Improved EOMtheEMSrunner (#496)

robotology · May 28, 2024 · dbc3e02 · dbc3e02
1 parent b10757f
commit dbc3e02
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Showing 17 changed files with 371 additions and 74 deletions.
diff --git a/emBODY/eBcode/arch-arm/board/amc/application/v2/cfg/theApplication_config.h b/emBODY/eBcode/arch-arm/board/amc/application/v2/cfg/theApplication_config.h
@@ -38,8 +38,8 @@ namespace embot { namespace app { namespace eth {
         .property =
         {
             Process::eApplication,
-            {2, 3},
-            {2024, Month::Apr, Day::eleven, 11, 18}
+            {2, 4},
+            {2024, Month::May, Day::twentyseven, 15, 24}
         },
         .OStick = 1000*embot::core::time1microsec,
         .OSstacksizeinit = 10*1024,

diff --git a/emBODY/eBcode/arch-arm/board/amc/environment/eloader/src/eloader-embot.cpp b/emBODY/eBcode/arch-arm/board/amc/environment/eloader/src/eloader-embot.cpp
@@ -76,6 +76,7 @@ constexpr embot::hw::Config hwCFG {nullptr, get1microtime2};
 #undef DEBUG_stayinhere
 // if defined it enables the CM4 core after clock initialization inside embot::hw::init()
 #undef DEBUG_startCM4now
+#undef DEBUG_eraseeeprom
 
 // used functions
 
@@ -247,6 +248,10 @@ constexpr uint32_t LOADER_ADR_INVALID {0xffffffff};
 
 void thejumper()
 {
+#if defined(DEBUG_eraseeeprom)
+    embot::hw::eeprom::init(embot::hw::EEPROM::one, {});
+    embot::hw::eeprom::erase(embot::hw::EEPROM::one, 3*embot::core::time1millisec); // 0, 8*1024);   
+#endif    
     s_loader_shared_services_init();
 
     s_loader_eval_jump_request_from_an_eproc();

diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
@@ -81,21 +81,21 @@ extern "C" {
 #define EOMTHEEMSAPPLCFG_VERSION_MAJOR          (VERSION_MAJOR_OFFSET+3)
 //  <o> minor           <0-255> 
 //  <o> minor           <0-255>
-#define EOMTHEEMSAPPLCFG_VERSION_MINOR          88
+#define EOMTHEEMSAPPLCFG_VERSION_MINOR          89
 
 //  </h>version
 
 //  <h> build date
 //  <o> year            <2010-2030>
 #define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR         2024
 //  <o> month           <1-12>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH        4
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH        5
 //  <o> day             <1-31>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          4
+#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          27
 //  <o> hour            <0-23>
 #define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         15
 //  <o> minute          <0-59>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          00
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          29
 //  </h>build date
 // </h>Info 
 

diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/overridden_runner.c b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/overridden_runner.c
@@ -68,7 +68,7 @@
 // --------------------------------------------------------------------------------------------------------------------
 
 // if defined, the CAN flush is done at end of the DO phase, else at the beginning of the TX phase
-// #define CANflushMODE_DO_phase
+#define CANflushMODE_DO_phase
 
 
 // --------------------------------------------------------------------------------------------------------------------

diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/proj/ems4rd.diagnostic2ready.uvoptx b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/proj/ems4rd.diagnostic2ready.uvoptx
@@ -1988,12 +1988,12 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMRTXEVENTFLAGS</Key>
-          <Name>-L200 -Z5 -C0 -M1 -T1</Name>
+          <Name>-L200 -Z14 -C0 -M1 -T1</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>ULP2CM3</Key>
-          <Name>-UP0948199 -O207 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65555 -TC168000000 -TT168000000 -TP18 -TDX0 -TDD0 -TDS8000 -TDT0 -TDC1F -TIE80000001 -TIP9 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IG$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-UP1123199 -O207 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65555 -TC168000000 -TT168000000 -TP18 -TDX0 -TDD0 -TDS8000 -TDT0 -TDC1F -TIE80000001 -TIP9 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IG$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -2869,7 +2869,7 @@
 
   <Group>
     <GroupName>eo-emsappl</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -2972,7 +2972,7 @@
     <File>
       <GroupNumber>10</GroupNumber>
       <FileNumber>61</FileNumber>
-      <FileType>1</FileType>
+      <FileType>8</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
@@ -4445,7 +4445,7 @@
 
   <Group>
     <GroupName>embot-app-scope</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/proj/ems4rd.diagnostic2ready.uvprojx b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/proj/ems4rd.diagnostic2ready.uvprojx
@@ -728,7 +728,7 @@
             </File>
             <File>
               <FileName>EOMtheEMSrunner.c</FileName>
-              <FileType>1</FileType>
+              <FileType>8</FileType>
               <FilePath>..\..\..\..\..\embobj\plus\ctrloop\EOMtheEMSrunner.c</FilePath>
             </File>
             <File>
@@ -1467,7 +1467,7 @@
         <TargetCommonOption>
           <Device>STM32F407IG</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.17.0</PackID>
+          <PackID>Keil.STM32F4xx_DFP.2.17.1</PackID>
           <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) CPUTYPE("Cortex-M4") FPU2</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -2201,7 +2201,7 @@
             </File>
             <File>
               <FileName>EOMtheEMSrunner.c</FileName>
-              <FileType>1</FileType>
+              <FileType>8</FileType>
               <FilePath>..\..\..\..\..\embobj\plus\ctrloop\EOMtheEMSrunner.c</FilePath>
             </File>
             <File>
@@ -3009,7 +3009,7 @@
         <TargetCommonOption>
           <Device>STM32F407IG</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.17.0</PackID>
+          <PackID>Keil.STM32F4xx_DFP.2.17.1</PackID>
           <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) CPUTYPE("Cortex-M4") FPU2</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -3743,7 +3743,7 @@
             </File>
             <File>
               <FileName>EOMtheEMSrunner.c</FileName>
-              <FileType>1</FileType>
+              <FileType>8</FileType>
               <FilePath>..\..\..\..\..\embobj\plus\ctrloop\EOMtheEMSrunner.c</FilePath>
             </File>
             <File>
@@ -4653,7 +4653,7 @@
         <TargetCommonOption>
           <Device>STM32F407IG</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.17.0</PackID>
+          <PackID>Keil.STM32F4xx_DFP.2.17.1</PackID>
           <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) CPUTYPE("Cortex-M4") FPU2</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -5387,7 +5387,7 @@
             </File>
             <File>
               <FileName>EOMtheEMSrunner.c</FileName>
-              <FileType>1</FileType>
+              <FileType>8</FileType>
               <FilePath>..\..\..\..\..\embobj\plus\ctrloop\EOMtheEMSrunner.c</FilePath>
             </File>
             <File>

diff --git a/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h b/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
@@ -75,21 +75,21 @@ extern "C" {
 #define EOMTHEEMSAPPLCFG_VERSION_MAJOR          3
 //  <o> minor           <0-255> 
 //  <o> minor           <0-255>
-#define EOMTHEEMSAPPLCFG_VERSION_MINOR          69
+#define EOMTHEEMSAPPLCFG_VERSION_MINOR          70
 
 //  </h>version
 
 //  <h> build date
 //  <o> year            <2010-2030>
 #define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR         2024
 //  <o> month           <1-12>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH        3
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH        5
 //  <o> day             <1-31>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          21
+#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          27
 //  <o> hour            <0-23>
 #define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         15
 //  <o> minute          <0-59>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          00
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          39
 //  </h>build date
 
 // </h>Info 

diff --git a/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/eoemsappl/overridden_runner.c b/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/cfg/eoemsappl/overridden_runner.c
@@ -65,7 +65,7 @@
 // --------------------------------------------------------------------------------------------------------------------
 
 // if defined, the CAN flush is done at end of the DO phase, else at the beginning of the TX phase
-// #define CANflushMODE_DO_phase
+#define CANflushMODE_DO_phase
 
 
 // --------------------------------------------------------------------------------------------------------------------

diff --git a/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/proj/mc2plus.diagnostic2ready.uvoptx b/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/proj/mc2plus.diagnostic2ready.uvoptx
@@ -1612,7 +1612,7 @@
 
   <Group>
     <GroupName>eo-emsappl</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1703,7 +1703,7 @@
     <File>
       <GroupNumber>10</GroupNumber>
       <FileNumber>59</FileNumber>
-      <FileType>1</FileType>
+      <FileType>8</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>

diff --git a/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/proj/mc2plus.diagnostic2ready.uvprojx b/emBODY/eBcode/arch-arm/board/mc2plus/appl/v2/proj/mc2plus.diagnostic2ready.uvprojx
@@ -721,7 +721,7 @@
             </File>
             <File>
               <FileName>EOMtheEMSrunner.c</FileName>
-              <FileType>1</FileType>
+              <FileType>8</FileType>
               <FilePath>..\..\..\..\..\embobj\plus\ctrloop\EOMtheEMSrunner.c</FilePath>
             </File>
             <File>
@@ -2131,7 +2131,7 @@
             </File>
             <File>
               <FileName>EOMtheEMSrunner.c</FileName>
-              <FileType>1</FileType>
+              <FileType>8</FileType>
               <FilePath>..\..\..\..\..\embobj\plus\ctrloop\EOMtheEMSrunner.c</FilePath>
             </File>
             <File>

diff --git a/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h b/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
@@ -84,21 +84,21 @@ extern "C" {
 #define EOMTHEEMSAPPLCFG_VERSION_MAJOR          (VERSION_MAJOR_OFFSET+3)
 //  <o> minor           <0-255> 
 
-#define EOMTHEEMSAPPLCFG_VERSION_MINOR          90
+#define EOMTHEEMSAPPLCFG_VERSION_MINOR          91
 
 //  </h>version
 
 //  <h> build date
 //  <o> year            <2010-2030>
 #define EOMTHEEMSAPPLCFG_BUILDDATE_YEAR         2024
 //  <o> month           <1-12>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH        3
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MONTH        5
 //  <o> day             <1-31>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          21
+#define EOMTHEEMSAPPLCFG_BUILDDATE_DAY          27
 //  <o> hour            <0-23>
 #define EOMTHEEMSAPPLCFG_BUILDDATE_HOUR         15
 //  <o> minute          <0-59>
-#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          00
+#define EOMTHEEMSAPPLCFG_BUILDDATE_MIN          34
 
 //  </h>build date
 

diff --git a/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/overridden_runner.c b/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/cfg/eoemsappl/overridden_runner.c
@@ -67,7 +67,7 @@
 // --------------------------------------------------------------------------------------------------------------------
 
 // if defined, the CAN flush is done at end of the DO phase, else at the beginning of the TX phase
-// #define CANflushMODE_DO_phase
+#define CANflushMODE_DO_phase
 
 
 // --------------------------------------------------------------------------------------------------------------------

diff --git a/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/proj/mc4plus.diagnostic2ready.uvoptx b/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/proj/mc4plus.diagnostic2ready.uvoptx
@@ -1200,7 +1200,7 @@
 
   <Group>
     <GroupName>eo-emsappl</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1291,7 +1291,7 @@
     <File>
       <GroupNumber>10</GroupNumber>
       <FileNumber>60</FileNumber>
-      <FileType>1</FileType>
+      <FileType>8</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
@@ -1364,7 +1364,7 @@
 
   <Group>
     <GroupName>eo-emsappl-cfg</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

diff --git a/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/proj/mc4plus.diagnostic2ready.uvprojx b/emBODY/eBcode/arch-arm/board/mc4plus/appl/v2/proj/mc4plus.diagnostic2ready.uvprojx
@@ -745,7 +745,7 @@
             </File>
             <File>
               <FileName>EOMtheEMSrunner.c</FileName>
-              <FileType>1</FileType>
+              <FileType>8</FileType>
               <FilePath>..\..\..\..\..\embobj\plus\ctrloop\EOMtheEMSrunner.c</FilePath>
             </File>
             <File>
@@ -2180,7 +2180,7 @@
             </File>
             <File>
               <FileName>EOMtheEMSrunner.c</FileName>
-              <FileType>1</FileType>
+              <FileType>8</FileType>
               <FilePath>..\..\..\..\..\embobj\plus\ctrloop\EOMtheEMSrunner.c</FilePath>
             </File>
             <File>