Started work for temperature reading

Add new MC error code+string entry for temperature limit overcoming
robotology · Nov 28, 2023 · 09fa00b · 09fa00b
1 parent 9ba514d
commit 09fa00b
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Showing 3 changed files with 25 additions and 21 deletions.
diff --git a/can/canProtocolLib/iCubCanProto_motorControlMessages.h b/can/canProtocolLib/iCubCanProto_motorControlMessages.h
@@ -169,7 +169,8 @@ extern "C" {
 #define ICUBCANPROTO_POL_MC_CMD__SET_TCFILTER_TYPE              118
 #define ICUBCANPROTO_POL_MC_CMD__SET_MOTOR_CONFIG               119
 #define ICUBCANPROTO_POL_MC_CMD__GET_TCFILTER_TYPE              120
-#define ICUBCANPROTO_POL_MC_CMD_MAXNUM                          (ICUBCANPROTO_POL_MC_CMD__GET_TCFILTER_TYPE + 1) 
+#define ICUBCANPROTO_POL_MC_CMD__SET_TEMPERATURE_LIMIT          121
+#define ICUBCANPROTO_POL_MC_CMD_MAXNUM                          (ICUBCANPROTO_POL_MC_CMD__SET_TEMPERATURE_LIMIT + 1) 
 
 
 

diff --git a/eth/embobj/plus/comm-v2/icub/EoError.c b/eth/embobj/plus/comm-v2/icub/EoError.c
@@ -202,7 +202,8 @@ const eoerror_valuestring_t eoerror_valuestrings_MC[] =
     {eoerror_value_MC_generic_error,         "MC: generic motor error.", "See 64 bit mask parameter"},
     {eoerror_value_MC_motor_wrong_state,     "MC: 2FOC wrong state. The 2FOC motor controller is in a control state different from required by the EMS.", "In par64 0xF0 is the mask of requested state, 0x0F is the mask of actual state. par16 = ID of joint."},
     {eoerror_value_MC_joint_hard_limit,      "MC: hard limit reached. The joint position is outside its hardware boundaries.", "In par16 = ID of joint."},
-    {eoerror_value_MC_motor_qencoder_phase_disappeared, "MC: qenc error has disappeared, warning counter has been reset.", ""}
+    {eoerror_value_MC_motor_qencoder_phase_disappeared, "MC: qenc error has disappeared, warning counter has been reset.", ""},
+    {eoerror_value_MC_motor_overheating,     "MC: overheating. Temperature hardware limit exceeded. The motor has been turned off to prevent it from being damaged by overheating.", "In par16 = ID of the joint. In par64 0xFF is the mask of the raw tmperature feedback."}
 
 };  EO_VERIFYsizeof(eoerror_valuestrings_MC, eoerror_value_MC_numberof*sizeof(const eoerror_valuestring_t)) 
 

diff --git a/eth/embobj/plus/comm-v2/icub/EoError.h b/eth/embobj/plus/comm-v2/icub/EoError.h
@@ -211,30 +211,32 @@ enum { eoerror_value_HW_numberof = 7 };
  **/
 typedef enum
 {
-    eoerror_value_MC_motor_external_fault           = 0,
-    eoerror_value_MC_motor_overcurrent              = 1,
-    eoerror_value_MC_motor_i2t_limit                = 2,
-    eoerror_value_MC_motor_hallsensors              = 3,
-    eoerror_value_MC_motor_can_invalid_prot         = 4,
-    eoerror_value_MC_motor_can_generic              = 5,
-    eoerror_value_MC_motor_can_no_answer            = 6,
-    eoerror_value_MC_axis_torque_sens               = 7,
-    eoerror_value_MC_aea_abs_enc_invalid            = 8,
-    eoerror_value_MC_aea_abs_enc_timeout            = 9,
-    eoerror_value_MC_aea_abs_enc_spikes             = 10,
+    eoerror_value_MC_motor_external_fault               = 0,
+    eoerror_value_MC_motor_overcurrent                  = 1,
+    eoerror_value_MC_motor_i2t_limit                    = 2,
+    eoerror_value_MC_motor_hallsensors                  = 3,
+    eoerror_value_MC_motor_can_invalid_prot             = 4,
+    eoerror_value_MC_motor_can_generic                  = 5,
+    eoerror_value_MC_motor_can_no_answer                = 6,
+    eoerror_value_MC_axis_torque_sens                   = 7,
+    eoerror_value_MC_aea_abs_enc_invalid                = 8,
+    eoerror_value_MC_aea_abs_enc_timeout                = 9,
+    eoerror_value_MC_aea_abs_enc_spikes                 = 10,
 
-    eoerror_value_MC_motor_qencoder_dirty           = 11,
-    eoerror_value_MC_motor_qencoder_index           = 12,
-    eoerror_value_MC_motor_qencoder_phase           = 13,
+    eoerror_value_MC_motor_qencoder_dirty               = 11,
+    eoerror_value_MC_motor_qencoder_index               = 12,
+    eoerror_value_MC_motor_qencoder_phase               = 13,
 
-    eoerror_value_MC_generic_error                  = 14,
-    eoerror_value_MC_motor_wrong_state              = 15,
+    eoerror_value_MC_generic_error                      = 14,
+    eoerror_value_MC_motor_wrong_state                  = 15,
 
-    eoerror_value_MC_joint_hard_limit               = 16,
-    eoerror_value_MC_motor_qencoder_phase_disappeared   = 17
+    eoerror_value_MC_joint_hard_limit                   = 16,
+    eoerror_value_MC_motor_qencoder_phase_disappeared   = 17,
+
+    eoerror_value_MC_motor_overheating                  = 18
 } eOerror_value_MC_t;
 
-enum { eoerror_value_MC_numberof = 18 };
+enum { eoerror_value_MC_numberof = 19 };