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

v1.27.0

What's Changed

• AMC_BLDC: Remove the macro EXTFAULT_IS_CONNECTED by @sgiraz in #293
• AMCBLDC: latest codegen: Improve units handling for velocity PID parameters by @mfussi66 in #294
• adding mtb4c firmware by @davidetome in #291
• added basic use of board mtb4fap by @marcoaccame in #295
• AMC: Fix AS5045 (aka AEA2) chip configuration by @sgiraz in #296
• AMC – Add a temporary workaround in embot::hw::can by @sgiraz in #297

Full Changelog: v1.26.0...v1.27.0

v1.26.0

What's Changed

• AMC: Add support for embot::hw:timer by @sgiraz in #277
• AMC: Add status function to embot_hw_timer.cpp by @sgiraz in #278
• Multiple FT service on the amc board by @marcoaccame in #279
• amc: added diagnostics to appl-00 + fixed hw::timer by @marcoaccame in #281
• AMC: Update Bsp to support the SPI encoder AS5045+ Add embot::hw::encoder driver by @sgiraz in #280
• AMC: Add appl-demo-enc by @sgiraz in #282
• Application07: Update generated code to support new messages by @GrmanRodriguez in #283
• On the projects of the amc board: minor fix by @marcoaccame in #284
• PMC piezo driver: update wave tables - shrink in range 2V to 44V by @andreamerello in #207
• Fix euler angles representation for strain2 by @Nicogene in #286
• Can battery devel by @triccyx in #285
• embot::hw::can -> fixed ID filters for the FDCAN case by @marcoaccame in #287
• AMCBLDC: Update firmware to latest master codegen by @mfussi66 in #288
• Fix of embot::hw::can::transmit() called during an active transmission by @marcoaccame in #289
• MC service on the amc board by @marcoaccame in #290
• AMCBLDC: update to latest codegen, STM32G4 .lib, clearer usage of setup macros by @mfussi66 in #292

New Contributors

• @andreamerello made their first contribution in #207

Full Changelog: v1.25.1...v1.26.0

v1.25.1

What's Changed

• Enhancement of the embot::hw::timer driver by @marcoaccame in #271
• Amc bldc: the new supervisor multi-packets by @valegagge in #269
• Stream of battery data over CAN: documented the protocol by @marcoaccame in #272
• Fix FT IMU frames conversion by @pattacini in #274
• AMC_BLDC: Clean CAN decoder, Fix Volt units, add SW current limiter in Volt mode by @mfussi66 in #273
• Fix FT IMU frames conversion - Stint 2 by @pattacini in #275
• Application 07: Set FOC and STATUS messages as response to DESIRED_CURRENT message by @GrmanRodriguez in #276
• Update Kalman Filter configuration params to be initialized from XML files by @sgiraz in #268

Full Changelog: v1.25.0...v1.25.1

v1.25.0

What's Changed

• AMC_BLDC: Update codegen + Fix initialization of htim2.Init.Period by @sgiraz in #253
• AMC_BLDC: Add application07 by @sgiraz in #255
• Add support for viscousPos/Neg and coulombPos/Neg friction parameters by @sgiraz in #254
• CAN protocol for MC boards by @pattacini in #256
• AMC_BLDC: Update codegen with the last changes on architectural model by @sgiraz in #258
• FT service with multiple sensors by @marcoaccame in #257
• ems / mc4plus: adapted projects for the new wrist / hand to compile C++ files by @marcoaccame in #259
• ETH driver for the amc board by @marcoaccame in #260
• AMC_BLDC – Update application07 codegen with c-like code by @sgiraz in #262
• Update EMS to deal with wrist-setup in current control mode by @sgiraz in #261
• ETH environment for the amc board by @marcoaccame in #264
• AMC_BLDC – Clean Up mbdAgent of application07 by @sgiraz in #265
• Add Kalman Filter to ems mc2plus and mc4plus by @sgiraz in #263
• Added support in the amc board for redirection of theErrorManager's prints over UDP by @marcoaccame in #266
• Fix typo when calling eom_task_New in EOMtheEMSdiscoverylistener.cpp by @sgiraz in #267

New Contributors

• @pattacini made their first contribution in #256

Full Changelog: v1.24.0...v1.25.0

v1.24.0

What's Changed

• AMC_BLDC: Update mbd generated code with the last changes that fix the FOCcontrol issue by @sgiraz in #235
• amcbldc: fixed bootloader project by @marcoaccame in #236
• AMCBLDC: get CAN address from the cached CANBoardInfo by @valegagge in #237
• amcbldc: enabled the EXT fault on application05 by @marcoaccame in #238
• AMC_BLDC: Add Application06 to work with wrist setup. by @sgiraz in #239
• Enhancement of embot::hw::motor by @marcoaccame in #240
• Added support for CAN message embot::prot::can::motor::periodic::STATUS by @marcoaccame in #241
• AMC_BLDC: Add support to External Fault by @sgiraz in #242
• amcbldc: now application06 correctly consumes one can frame every 1 ms by @marcoaccame in #243
• Board amc: added HW test project by @marcoaccame in #244
• Update of cubemx for board amc and related stm32hal library by @marcoaccame in #246
• Update hal2 with fix in case the AEA3 encoder is not attached to the board by @sgiraz in #248
• Support for SPI and EEPROM in amc board by @marcoaccame in #249
• AMC_BLDC: Update the application06 to work with wrist-setup by @sgiraz in #245
• AMC_BLDC: Alignment with the latest changes on MBD by @sgiraz in #250
• Full support of SPI in amc board + driver for AS5045 chip by @marcoaccame in #251
• Support of the embot::hw::can driver on board amc by @marcoaccame in #252

Full Changelog: v1.23.0...v1.24.0

v1.23.0

What's Changed

• Fix of bootloader of mtb4 (and strain2, rfe, psc) by @marcoaccame in #221
• Fixed bootloader for boards amcbldc and pmc by @marcoaccame in #222
• AMC_BLDC: Alignment with the last changes made on master branch of the architectural model by @sgiraz in #223
• The mc4plus board now uses the second memory bank by @marcoaccame in #225
• Add latest fault state to motor status data structure by @mfussi66 in #224
• AMC_BLDC: Alignment with the last changes on MBD by @sgiraz in #226
• Mutual exclusion in amcbldc by @marcoaccame in #227
• Cleanup of amcbldc projects by @marcoaccame in #229
• rfe: fixed the i2c bus of the imu bosch bno055 by @marcoaccame in #230
• Calibration support for the FAP boards by @marcoaccame in #231
• Support of EXT FAULT on board amcbldc by @marcoaccame in #232
• Support of nucleo64 board + embot::hw::button::Mode::TriggeredOnPressAndRelease by @marcoaccame in #233
• amcbldc: revised the EXT FAULT management by @marcoaccame in #234

New Contributors

• @mfussi66 made their first contribution in #224

Full Changelog: v1.22.0...v1.23.0

v1.22.0

What's Changed

• HardFault_Handler() collects full MPU context by @marcoaccame in #201
• Updated AMC BLDC Application 03 to use generated code with nonvirtual buses by @GrmanRodriguez in #203
• Updated AMC BLDC firmware to use new format ID function by @GrmanRodriguez in #204
• IPAL for CM7 by @marcoaccame in #205
• Add AMC-BLDC application04 by @valegagge in #206
• EOMtheIPnet demo for CM7 by @marcoaccame in #208
• RTOS trace for mc4plus by @marcoaccame in #209
• Basic support for board amc by @marcoaccame in #210
• Update of cmsisos2 by @marcoaccame in #211
• More RTOS trace for the mc4plus board by @marcoaccame in #213
• Increased stack in mc4plus by @marcoaccame in #216
• bmon firmware added by @MrAndrea in #215
• No nonius management of AMO sensors by @ale-git in #217
• Board mc4plus: different application versions for the standard and trace-RTOS versions by @marcoaccame in #218
• Fixed HAL priorities by @marcoaccame in #219
• Add integration for AEA3 encoder by @sgiraz in #214
• OSAL over cmsisos2 for ETH boards - step 1 by @marcoaccame in #220

New Contributors

• @sgiraz made their first contribution in #214

Full Changelog: v1.21.0...v1.22.0

v1.21.0

Integrated code for AMC BLDC (Messaging & Supervisor) (#200)

* Incorporating CAN_RX_raw2struct and CAN_Decoder generated code into the board's programming.

* Integration of the entire pipeline of the MBD into the existing board code.

* Integrated supervisor and messaging blocks into board's code

* renamed some directories for better clarity

* Cleanup of unnecessary files

* removed another unneeded file

* remove unnecessary files

Co-authored-by: German David Rodriguez Arenas <[email protected]>

v1.20.0

MBD FOC code optimized with CMSIS-DSP (#184)

* added cmsis/dsp version 1.6.0

* added matlab-generated code for foc algorithm
details: use of single precision, CMSIS-DSP, efficient Park Transform algorithm
the tick function takes 2.5 usec on the amcbldc w/ -Ofast optimization

* amcbldc-application01: added test duration of the foc algorithm