amc v1.6, ems v3.81, mc2plus v3.63, mc4plus v3.84, 2foc v3.3.22

[MSECode]

amc v1.6, ems v3.81, mc2plus v3.63, mc4plus v3.84, 2foc v3.4.0

The new features added in these binaries, as described in the PRs mentioned below, can be summed up as follows:

• it is now possible to pass hardware and warning temperature limits and temperature sensor type through the configuration files
  • this allows the user to define a hardware temperature limit (typically 100 ℃) that cannot be overcome by the motor while in working conditions. its overcome will trigger a fault stopping the motor.
  • this allows the user to define a warning temperature limit that allows to send just a warning error when the limit is overcome. As mentioned in the specific PR, the warning limit must be lower than 85% of the hardware temperature limit.
  • this allows the user to read the temperature values on a yarp port using a rf module that calls the getTemperature api, the temperature values are read on the I2C by the foc board with a routine of 207Hz and the read value is sent up to the ems and then to the icub-main level with a frequency of 10Hz.
• ems can manage forming of the CAN message containing the temperature limits to be sent to the foc board to handle the temperature control and eventually trigger the hardware temperature limit reaching
• ems can manage the parsing of the CAN message containing the temperature values coming from the foc board and to be sent to the higher level

More details available at the PRs linked below.

Related PR:

• Started work for temperature reading icub-firmware-shared#89
• Feature/temperature reading icub-firmware#430
• Feature/temperature reading icub-main#911

[marcoaccame]

hi @MSECode, it seems fine. when ok to start the merging of firmware, firmware-shared and firmware-build, pls let me know.

[MSECode]

Tested and working fine

[MSECode]

Finally release version of 2foc v3.3.22, so that not increasing the minor it is possible to do not have to change old config file and fw can accept configurations with different foc versions that changes only the build version. Same for the CAN protocol that is kept to 1.6

cc: @valegagge @marcoaccame