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Update error messages for temperature and amo #107

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Update error messages for temperature and amo #107

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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@

cmake_minimum_required(VERSION 3.12)

project(icub_firmware_shared VERSION 1.41.2)
project(icub_firmware_shared VERSION 1.41.3)

find_package(YCM 0.11.0 REQUIRED)

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7 changes: 5 additions & 2 deletions eth/embobj/plus/comm-v2/icub/EoError.c
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Expand Up @@ -179,7 +179,9 @@ const eoerror_valuestring_t eoerror_valuestrings_HW[] =
{eoerror_value_HW_encoder_invalid_value, "HW - encoder: the position data is not valid", ""},
{eoerror_value_HW_encoder_close_to_limits, "HW - encoder: the position data is valid, but some operating conditions are close to limits.", ""},
{eoerror_value_HW_encoder_crc, "HW - encoder: inverted CRC is invalid", ""},
{eoerror_value_HW_encoder_not_connected, "HW - encoder: not connected"}
{eoerror_value_HW_encoder_not_connected, "HW - encoder: not connected"},
{eoerror_value_HW_amo_encoder_status0, "HW - amo encoder status0 error: poor-level or clipping in the signal of master and/or nonius track.", "In par64 counts for the number of errors in 10 seconds (lower: LS 32bits nonius_max|nonius_min, upper: MS 32bits master_max|master_min)"},
{eoerror_value_HW_amo_encoder_status1, "HW - amo encoder status1 error: errors on reading on master and/or nonius track.", "In par64 counts for the number of errors in 10 seconds masked as: crc error 0xffff000000000000, i2c comm error 0x0000ffff00000000, nonius track period consistency error 0x00000000ffff0000, eccessive input signal frequency for converters error 0x000000000000ffff "}
}; EO_VERIFYsizeof(eoerror_valuestrings_HW, eoerror_value_HW_numberof*sizeof(const eoerror_valuestring_t))


Expand All @@ -204,7 +206,8 @@ const eoerror_valuestring_t eoerror_valuestrings_MC[] =
{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_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 0xFFFF is the mask of the raw tmperature feedback."}
{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 0xFFFF is the mask of the raw tmperature feedback."},
{eoerror_value_MC_motor_tdb_not_reading, "MC: TDB cannot receive any data on I2C channel. Motor temperature detection board is not receiving any data on the i2C channel.", "In par16 = ID of the joint."}

}; EO_VERIFYsizeof(eoerror_valuestrings_MC, eoerror_value_MC_numberof*sizeof(const eoerror_valuestring_t))

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11 changes: 7 additions & 4 deletions eth/embobj/plus/comm-v2/icub/EoError.h
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Expand Up @@ -198,10 +198,12 @@ typedef enum
eoerror_value_HW_encoder_invalid_value = 3,
eoerror_value_HW_encoder_close_to_limits = 4,
eoerror_value_HW_encoder_crc = 5,
eoerror_value_HW_encoder_not_connected = 6
eoerror_value_HW_encoder_not_connected = 6,
eoerror_value_HW_amo_encoder_status0 = 7,
eoerror_value_HW_amo_encoder_status1 = 8
} eOerror_value_HW_t;

enum { eoerror_value_HW_numberof = 7 };
enum { eoerror_value_HW_numberof = 9 };



Expand Down Expand Up @@ -234,10 +236,11 @@ typedef enum
eoerror_value_MC_joint_hard_limit = 16,
eoerror_value_MC_motor_qencoder_phase_disappeared = 17,

eoerror_value_MC_motor_overheating = 18
eoerror_value_MC_motor_overheating = 18,
eoerror_value_MC_motor_tdb_not_reading = 19
} eOerror_value_MC_t;

enum { eoerror_value_MC_numberof = 19 };
enum { eoerror_value_MC_numberof = 20 };



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2 changes: 1 addition & 1 deletion eth/embobj/plus/comm-v2/icub/EoMotionControl.h
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Expand Up @@ -79,7 +79,7 @@ typedef union
unsigned CAN_IsWarnTX :1;
unsigned CAN_IsWarnRX :1;
unsigned OverHeatingFailure :1;
unsigned unused :1;
unsigned I2C_CommFailure :1;
//B2 L
unsigned ADCCalFailure :1;
unsigned I2TFailure :1;
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