v1.43.0

What's Changed

• Improvement of the BSP of the embot::hw::encoder by @SanLordKevin in #566
• amcbldc BSP refactoring by @SanLordKevin in #568
• On switch current control, the target current has the value of the current before the switch by @valegagge in #569
• Update amcbld test project by @MSECode in #570
• Start to add project for amc testing by @MSECode in #571
• MC4PLUS v 3.102, MC2PLUS 3.81, AMC v 2.19 by @valegagge in #572
• fix AMC compilation: v2.19 date:7th Mar 2025 08:00AM by @valegagge in #574
• dspic33f non standard short summation fixed (current filter bug). by @ale-git in #579
• amcfoc analog readings by @SanLordKevin in #575
• Add i2c communication error condition handling by @MSECode in #580
• Add project for test on amc board by @MSECode in #581
• Fix error management for aksim2 joint by @MSECode in #582
• 2FOC PWM_MAX increased to 96%. by @ale-git in #584
• CRC errors detection in amc board: support by @SanLordKevin in #585
• Template projects for dual core boards: amc and amcfoc by @marcoaccame in #587
• Template projects for amcmj1 by @marcoaccame in #588
• fix amcfoc code by @SanLordKevin in #590
• Deliver MVP1 for the new calibrator by @MSECode in #583
• Simplification of internal dependencies of the MC controller by @marcoaccame in #591
• Fix the amcfoc.mot so that it moves the motor in lego setup by @marcoaccame in #592
• MC controller: reverted move of calibration in Calibration.c by @marcoaccame in #593
• Fixed compilation for single core boards after PR 593 by @marcoaccame in #594
• Holder for Trajectory MBD generator code in MC controller by @marcoaccame in #595
• Add factory header to the amc family board tests by @MSECode in #597
• AMC-FOC: Align codegen files structure to amcbldc by @mfussi66 in #598
• Fix calibration issue observed in the neck joints by @MSECode in #599
• Support for CAN and EEPROM on the amcmj1 by @marcoaccame in #601
• Trigger i2c comm error when tdb continuously re-configure by @MSECode in #606
• amcfoc: quadrature encoder reading implementation by @SanLordKevin in #602
• Fix in mtb4: the CAN retransmission is now enabled by @marcoaccame in #608
• amcfoc: Add codegen for 2 motors and configure 2nd hall and motor - mbd: ac6737d by @mfussi66 in #607
• AMC(BLDC) mbd code updated: icub-fw-models 1.43.0 sha 4a3c62e by @mfussi66 in #609

Full Changelog: v1.42.0...v1.43.0

v1.42.0

What's Changed

• Update BAT-BMS protocol data. Sections: 4.5, 7.10 by @MSECode in #532
• amcfoc UDP demo project by @SanLordKevin in #539
• amcfoc updater by @SanLordKevin in #542
• Motor control application for the amcfoc core CM7 by @marcoaccame in #543
• Fix diagnostic for AEA encoder and calibration type 10 by @MSECode in #540
• amcfoc test application by @SanLordKevin in #545
• amcfoc info in loader by @SanLordKevin in #546
• amcfoc timer BSP implementation by @SanLordKevin in #548
• Board amcfoc: draft app.yri and refinement of app.mot by @marcoaccame in #550
• Fix AksIM2 diagnostic display by @AntonioViscomi in #549
• Sensorless torque estimation added to motor control by @ale-git in #527
• bugfix amcfoc app.yri and eupdater by @SanLordKevin in #553
• Rebuild of amc, mc2plus, mc4plus after introduction of LuGre by @Nicogene in #557
• Fix/hand skin fix: correct I2C mapping for best cablilng by @simeonedussoni in #552
• Added fix for calibration 5 by @AntonioViscomi in #559
• Alignment of build dates and version of ETH boards by @marcoaccame in #560
• yarprobotinterface recognize better amc and amcfoc by @SanLordKevin in #561
• Extension of ICC in dual core boards: amc and amcfoc by @marcoaccame in #562
• amcfoc encoders, SPI by @SanLordKevin in #563
• Work on update of AMO encoder diagnostic by @MSECode in #564
• Fix error for Aksim2 and AMO encoders by @MSECode in #565

New Contributors

• @AntonioViscomi made their first contribution in #549

Full Changelog: v1.41.1...v1.42.0

v1.41.1

What's Changed

• 2foc.3.3.38: solves the overcurrent problem by @ale-git in #551

Full Changelog: v1.41.0...v1.41.1

v1.41.0

What's Changed

• Boards mtb4 and mtb4c: skin on the 5-th finger finally supported by @marcoaccame in #509
• Added dummy retargeting for the SYS IO functions by @marcoaccame in #510
• Cleanup of projects for board stm32g4eval by @marcoaccame in #511
• Updated the CAN protocol document w/ some clarifications by @SanLordKevin in #512
• Adjust lower bound for evaluating battery charge for R1 by @MSECode in #514
• Improved demo projects basicping and udpdemoipnet on stm32h745disco by @SanLordKevin in #516
• CAN protocol for MC: reviewed document + embot::prot::can::motor by @marcoaccame in #515
• Towards the amcfoc: cleanup of embot::hw by @marcoaccame in #518
• Added stm32hal library for amcfoc + demo projects for cm4 master cm7 slave by @marcoaccame in #519
• First amcfoc projects: amcfoc.loader and amcfoc.CM7launcher by @marcoaccame in #521
• AMCx mbd: codegen R2024a from icub-fw-models c8834b2 by @mfussi66 in #523
• Diagnostics for ETH link (up/down) for the amc board by @SanLordKevin in #526
• Feature/publish encoder raw values by @MSECode in #520
• Runtime configuration of encoder port in the amc board by @marcoaccame in #531
• Runtime configuration of mtb4 / mtb4c boards to manage ergoCub hand (5 fingers + palm) by @simeonedussoni in #530
• This PR fixes the wrist mk2 get position reference bug. by @ale-git in #522
• 2FOC current filter implemented. by @ale-git in #524
• Fix of BSP of the board amcfoc to run EEPROM by @SanLordKevin in #538

New Contributors

• @SanLordKevin made their first contribution in #512

Full Changelog: v1.40.0...v1.41.0

v1.40.0

What's Changed

• This EMS 3.90 version fixes the bug that affected the stiff <-> compliant interaction mode transitions by @ale-git in #498
• Update diagnostic for aksim2 by @MSECode in #500
• Fix timing of EOMtheEMSrunner by @marcoaccame in #501
• Runtime configuration of diagnostics related to the RX-DO-TX phases by @marcoaccame in #502
• Improvement in 2FOC fw and improved quadrature_encoder diagnostic by @valegagge in #503
• Boards mtb4 and mtb4c: added SWO debug capabilities + multisda source files are now shared by @simeonedussoni in #505
• Feat/5th i2c to be merged for implementing the 5th I2C bus - first step by @simeonedussoni in #506

Full Changelog: v1.39.0...v1.40.0

v1.39.0

What's Changed

• The amc board uses ICC and CAN to move the wrist of ergoCub. by @marcoaccame in #474
• Clean up of example test projects of amc and amc2c by @marcoaccame in #475
• The amc2c board runs the UDP stack by @marcoaccame in #477
• amcbldc v2.0.11 + amc2c v3.0.1.0 Handling of overcurrent flag w/ the new codegen by @sgiraz in #478
• Fixed the bsp of amcfoc cm4 and cm7 by @marcoaccame in #479
• Feat/amc2c vcc reading by @sgiraz in #480
• Demo projects for amcfoc that boots from CM4 and/or CM7 by @marcoaccame in #481
• codegen: pwm scaled by Vcc when set as target in openloop - icub-fw-models: 1be8d979 by @mfussi66 in #482
• Fix/diagnostic gen error by @MSECode in #472
• Improved dual core boot for amcfoc by @marcoaccame in #483
• Fix/versions alignment amc2c v3.0.3 + amcbldc 2.0.13 by @sgiraz in #484
• AMC - fix programmed packets count by @davidetome in #485
• Update amc v2.1, ems v3.86, mc4plus v3.89, mc2plus v3.68 by @MSECode in #486
• BAT updates by @MSECode in #487
• Uniformization of behaviour of the eUpdater of amc, ems, mc4plus and mc2plus by @marcoaccame in #490
• Add jomo to diagnostic aksim. EMS ver 3.88 by @valegagge in #489
• Fix to ICC communication between the amc and amc2c board by @marcoaccame in #491
• Add file for enabling SignalEventViewer in ems by @MSECode in #492
• Legacy ETH boards has support for earlier TX of CAN frames by @marcoaccame in #493
• Add comment lines for temperature reading by @MSECode in #495
• Improved EOMtheEMSrunner by @marcoaccame in #496

Full Changelog: v1.38.0...v1.39.0

v1.38.0

What's Changed

• Add velocityThres parameter for friction compensation by @sgiraz in #410
• EoInertials3: refactor in order to make it work also w/ ems and mtb3. by @Nicogene in #439
• AMC-BLDC - adding test project by @davidetome in #441
• Feature/temperature reading by @MSECode in #430
• Remove EOtheInertials2 service by @Nicogene in #442
• Fix/battery version by @MSECode in #443
• Board amc: test project for streaming AEA3 values by @marcoaccame in #444
• fix aea3 spi config + minor cleanup by @sgiraz in #449
• Update AMCBLDC codegen with matlab 2023b by @sgiraz in #448
• Feature/fw updater bat by @MSECode in #447
• AMC2C bugfix polepairs type from size_t to uint8_t by @sgiraz in #456
• AMC-BLDC - test FW by @davidetome in #453
• Reset quadrature encoder counter via HW by @ale-git in #455
• Improved HW CAN filtering on the amc2c board by @marcoaccame in #458
• Fix the control mode management in case of wrist decoupler by @valegagge in #459
• amcbldc + amc2c v2.0.8 by @sgiraz in #457
• amc-bldc - add tests using temporary test jig by @davidetome in #460
• Revert the PR 459. AMC ver 1.11 by @valegagge in #461
• Fix namespace when calling embot partition() by @mfussi66 in #462
• amc-bldc - test fw minor fix by @davidetome in #463
• Use IF instead of WHILE in check motor encoder error by @MSECode in #464
• Fix/temperature reading by @MSECode in #466
• amcbldc + amc2c v209 Ts_FOC alignment by @sgiraz in #468
• Wrist stuck at startup bug fixed by @ale-git in #467
• wrist_decoupler moved to automatically generated software dedicated folder by @ale-git in #470
• AMC V1.13 with improved wrist Mk2 direct kinematics solver by @ale-git in #469
• Fix on all Diagnostic error by @MSECode in #471

Full Changelog: v1.37.0...v1.38.0

v1.37.0

What's Changed

• mc4plus double pinout by @davidetome in #412
• amc: bugfix reading chipMA730 by @sgiraz in #415
• Bugfix about the reduced torque of 2FOC V 3.6 firmware by @ale-git in #416
• amc: bugfix SPI by @sgiraz in #419
• amc bugfix reading aea3 bitshift by @sgiraz in #420
• Update fw to v1.3.1 and display variable: by @MSECode in #421
• Fix debug message by @MSECode in #423
• fix euler angles by @davidetome in #425
• Parametrized Wrist decoupler and aea3 support in AMC board by @valegagge in #424
• The amc2c binary moves a motor using CAN communication by @marcoaccame in #426
• Cleanup of the amc application by @marcoaccame in #429
• Support for addressing ICC communication in MC by @marcoaccame in #431
• support for amc: stm32hal v1B1 by @marcoaccame in #433
• Correct disabling of led toggling at 100ms wrongly removed in previous fw by @MSECode in #432
• HW test projects using embot environment: ems, mc4plus and amc by @marcoaccame in #434
• Now the joints can run based only to motor encoder - without AMO sensors - and calibrate in hard stop. by @ale-git in #438
• hal2.h - add missing header by @davidetome in #440

Full Changelog: v1.36.0...v1.37.0

v1.36.0

What's Changed

• Fix/battery charge by @MSECode in #395
• Motor Control library used by ETH boards is now compiled in C++ by @marcoaccame in #397
• Board amcbldc: fix of application version in EEPROM + TIM1 update removal optimization by @marcoaccame in #398
• Add fix for not causing joints to go in hw fault at yri restart by @MSECode in #400
• Use of embot::app::eth::theEncoderReader in all ETH boards by @marcoaccame in #399
• Update evaluation of final offset for calibratio14 + bugfix by @MSECode in #402
• amc2c – introduce changes to fix debugging + enable SWO trace features by @sgiraz in #404
• Cleanup of MC: removed code for old management of 7 joints in handv3 by @marcoaccame in #406
• 2FOC: Added temperature sensor reading by I2C by @ale-git in #401
• amc2c: minor changes to debug the currents reading by @sgiraz in #407
• First support for the two cores of the amcfoc board: amcfocm7 and amcfocm4 by @marcoaccame in #408
• Add handling of status messages for BAT and BMS in EMS baord by @MSECode in #403
• Set joints to NOT_CONFIGURED at YRI closure using MotionController Deactivate() API by @MSECode in #413

Full Changelog: v1.35.1...v1.36.0

v1.35.1

What's Changed

• AMDBLDC: add thermal model running at 10ms and reusable functions from codegen (icub-fw-models@2e2670b) by @mfussi66 in #391
• AMC: Increase version after fix for can discovery of strain2c by @mfussi66 in #392
• AMCBLDC: Update project files and, increase version of 1.x, add thermal model to mbdAgent in version 1.x by @mfussi66 in #394

Full Changelog: v1.35.0...v1.35.1