Finalize calibration type 14

Add enum and map to convert int32 to enum rotation
Remove const from value passed to int2enum conversion method for FAP rotation
Increase to version 1.34.3
Add method for converting also int 2 enum for eOmc_calib14_ROT_t
Fix rotation type from uint8_t to int32_t + filler to 32bit in eOmc_calibrator_params_type14_qenc_hard_stop_and_fap_t

CMakeLists.txt

@@ -6,7 +6,7 @@
 cmake_minimum_required(VERSION 3.12)
 
 project(icub_firmware_shared
-        VERSION 1.34.2)
+        VERSION 1.34.3)
 
 find_package(YCM 0.11.0 REQUIRED)
 

eth/embobj/core/core/EoCommon.h

@@ -596,6 +596,14 @@ typedef struct
     uint8_t         val2;    
 } eOmap_str_str_u08_u08_u08_t;
 
+/** @typedef    typedef struct eOmap_int32_u08_t
+    @brief      it can be used to build a map containing one int32_t and a value. 
+ **/
+typedef struct
+{
+    int32_t         int0;
+    uint8_t         val0;    
+} eOmap_int32_u08_t;
 
 // - public #define  --------------------------------------------------------------------------------------------------
 

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

@@ -114,7 +114,7 @@ static const eOmap_str_str_u08_t s_boards_map_of_posrots[] =
     {"minus090", "eoas_pos_ROT_minus090", eoas_pos_ROT_minus090},
 
     {"none", "eoas_pos_ROT_none", eoas_pos_ROT_none},
-    {"unknown", "eoas_pos_ROT_unknown", eoas_pos_ROT_unknown}   
+    {"unknown", "eoas_pos_ROT_unknown", eoas_pos_ROT_unknown}
 
 };  EO_VERIFYsizeof(s_boards_map_of_posrots, (eoas_pos_ROT_numberof+2)*sizeof(eOmap_str_str_u08_t))
 
@@ -609,7 +609,7 @@ extern eObool_t eoas_battery_isboardvalid(eObrd_cantype_t boardtype)
         }
     }
 
-    return eobool_false;    
+    return eobool_false;
 }
 
 

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

@@ -173,6 +173,18 @@ static const eOmap_str_str_u08_t s_eomc_map_of_jsetconstraints[] =
     {"unknown", "eomc_jsetconstraint_unknown", eomc_jsetconstraint_unknown}
 };  EO_VERIFYsizeof(s_eomc_map_of_jsetconstraints, (eomc_jsetconstraints_numberof + 1)*sizeof(eOmap_str_str_u08_t));
 
+static const eOmap_int32_u08_t s_eomc_map_of_calib14rot[] =
+{
+    {0, eOmc_calib14_ROT_zero},
+    {32768, eOmc_calib14_ROT_plus180},
+    {16384, eOmc_calib14_ROT_plus090},
+    {-16384, eOmc_calib14_ROT_minus090},
+
+    {-1, eOmc_calib14_ROT_none},
+    {-2, eOmc_calib14_ROT_unknown}   
+
+};  EO_VERIFYsizeof(s_eomc_map_of_calib14rot, (eOmc_calib14_ROT_numberof+2)*sizeof(eOmap_int32_u08_t))
+
 
 // --------------------------------------------------------------------------------------------------------------------
 // - definition (and initialisation) of extern variables
@@ -435,6 +447,40 @@ extern eOmc_stopswitch_t eomc_stopswitch_gethigh(const eomc_stopswitches_t value
     return (eOmc_stopswitch_t)((value >> 4) & 0xf);
 }
 
+extern eOmc_calib14_ROT_t eomc_int2calib14_ROT(int32_t value)
+{
+    uint8_t i = 0;
+    const eOmap_int32_u08_t *map = s_eomc_map_of_calib14rot;
+    const uint8_t size = eOmc_calib14_ROT_numberof+2;
+    uint8_t defvalue = eOmc_calib14_ROT_unknown;
+
+    for(i = 0; i < size; i++)
+    {
+        if(map[i].int0 == value)
+        {
+            return(map[i].val0);
+        }
+    }
+    return defvalue;
+}
+
+extern int32_t eomc_calib14_ROT2int(eOmc_calib14_ROT_t value)
+{
+    uint8_t i = 0;
+    const eOmap_int32_u08_t *map = s_eomc_map_of_calib14rot;
+    const uint8_t size = eOmc_calib14_ROT_numberof+2;
+    uint8_t defvalue = -2;
+
+    for(i = 0; i < size; i++)
+    {
+        if(map[i].val0 == value)
+        {
+            return(map[i].int0);
+        }
+    }
+    return defvalue;
+}
+
 // --------------------------------------------------------------------------------------------------------------------
 // - definition of extern hidden functions 
 // --------------------------------------------------------------------------------------------------------------------

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

@@ -451,8 +451,9 @@ typedef struct
     int32_t                     pwmlimit;
     int32_t                     final_pos;
     uint8_t                     invertdirection;
-    uint8_t                     rotation;
-    uint8_t                     filler;
+    uint8_t                     filler8;
+    uint16_t                    filler16;
+    int32_t                     rotation;
     int32_t                     offset;
     int32_t                     calibrationZero;
 
@@ -551,7 +552,7 @@ typedef struct                  // size is 1+1+2+2+2+0 = 8
 /** @typedef    typedef struct eOmc_calibrator32_t
     @brief      eOmc_calibrator32_t specifies a calibrator with type and parameters for teh new definition of measures
  **/
-typedef struct                  // size is 1+3+4*4 = 20
+typedef struct                  // size is 1+3+6*4 = 28
 {
     eOenum08_t                  type;                               /**< use eOmc_calibration_type_t */
     uint8_t                     filler03[3];
@@ -1426,6 +1427,18 @@ typedef enum
 
 enum { eomc_mc4broadcasts_numberof = 5 };
 
+typedef enum
+{
+    eOmc_calib14_ROT_zero = 0,
+    eOmc_calib14_ROT_plus180 = 1,
+    eOmc_calib14_ROT_plus090 = 2,
+    eOmc_calib14_ROT_minus090 = 3,
+    eOmc_calib14_ROT_none = 14,
+    eOmc_calib14_ROT_unknown = 15,
+} eOmc_calib14_ROT_t;
+
+enum { eOmc_calib14_ROT_numberof = 4 };
+
 
 
 // - declaration of extern public variables, ... but better using use _get/_set instead -------------------------------
@@ -1463,6 +1476,8 @@ extern eOmc_pidoutputtype_t eomc_string2pidoutputtype(const char * string, eOboo
 extern eOmc_jsetconstraint_t eomc_string2jsetconstraint(const char * string, eObool_t usecompactstring);
 extern const char * eomc_jsetconstraint2string(eOmc_jsetconstraint_t jsetconstraint, eObool_t usecompactstring);
 
+extern eOmc_calib14_ROT_t eomc_int2calib14_ROT(int32_t value);
+extern int32_t eomc_calib14_ROT2int(eOmc_calib14_ROT_t value);
 
 /** @}            
     end of group eo_motioncontrol