[Spinal][Config] Additional features and new configuration for Spinal#630

Merged

tongtybj merged 105 commits intojsk-ros-pkg:masterfrom sugihara-16:PR/Spinal_4_1/new_config

Jan 16, 2025

+313,716-170

Commits on Mar 2, 2024

[Spinal][Servo] fix complile erors in servo interface (stil not work)
sugihara-16
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[Spinal][Servo] add implimentation to call servo interface from main.cpp
sugihara-16
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[Spinal][Servo][WIP] modifed some details and add MPU setting
sugihara-16
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Commits on Mar 4, 2024

Commits on Mar 5, 2024

Commits on Mar 6, 2024

[Spinal][Servo] fix some bugs
sugihara-16
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Commits on Mar 7, 2024

Commits on May 12, 2024

[Spinal][Dynamixel] limit the situation in which offset and torque parameter can be set to only during torqe off state.
sugihara-16
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Commits on May 13, 2024

Commits on May 15, 2024

[Spinal][Servo] resize the servo message as same as maximum servo num.
sugihara-16
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Commits on Jun 4, 2024

Commits on Jun 5, 2024

Merge pull request #6 from koutarou-kaneko/PR/Spinal/dynamixel
sugihara-16
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Commits on Jun 7, 2024

Commits on Jun 24, 2024

Commits on Oct 2, 2024

[Spinal][DShot] add telemetry function for the ESCs that support. The code can be flashed into mcu. However, the telemetry has not been tested yet, since the DShot function should be implemented fi…

Li-Jinjie
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sugihara-16
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[Spinal][DShot] add DShot code from https://github.com/mokhwasomssi/stm32_hal_dshot

Li-Jinjie
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[Spinal][DShot] add DMA function for DShot PWM. only set the CubeMX and generate code, not tested.

Li-Jinjie
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[Spinal][DShot]: remove redundant code for esc_telem

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: create the new dshot class

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: change the PWM setting in CubeMX for DShot; fix a type error in dshot.cpp; fix a 'static' keyword error and add dma address for STM32H7 in dshot.h. When building, some include erro…

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: try to change pwm to dshot. Not tested.

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: fix bugs, now the code can be built without errors.

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: change the memory size for dma buffer. The original size is too small. However, error still occur when accessing the memory.

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: only one motor can rotate. do not know why

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: [SUCCESS] change settings to use NPU. NPU is critical for DMA in stm32H7. change a permission setting to allow NPU access. pwm_test works fine on real machine!

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: add one flag to decide if using telemetry or not.

Li-Jinjie
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[Spinal][DShot]: change the UART for receiving dshot telemetry to RX only.

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: add msg for telemetry

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: achieve dshot telemetry of one motor. test using debug. the received data is checked in a clever way.

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: add code to communicate with ros. tested successfully!

Li-Jinjie
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[Spinal][DShot]: refactor dshot class to triggering one by one. tested successfully!

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: refactor esc_telem class to measure one by one. Unsuccessful. Still problem

Li-Jinjie
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Revert "[Spinal][DShot]: refactor esc_telem class to measure one by one. Unsuccessful. Still problem"

Li-Jinjie
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Revert "[Spinal][DShot]: refactor dshot class to triggering one by one. tested successfully!"

Li-Jinjie
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[Spinal][DShot]: add time stamp to ESCTelemetryArray.msg

Li-Jinjie
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[Spinal][DShot]: add esc_reader support for different esc_msgs

Li-Jinjie
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[Spinal][DShot]: send telem flag to different motors. one telem for one motor during one round. [tested using Oscilloscope]

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: finish the eRPM measurement of different motors. Tested! Now the freq. is limited to 125hz. 250 hz will cause strange behavior.

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: polish the dshot code for rotor measurement

Li-Jinjie
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sugihara-16
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[Spinal][DShot]: add crc to ESCTelemetry.msg for debugging

Li-Jinjie
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[Spinal][DShot]: refactor some names; add constraints for dshot value

Li-Jinjie
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[Spinal][DShot]: add support to reverse rotation directions. tested!

Li-Jinjie
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[Spinal][DShot]: change telemetry info from erpm to real rpm!

Li-Jinjie
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sugihara-16
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[Spinal]: fix typo

Li-Jinjie
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[Spinal][DShot]: refactor rx_buf_ to esc_telem_rx_, in case of unambiguous

Li-Jinjie
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[Spinal][DShot]: remove code for dshot config, since unsuccessful

Li-Jinjie
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[Spinal][Battery]: use dshot telemetry to update the battery voltage

Li-Jinjie
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sugihara-16
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Commits on Oct 4, 2024

Commits on Oct 15, 2024

Merge branch 'develop/spinal/jsk_lib/dynamixel/spinal_v2' into develop/Spinal/Dshot
sugihara-16
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Commits on Oct 16, 2024

Commits on Oct 24, 2024

[Spinal][Servo] debug around the method to distinguish invalid servo ID.
sugihara-16
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Commits on Oct 29, 2024

Commits on Oct 30, 2024

Commits on Oct 31, 2024

Commits on Nov 2, 2024