor changes to debug the currents reading by @sgiraz in #407
• First support for the two cores of the amcfoc board: amcfocm7 and amcfocm4 by @marcoaccame in #408
• Add handling of status messages for BAT and BMS in EMS baord by @MSECode in #403
• Set joints to NOT_CONFIGURED at YRI closure using MotionController Deactivate() API by @MSECode in #413

Full Changelog: v1.35.1...v1.36.0

v1.35.1

What's Changed

• AMDBLDC: add thermal model running at 10ms and reusable functions from codegen (icub-fw-models@2e2670b) by @mfussi66 in #391
• AMC: Increase version after fix for can discovery of strain2c by @mfussi66 in #392
• AMCBLDC: Update project files and, increase version of 1.x, add thermal model to mbdAgent in version 1.x by @mfussi66 in #394

Full Changelog: v1.35.0...v1.35.1

v1.35.0

What's Changed

• AMCBLDC: v1.2.12 codegen alignement by @sgiraz in #364
• RFE test support by @davidetome in #365
• Finalization of calib type 14 on fingers. by @MSECode in #363
• Alignment of the application framework for the amcbldc and amc2c boards by @marcoaccame in #367
• Prepared the MBD motor control holder for board amc2c by @marcoaccame in #368
• Completed work on battery status improvement by @MSECode in #369
• Bugfix: persists encoder reading when the wrist-mk2 is in idle by @sgiraz in #366
• Added motor control support to the amc2c board. by @marcoaccame in #370
• Fix of previous PR 370 by @marcoaccame in #371
• cleaned embot::hw::motor for board amc2c by @marcoaccame in #373
• Upgrade version from 1.1.0 to 1.2.0 for BAT board by @MSECode in #372
• AMC2C: Fix PwmInit to manage properly the htim1 registers for MOT_BREAK by @sgiraz in #374
• AMC2C: Add embot_app_board_amc2c_test by @sgiraz in #375
• Layer embot::hw::motor + motorhal for board amc2c by @marcoaccame in #376
• Board amc2c: some fixes in motor control code by @marcoaccame in #377
• Add embot_hw_testpoint by @sgiraz in #383
• Added Hall sensor effect value and sequence error detection. by @ale-git in #378
• 2FOC v3.6 by @ale-git in #382
• Update the Copier.py to copy from multiple source folders by @sgiraz in #385
• Calibration type 14 update fw by @MSECode in #384
• Basics of inter core communication on STM32 by @marcoaccame in #386
• Cross core printing from amc2 to amc by @marcoaccame in #387
• Board amc2c: added BSP support for hw::mtx by @marcoaccame in #389
• strain2: fix setting of orientation at startup by @Nicogene in #390

Full Changelog: v1.34.0...v1.35.0

v1.34.0

What's Changed

• Fix of PR #349 for problem related to POS service by @MSECode in #356
• Implement coulomb + viscous model for friction compensation by @isorrentino in #350
• amcbldc: Check overload current limit against filtered Iq by @mfussi66 in #358
• Removal of mtb4fap board by @marcoaccame in #359
• Fix of reading of IMU magnetometer in boards mtb4, mtb4c, strain2, strain2c by @marcoaccame in #361
• The board amcbldc upgrades its low level HW motor driver by @marcoaccame in #355
• Motor.c: put all the current targets to 0 when IDLE or HF by @sgiraz in #362

New Contributors

• @isorrentino made their first contribution in #350

Full Changelog: v1.33.0...v1.34.0

v1.33.0

What's Changed

• AMC–BLDC: Add the copier for codegen by @sgiraz in #327
• Added support for second core of the amc board by @marcoaccame in #328
• fixed compilation errors in stm32hal by @marcoaccame in #329
• Emulated I2C driver for the mtb4fap board by @marcoaccame in #330
• AMCBLDC: Fix computation of angle when using quadrature encoder by @mfussi66 in #332
• The driver embot::hw::tlv493d works on the mtb4fap board using the GPIO-emulated I2C driver by @marcoaccame in #334
• Application for the mtb4fap by @marcoaccame in #335
• mtb4fap runs at 16 MHz by @marcoaccame in #336
• AMC–BLDC: Add support for stm32hal v122 by @sgiraz in #333
• The POS service offered by EOthePOS can share the CAN bus used by another ETH board by @marcoaccame in #339
• Single project for the mc4plus by @marcoaccame in #340
• AMC: update the eupdater considering the extraprocesses running on CM4 by @sgiraz in #331
• Fix strain2 compilation by @Nicogene in #343
• Improved diagnostics for AksIM2 encoder by @sgiraz in #341
• Bugfix diagnostics for AksIM2 encoder by @sgiraz in #345
• Updated motor HAL with hasquadEnc flag by @valegagge in #344
• Workaround to manage the MC4+ 16 bit encoder overflow/reset. by @ale-git in #323
• FAP reading for mtb4 and mtb4c + IMU configurability over CAN by @marcoaccame in #347
• AMCBLDC – Fix voltage supply on ergocub robot by @sgiraz in #348
• HandMK5: fix names of joints by @Nicogene in #346
• AMC – Position direct support for wrist-mk2 by @sgiraz in #352
• BAT board: align the software overcurrent thresholds to the hardware thresholds by @MrAndrea in #353
• BAT firmware revision version updated to 1.1.0 by @MrAndrea in #354
• Improved calib type 6 w/ FAP. by @MSECode in #349

New Contributors

• @MSECode made their first contribution in #349

Full Changelog: v1.29.0...v1.33.0

v1.29.0

What's Changed

• Fixed bootstrap in the amc board by @marcoaccame in #298
• Skeleton of the mtb4fap by @marcoaccame in #299
• amc-bldc: now the motor configuration is done on motor_configmessage reception by @valegagge in #300
• Integrate AksIM2 encoder for ems4 + mc4plus + mc2plus by @sgiraz in #301
• Integrate AksIM2 encoder for AMC by @sgiraz in #302
• AMC_BLDC – Update codegen: Make the number of CAN packets configurable + bugfix by @sgiraz in #304
• Mtb4fap by @davidetome in #305
• The emulated I2C driver: embot::hw::i2ce by @marcoaccame in #307
• Major refactoring of amcbldc folder + Recognition of amcbldc as a valid board for mc service by @sgiraz in #306
• Added a reading test for sensor embot::hw::tlv493d by @marcoaccame in #309
• Added the POS service w/ mtb4fap by @marcoaccame in #310
• Fix due change of icubCanProto_POS_CONFIG_t by @marcoaccame in #311
• FAP reader application on the pmc board by @marcoaccame in #312
• BugFix aksim2 case in EOappEncodersReader by @sgiraz in #314
• add strain2c by @davidetome in #313
• hal-spiencoder: small fix in hal_spiencoder_get_value2 for aksim2 encoder by @valegagge in #316
• The amcbldc detects the board revision by @marcoaccame in #318
• mtb4fap - emulated i2c by @davidetome in #317
• AMC: Remove the local (old) hal_embot_hw.cpp from the updater application by @sgiraz in #320
• Driver embot::hw::flash revisited by @marcoaccame in #319
• Improved demo embot::hw::flash on amc board by @marcoaccame in #321
• The eUpdater of board amc now updates the eApplication by @marcoaccame in #322
• Some improvements for the ergoCub wrist by @marcoaccame in #324
• Board amc: fix of CAN discovery in eUpdater by @marcoaccame in #325
• Battery service: added missing board descriptors in EOtheCANmapping by @marcoaccame in #326

Full Changelog: v1.27.0...v1.29.0