Update EoMotionControl to support the new velocityThres parameter (#86)

robotology · Nov 21, 2023 · 9ba514d · 9ba514d
1 parent 5509ae4
commit 9ba514d
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Showing 3 changed files with 7 additions and 6 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -6,7 +6,7 @@
 cmake_minimum_required(VERSION 3.12)
 
 project(icub_firmware_shared
-        VERSION 1.37.0)
+        VERSION 1.37.1)
 
 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
@@ -494,7 +494,8 @@ typedef struct
     float32_t               viscous_neg_val;
     float32_t               coulomb_pos_val;
     float32_t               coulomb_neg_val;
-} eOmc_FrictionParams_t;    EO_VERIFYsizeof(eOmc_FrictionParams_t, 16)
+    float32_t               velocityThres_val;
+} eOmc_FrictionParams_t;    EO_VERIFYsizeof(eOmc_FrictionParams_t, 20)
 
 typedef struct
 {
@@ -648,7 +649,7 @@ typedef struct
     int8_t                  bemf_scale;
     int8_t                  ktau_scale;
     int8_t                  filler02[2];
-} eOmc_motor_params_t;  EO_VERIFYsizeof(eOmc_motor_params_t, 28)
+} eOmc_motor_params_t;  EO_VERIFYsizeof(eOmc_motor_params_t, 32)
 
 // -- all the possible data holding structures used in a motor
 
@@ -713,7 +714,7 @@ typedef struct                  // size is: 40+40+40+8+8+12+4+4+28+2+1+1+4+4+4+3
     float32_t                   gearbox_E2J;
     float32_t                   deadzone;
     eOmc_kalman_filter_config_t kalman_params;              /**< the kalman filter parameters */
-} eOmc_joint_config_t;          EO_VERIFYsizeof(eOmc_joint_config_t, 236)
+} eOmc_joint_config_t;          EO_VERIFYsizeof(eOmc_joint_config_t, 240)
 
 
 /** @typedef    typedef struct eOmc_status_ofpid_legacy_t
@@ -916,7 +917,7 @@ typedef struct                  // size is 236+96+4+44+0 = 380
     eOmc_joint_status_t         status;                     /**< the status of the joint */
     eOmc_joint_inputs_t         inputs;                     /**< it contains all the values that a host can send to a joint as inputs */
     eOmc_joint_commands_t       cmmnds;                     /**< it contains all the commands that a host can send to a joint */
-} eOmc_joint_t;                 EO_VERIFYsizeof(eOmc_joint_t, 380);
+} eOmc_joint_t;                 EO_VERIFYsizeof(eOmc_joint_t, 384);
 
 
 

diff --git a/eth/embobj/plus/comm-v2/protocol/api/EoProtocolMC.h b/eth/embobj/plus/comm-v2/protocol/api/EoProtocolMC.h
@@ -57,7 +57,7 @@ extern "C" {
 // - declaration of public user-defined types ------------------------------------------------------------------------- 
 
 
-enum { eoprot_version_mc_major = 1, eoprot_version_mc_minor = 25 };
+enum { eoprot_version_mc_major = 1, eoprot_version_mc_minor = 26 };
 
 enum { eoprot_entities_mc_numberof = eomc_entities_numberof };