Update icub_firmware_shared_VERSION to 1.36.3

robotology · Oct 26, 2023 · 1ac8d42 · 1ac8d42
1 parent 72c4ccd
commit 1ac8d42
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Showing 2 changed files with 28 additions and 27 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -6,7 +6,7 @@
 cmake_minimum_required(VERSION 3.12)
 
 project(icub_firmware_shared
-        VERSION 1.36.2)
+        VERSION 1.36.3)
 
 find_package(YCM 0.11.0 REQUIRED)
 

diff --git a/eth/embobj/plus/comm-v2/icub/EoMotionControl.h b/eth/embobj/plus/comm-v2/icub/EoMotionControl.h
@@ -922,6 +922,8 @@ typedef struct                  // size is 236+96+4+44+0 = 380
 
 // -- the definition of a motor
 
+
+
 /** @typedef    typedef uint8_t  eOmc_motorId_t
     @brief      eOmc_motorId_t contains the values required to identify a motor
  **/
@@ -935,36 +937,35 @@ typedef struct
 } eOmc_current_limits_params_t;
 
 
-
 /** @typedef    typedef struct eOmc_motor_config_t
     @brief      eOmc_motor_config_t contains the values required to configure a motor
     @warning    This struct must be of fixed size and multiple of 4.
  **/
-typedef struct                  // size is: 40+40+4+4+4+6+2+1+1+1+1+1+1+1+1+1+1+1+4+2+4+8 = 120
-{
-    eOmc_PID_t                        pidcurrent;                 /**< the pid for current control */
-    eOmc_PID_t                        pidspeed;                   /**< the pid for speed control */
-    float32_t                         gearbox_M2J;                /**< the gearbox reduction ration from motor to joint motor:joint*/
-    int32_t                           rotorEncoderResolution;     /**< the rotorencoder resolution  */
-    eOmeas_velocity_t                 maxvelocityofmotor;         /**< the maximum velocity in the motor */
-    eOmc_current_limits_params_t      currentLimits;              /**< the maximum current in the motor */
-    int16_t                           rotorIndexOffset;           /**< index offset for the rotor encoder*/
-    uint8_t                           motorPoles;                 /**< number of poles of the motor */
-    uint8_t                           hasHallSensor         :1;   /**< true if the motor is equipped with hall effect sensors */
-    uint8_t                           hasTempSensor         :1;   /**< true if the motor is equipped with temperature sensors */
-    uint8_t                           hasRotorEncoder       :1;   /**< true if the motor is equipped with rotor encoder */
-    uint8_t                           hasRotorEncoderIndex  :1;   /**< true if the motor is equipped with rotor encoder */
-    uint8_t                           hasSpeedEncoder       :1;   /**< true if there is a speed encoder not useful for motor internal control */
-    uint8_t                           useSpeedFbkFromMotor  :1;
-    uint8_t                           verbose               :1;   /**< enable debug prints */
-    uint8_t                           dummy                 :1;
-    uint8_t                           rotorEncoderType;           /**< rotor encoder type */
-    uint8_t                           filler;
-    float32_t                         rotEncTolerance;            /**< max number of passable error. It is use to determine a spike */
-    eOmeas_pwm_t                      pwmLimit;                   /**< the pwm limit of the motor */
-    eOmeas_temperature_t              temperatureLimit;          /**< the motor temperature limit */
-    eOmeas_position_limits_t          limitsofrotor;              /**< rotor limits */
-} eOmc_motor_config_t;                EO_VERIFYsizeof(eOmc_motor_config_t, 120);
+typedef struct                  // size is: 40+40+4+4+4+6+2+1+1+1+1+4+2+2+8 = 120
+{
+    eOmc_PID_t                      pidcurrent;                 /**< the pid for current control */
+    eOmc_PID_t                      pidspeed;                   /**< the pid for speed control */
+    float32_t                       gearbox_M2J;                /**< the gearbox reduction ration from motor to joint motor:joint*/
+    int32_t                         rotorEncoderResolution;     /**< the rotorencoder resolution  */
+    eOmeas_velocity_t               maxvelocityofmotor;         /**< the maximum velocity in the motor */
+    eOmc_current_limits_params_t    currentLimits;              /**< the maximum current in the motor */
+    int16_t                         rotorIndexOffset;           /**< index offset for the rotor encoder*/
+    uint8_t                         motorPoles;                 /**< number of poles of the motor */
+    uint8_t                         hasHallSensor         :1;              /**< true if the motor is equipped with hall effect sensors */
+    uint8_t                         hasTempSensor         :1;              /**< true if the motor is equipped with temperature sensors */
+    uint8_t                         hasRotorEncoder       :1;            /**< true if the motor is equipped with rotor encoder */
+    uint8_t                         hasRotorEncoderIndex  :1;       /**< true if the motor is equipped with rotor encoder */
+    uint8_t                         hasSpeedEncoder       :1;            /**< true if there is a speed encoder not useful for motor internal control */
+    uint8_t                         useSpeedFbkFromMotor  :1;
+    uint8_t                         verbose               :1;   /**< enable debug prints */
+    uint8_t                         dummy                 :1;
+    uint8_t                         rotorEncoderType;           /**< rotor encoder type */
+    uint8_t                         filler;
+    float32_t                       rotEncTolerance;            /**< max number of passable error. It is use to determine a spike */
+    eOmeas_pwm_t                    pwmLimit;                   /**< the pwm limit of the motor */
+    eOmeas_temperature_t            temperatureLimit;           /**< the motor temperature limit */
+    eOmeas_position_limits_t        limitsofrotor;              /**< rotor limits */
+} eOmc_motor_config_t;              EO_VERIFYsizeof(eOmc_motor_config_t, 120);