CMakeLists.txt

@@ -6,7 +6,7 @@
 cmake_minimum_required(VERSION 3.12)
 
 project(icub_firmware_shared
-        VERSION 1.36.0)
+        VERSION 1.37.0)
 
 find_package(YCM 0.11.0 REQUIRED)
 

eth/embobj/plus/comm-v2/icub/EoBoards.c

@@ -174,7 +174,9 @@ static const eOmap_str_str_u08_t s_eoboards_map_of_connectors[] =
     {"J31", "eobrd_conn_J31", eobrd_conn_J31},
     {"J32", "eobrd_conn_J32", eobrd_conn_J32},
     {"J33", "eobrd_conn_J33", eobrd_conn_J33},
-
+    {"P3P", "eobrd_conn_P3P", eobrd_conn_P3P},
+    {"P4P", "eobrd_conn_P4P", eobrd_conn_P4P},
+
     {"none", "eobrd_conn_none", eobrd_conn_none},
     {"unknown", "eobrd_conn_unknown", eobrd_conn_unknown}
 };  EO_VERIFYsizeof(s_eoboards_map_of_connectors, (eobrd_connectors_numberof+2)*sizeof(eOmap_str_str_u08_t))
@@ -193,6 +195,8 @@ static const eOmap_str_str_u08_u08_u08_t s_eoboards_map_of_ports[] =
     {"mc4plusP3", "eobrd_port_mc4plusP3", eobrd_port_mc4plusP3, eobrd_mc4plus, eobrd_conn_P3},
     {"mc4plusP4", "eobrd_port_mc4plusP4", eobrd_port_mc4plusP4, eobrd_mc4plus, eobrd_conn_P4},
     {"mc4plusP5", "eobrd_port_mc4plusP5", eobrd_port_mc4plusP5, eobrd_mc4plus, eobrd_conn_P5},
+    {"mc4plusP3P", "eobrd_port_mc4plusP3P", eobrd_port_mc4plusP3P, eobrd_mc4plus, eobrd_conn_P3P},
+    {"mc4plusP4P", "eobrd_port_mc4plusP4P", eobrd_port_mc4plusP4P, eobrd_mc4plus, eobrd_conn_P4P},    
     {"mc4plusP10", "eobrd_port_mc4plusP10", eobrd_port_mc4plusP10, eobrd_mc4plus, eobrd_conn_P10},
     {"mc4plusP11", "eobrd_port_mc4plusP11", eobrd_port_mc4plusP11, eobrd_mc4plus, eobrd_conn_P11},
 

eth/embobj/plus/comm-v2/icub/EoBoards.h

@@ -316,12 +316,14 @@ typedef enum
     eobrd_conn_J31      = 32,
     eobrd_conn_J32      = 33,
     eobrd_conn_J33      = 34,
+    eobrd_conn_P3P      = 35,
+    eobrd_conn_P4P      = 36,
 
     eobrd_conn_none     = 0,
     eobrd_conn_unknown  = 255
 } eObrd_connector_t;
 
-enum { eobrd_connectors_numberof = 34 };
+enum { eobrd_connectors_numberof = 36 };
 
 
 typedef enum
@@ -341,6 +343,8 @@ typedef enum
     eobrd_port_mc4plusP3            = 0,        // PWM & QUADENC: hal_motor1, hal_quad_enc1
     eobrd_port_mc4plusP4            = 2,        // PWM & QUADENC: hal_motor3, hal_quad_enc3
     eobrd_port_mc4plusP5            = 3,        // PWM & QUADENC: hal_motor4, hal_quad_enc4
+    eobrd_port_mc4plusP3P           = 4,        // PWM & QUADENC: hal_motor1, hal_quad_enc1 parrallelized driver
+    eobrd_port_mc4plusP4P           = 5,        // PWM & QUADENC: hal_motor3, hal_quad_enc3 parrallelized driver
     eobrd_port_mc4plusP10           = 0,        // SPI encoder: hal_encoder1
     eobrd_port_mc4plusP11           = 1,        // SPI encoder: hal_encoder2
 
@@ -390,7 +394,7 @@ typedef enum
 
 } eObrd_port_t;
 
-enum { eobrd_ports_numberof = 47 };
+enum { eobrd_ports_numberof = 49 };
 
 
 typedef enum

eth/embobj/plus/comm-v2/icub/EoMotionControl.c

@@ -169,7 +169,8 @@ static const eOmap_str_str_u08_t s_eomc_map_of_jsetconstraints[] =
     {"cerhand", "eomc_jsetconstraint_cerhand", eomc_jsetconstraint_cerhand},
     {"trifid", "eomc_jsetconstraint_trifid", eomc_jsetconstraint_trifid},
     {"cerhand2", "eomc_jsetconstraint_cerhand2", eomc_jsetconstraint_cerhand2},
-
+    {"ergocubwrist", "eomc_jsetconstraint_ergocubwrist", eomc_jsetconstraint_ergocubwrist},
+
     {"unknown", "eomc_jsetconstraint_unknown", eomc_jsetconstraint_unknown}
 };  EO_VERIFYsizeof(s_eomc_map_of_jsetconstraints, (eomc_jsetconstraints_numberof + 1)*sizeof(eOmap_str_str_u08_t));
 

eth/embobj/plus/comm-v2/icub/EoMotionControl.h

@@ -1285,12 +1285,13 @@ typedef enum
     eomc_jsetconstraint_cerhand     = 1,
     eomc_jsetconstraint_trifid      = 2,
     eomc_jsetconstraint_cerhand2    = 3,
+    eomc_jsetconstraint_ergocubwrist = 4,
 
     eomc_jsetconstraint_unknown     = 255
 } eOmc_jsetconstraint_t;
 
 
-enum { eomc_jsetconstraints_numberof = 4 };
+enum { eomc_jsetconstraints_numberof = 5 };
 
 
 // size is