robotology/icub-firmware-build

iCub Firmware Builds

icub-firmware-build's Issues

Document which variant of bat firmware should be used on ergoCub robot

In https://github.com/robotology/icub-firmware-build/tree/v1.37.0/CAN/bat there are bat.r1 and bat.icub3, and I was not able to understand which one should be used on ergoCub. It would be great to document this, thanks in advance!

Firmware build is missing 2FOC hex file changes

The firmware build commit c10c146 is missing the 2FOC changes. The commit is supposed to be built using robotology/icub-firmware@4222e0e, but it doesn't include the 2FOC changes integrated in the PR robotology/icub-firmware#88.

Actually, commit 02728b7, built from robotology/icub-firmware@78f4f63 did not update https://github.com/robotology/icub-firmware-build/tree/devel/CAN/2foc/2foc.hex.

Resolution

Fixed by 46d3f47 , built after PR robotology/icub-firmware#94.

Entry point on documentation for updating EMS firmware

I guess the most updated documentation on how to update EMS firmware is the one found in https://github.com/robotology/icub-firmware-build/blob/master/EMS/howto.txt , right?
If this is the case, I am going to link it from http://wiki.icub.org/wiki/Firmware that is the standard entry point for updating the iCub firmware.

@marcoaccame

New folder for programming of MC4PLUS

It is necessary to add a MC4PLUS folder with binaries for the mc4plus board with a structure similar to the EMS folder.

proposal for commit log of binary files

The log of the commit should contain some basic information which can help one user to understand the content of the binary file.

My proposal, open for discussion, is the following.

• first row of the log contains the board name and fw version, so that one can see most important info first.
• in some rows below write info about when the built was done and the SHA of the used repositories. that may be useful to re-create the binary from source code.
• finally add a comment about the differences in functionalities with the previously committed fw version.

An example is in SHA: 4b0356a

if we all follow some rule of the sort, the repository will be more clear.

The issue can interest @lornat75 @maggia80 @valegagge @ale-git @randaz81 @davege89

Script for updating firmware of all the boards not working properly

Today I used the script FirmwareUpdater.script.update.all.sh on ergoCubSN001 to update the firmware of all the boards. Only the EMS and FOC boards have been updated, while the script did not update the firmware of the MC4PLUS and AMC boards. In addition the firmware of 2 EMS boards was not uploaded correctly, indeed when restarted the boards they were not able to go in application mode and I had to re-flash the firmware manually.

I did not notice any error on the terminal.

Add the possibility pass the root of robots-configuration in FirmwareUpdater.script.info.all.sh

FirmwareUpdater.script.info.all.sh searches for robots-configuration folder inside $ROBOT_CODE i.e.

./manageFWrobot.py -n $ROBOT_CODE/robots-configuration/$YARP_ROBOT_NAME/network.$YARP_ROBOT_NAME.xml -f ../info/firmware.info.xml -p all -a info | tee ../logs/log.of.FirmwareUpdater.$YARP_ROBOT_NAME.info.all.txt

We usually install robots-configuration as part of the superbuild, so our path is $ROBOTOLOGY_SUPERBUILD_DIR/src/robots-configuration. It would be nice to pass the root of robots configuration as parameter to the sh script.

cc @traversaro @isorrentino

EMS v3.75 FW bugged

We noticed that the latest EMS FW in devel (v3.75) make the boards stuck in the eUpdater.

We need to fix this.

cc @marcoaccame @Nicogene @pattacini @AntonioConsilvio

Document version of bat corresponding to a given icub-firmware-build release and distro release

In https://github.com/robotology/icub-firmware-build#firmware-versioning-table, there is documentation on the mapping between robotology distro release, icub-firmware-build version and board-specific firmware version. This is quite convenient for people operating on the robot to check (manually) if the board are a correct version for the distro used on the robot.

At the moment, it seems that the bat version corresponding to a given distro/icub-firmware release is not documented, it would be great if that could be documented.

fyi @Nicogene @marcoaccame @davidetome @valegagge @MSECode

Reorganization of EMS folder

The EMS folder requires some cleaning.

For instance, with time some .hex files are not used anymore (e.g., TestETHnew3min.hex which was used to verify if the ETH cable was crossed or straigth).

Moreover, now the application FW is unique and it does not depend on the position of the board anymore. But the old .hex files are still in repository.

As a last thing, in icub-firmware-build it is missing an important part: the instructions and the scripts used to burn an EMS board for the first time before mounting it on the robot. They are in icub-firmware, but the right place is in icub-firmware-build.

The following users will surely be interested: @lornat75 @maggia80 @valegagge @ale-git @randaz81 @davege89 @davidetome

devel version of EMS firmware is outated with respect to the master version

The master branch contains the EMS firmware (at icub-firmware-build/ETH/EMS/bin/application/ems.hex) v2.57 (added in 6585102) while the devel branch has the old EMS firmware v2.56 (added in 6983bef ).

[iCubParis02] No boards found

Hey there,

I just tried updating the firmware using the new git repo and I get the following output:

icub@pc104:/usr/local/src/robot/icub-firmware-build$ ./updateRobot.sh 

----------------------------------------------
Welcome to the automatic firmware updater tool
----------------------------------------------

no filename specified, using default configuration...
cannot open the firmware description file in default directory, searching in alternate path...

found firmware description file:
/usr/local/src/robot//icub-main/build-pc104/share/iCub/robots/iCubParis02/firmwareUpdate.txt

Remember: Never update the firmware if iCubInterface/robotInterface is running!
If you are not sure about the current status of the robot, turn off the motor boards, turn them on again and wait at 5 seconds before proceeding.
Do you want to proceed with the firmware update? (Y/N)
y
canLoader --canDeviceType cfw2can --canDeviceNum 0 --boardId 1 --firmware 2BLLDC.1.62.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 0, boardId 1, firmware 2BLLDC.1.62.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4564 active at tcp://10.0.0.2:10664
yarp: Sending output from /log/pc104/no_progname/4564 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4564 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 0 --boardId 2 --firmware 4DC.2.15.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 0, boardId 2, firmware 4DC.2.15.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4583 active at tcp://10.0.0.2:10665
yarp: Sending output from /log/pc104/no_progname/4583 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4583 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 0 --boardId 5 --firmware 2BLL_IE.2.54.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 0, boardId 5, firmware 2BLL_IE.2.54.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4626 active at tcp://10.0.0.2:10666
yarp: Sending output from /log/pc104/no_progname/4626 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4626 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 0 --boardId 6 --firmware 2BLL_IE.2.52.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 0, boardId 6, firmware 2BLL_IE.2.52.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4645 active at tcp://10.0.0.2:10667
yarp: Sending output from /log/pc104/no_progname/4645 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4645 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 1 --boardId 1 --firmware 2BLL_IE.2.50.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 1, boardId 1, firmware 2BLL_IE.2.50.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4688 active at tcp://10.0.0.2:10668
yarp: Sending output from /log/pc104/no_progname/4688 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4688 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 1 --boardId 2 --firmware 2BLL_IE.2.57.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 1, boardId 2, firmware 2BLL_IE.2.57.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4707 active at tcp://10.0.0.2:10669
yarp: Sending output from /log/pc104/no_progname/4707 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4707 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 1 --boardId 3 --firmware 4DC.2.19.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 1, boardId 3, firmware 4DC.2.19.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4726 active at tcp://10.0.0.2:10670
yarp: Sending output from /log/pc104/no_progname/4726 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4726 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 5 --boardId 5 --firmware 4DC.2.28.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 5, boardId 5, firmware 4DC.2.28.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4769 active at tcp://10.0.0.2:10671
yarp: Sending output from /log/pc104/no_progname/4769 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4769 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 5 --boardId 7 --firmware 4DC.2.30.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 5, boardId 7, firmware 4DC.2.30.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4788 active at tcp://10.0.0.2:10672
yarp: Sending output from /log/pc104/no_progname/4788 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4788 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 2 --boardId 1 --firmware 2BLL_IE.2.50.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 2, boardId 1, firmware 2BLL_IE.2.50.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4831 active at tcp://10.0.0.2:10673
yarp: Sending output from /log/pc104/no_progname/4831 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4831 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 2 --boardId 2 --firmware 2BLL_IE.2.57.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 2, boardId 2, firmware 2BLL_IE.2.57.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4850 active at tcp://10.0.0.2:10674
yarp: Sending output from /log/pc104/no_progname/4850 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4850 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 2 --boardId 3 --firmware 4DC.2.19.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 2, boardId 3, firmware 4DC.2.19.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4869 active at tcp://10.0.0.2:10675
yarp: Sending output from /log/pc104/no_progname/4869 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4869 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 6 --boardId 5 --firmware 4DC.2.28.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 6, boardId 5, firmware 4DC.2.28.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4912 active at tcp://10.0.0.2:10676
yarp: Sending output from /log/pc104/no_progname/4912 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4912 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 6 --boardId 7 --firmware 4DC.2.30.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 6, boardId 7, firmware 4DC.2.30.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4931 active at tcp://10.0.0.2:10677
yarp: Sending output from /log/pc104/no_progname/4931 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4931 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 3 --boardId 5 --firmware 2BLL_IE.2.51.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 3, boardId 5, firmware 2BLL_IE.2.51.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4974 active at tcp://10.0.0.2:10678
yarp: Sending output from /log/pc104/no_progname/4974 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4974 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 3 --boardId 6 --firmware 2BLL_IE.2.51.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 3, boardId 6, firmware 2BLL_IE.2.51.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/4993 active at tcp://10.0.0.2:10679
yarp: Sending output from /log/pc104/no_progname/4993 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/4993 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 3 --boardId 7 --firmware 2BLL_IE.2.51.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 3, boardId 7, firmware 2BLL_IE.2.51.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/5012 active at tcp://10.0.0.2:10680
yarp: Sending output from /log/pc104/no_progname/5012 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/5012 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 4 --boardId 8 --firmware 2BLL_IE.2.51.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 4, boardId 8, firmware 2BLL_IE.2.51.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/5043 active at tcp://10.0.0.2:10681
yarp: Sending output from /log/pc104/no_progname/5043 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/5043 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 4 --boardId 9 --firmware 2BLL_IE.2.51.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 4, boardId 9, firmware 2BLL_IE.2.51.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/5062 active at tcp://10.0.0.2:10682
yarp: Sending output from /log/pc104/no_progname/5062 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/5062 to /yarplogger
canLoader --canDeviceType cfw2can --canDeviceNum 4 --boardId 10 --firmware 2BLL_IE.2.51.out.S
Initializing prompt version of canLoader...
Selecting canDeviceType cfw2can canDeviceNum 4, boardId 10, firmware 2BLL_IE.2.51.out.S
yarpdev: ***ERROR*** could not find device <cfw2can>
[ERROR]no boards found 
yarp: Port /log/pc104/no_progname/5081 active at tcp://10.0.0.2:10683
yarp: Sending output from /log/pc104/no_progname/5081 to /yarplogger using tcp
[ERROR]check canbus cable, power supply connection etc.
yarp: Removing output from /log/pc104/no_progname/5081 to /yarplogger
cfw2can 0 1 2BLLDC.1.62.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 0 2 4DC.2.15.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 0 5 2BLL_IE.2.54.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 0 6 2BLL_IE.2.52.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 1 1 2BLL_IE.2.50.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 1 2 2BLL_IE.2.57.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 1 3 4DC.2.19.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 5 5 4DC.2.28.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 5 7 4DC.2.30.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 2 1 2BLL_IE.2.50.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 2 2 2BLL_IE.2.57.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 2 3 4DC.2.19.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 6 5 4DC.2.28.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 6 7 4DC.2.30.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 3 5 2BLL_IE.2.51.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 3 6 2BLL_IE.2.51.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 3 7 2BLL_IE.2.51.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 4 8 2BLL_IE.2.51.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 4 9 2BLL_IE.2.51.out.S --> Error: ERR_NO_BOARDS_FOUND
cfw2can 4 10 2BLL_IE.2.51.out.S --> Error: ERR_NO_BOARDS_FOUND
icub@pc104:/usr/local/src/robot/icub-firmware-build$ 

Everything is turned on and the emergency stop is NOT depressed. Yarp is running on pc104. Any ideas?

Branch cleanup december 2023

There are some branches that are hanging around and that can be deleted to speed up the git clone --depth 1 --no-single-branch command when cloning the repo. For future reference, the branches are still in my fork:

Branch in the main repo	Branch in my fork
https://github.com/robotology/icub-firmware-build/tree/issue/%2389_phase-current-noise	https://github.com/traversaro/icub-firmware-build/tree/issue/%2389_phase-current-noise
https://github.com/robotology/icub-firmware-build/tree/feature/pr%2390	https://github.com/traversaro/icub-firmware-build/tree/feature/pr%2390
https://github.com/robotology/icub-firmware-build/tree/feature/impl-static-friction-comp	https://github.com/traversaro/icub-firmware-build/tree/feature/impl-static-friction-comp