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AMDBLDC: add thermal model running at 10ms and reusable functions from codegen (icub-fw-models@2e2670b) #391

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merged 5 commits into from
Jul 4, 2023

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This PR aligns the AMCBLDC code to the latest mbd code generation, with the following features:

  • A linear thermal model is added, running at 10ms, to estimate the temperature: this is a first stepping stone for the i2t protection, no supervisor infrastructure is added yet
  • Adapted architectural model to allow reusable functions

cc @pattacini

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Hi @marcoaccame

Please, also review the STRAIN2c patch.

@pattacini pattacini changed the title AMDBLDC: add thermal model running at 10ms and reusable functions from codegen ( icub-fw-models: 2e2670b) AMDBLDC: add thermal model running at 10ms and reusable functions from codegen (icub-fw-models: 2e2670b) Jul 3, 2023
@pattacini pattacini changed the title AMDBLDC: add thermal model running at 10ms and reusable functions from codegen (icub-fw-models: 2e2670b) AMDBLDC: add thermal model running at 10ms and reusable functions from codegen (icub-fw-models@2e2670b) Jul 3, 2023
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The strain2c patch is OK as long as you update the application versions of the ETH boards.

Some minor changes are needed. To group them all in here:

  • update application version of the ems, mc4plus, mc2plus;
  • propagate changes of MBD also for the amc2c board in function embot::app::board::amc2c::theMBD::Impl::tick();
  • increase application version of amcbldc.

The application version of the amcbldc is inside file embot_app_board_amcbldc_info.cpp:

namespace embot::app::board::amcbldc::info {
    
    constexpr embot::prot::can::applicationInfo applInfo 
    {   
        embot::prot::can::versionOfAPPLICATION {2, 0, 2},    
        embot::prot::can::versionOfCANPROTOCOL {2, 0}   
    };

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mfussi66 commented Jul 3, 2023

propagate changes of MBD also for the amc2c board in function embot::app::board::amc2c::theMBD::Impl::tick();

@marcoaccame FYI this change requires also the change of the keil project, by adding the thermal model sources

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mfussi66 commented Jul 3, 2023

@marcoaccame

* [ ]  update application version of the `ems`, `mc4plus`, `mc2plus`;

Done in 10d1418 (#391)

* [ ]  propagate changes of MBD also for the `amc2c` board in function `embot::app::board::amc2c::theMBD::Impl::tick()`;

Done in d938748 (#391)

* [ ]  increase application version of `amcbldc`.

Done in 8332b36 (#391)

@mfussi66 mfussi66 requested a review from marcoaccame July 3, 2023 11:07
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That's OK, @mfussi66. Thanks.

@marcoaccame marcoaccame merged commit 22dfc32 into robotology:devel Jul 4, 2023
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3 participants