Merge branch 'icub-tech-iit:master' into master

docs/battery_boards/bat_board/bat_protocol.md

@@ -2,6 +2,14 @@
 
 ## Introduction
 This page describes the `BAT` board and its protocol. Basically, this board is responsible for the management of the data and signals provided by the battery pack in `R1`, `iCub`, and `ergoCub` robots. Moreover, it should be noted that in these robots it is always coupled with the `BMS` board, which is responsible for fine-tuning and managing the battery pack status.
+When one aims to update the `BAT` firmware, the correct `.hex` version ought be selected from the `BAT` folder. Specifically, there are two different `BAT` executables:
+- `bat.r1.hex`: it addresses R1 robot.
+- `bat.hex`: it addresses `iCub` and `ergoCub` robots.
+
+There exist two different versions of the `BAT` FW because the `dcdc_management` phase is done differently between `R1` and `iCub`/`ergoCub`. 
+Specifically, in `iCub` and `ergoCub` robots, CPU and motors are handled separately, and they can work detached. By contrast, in `R1`, they work always together.
+Moreover, these robots do have different battery packs, hence the voltage thresholds are customized in the two FW versions.
+
 In general, as shown in the figures below (illustrating the connection between the BAT and EMS boards in the base of `R1/SN003`), the `BAT` can be connected to an EMS board through the `CAN` connector devoted to receiving the CAN frames sent out by the `BAT`.
 
 <center>

docs/icub_operating_systems/pc104/icub-live-32bits.md

@@ -14,13 +14,13 @@ The process described here is very similar to the one used to build 64 bits imag
 You can use a PC with Debian installed, but using a Virtualbox VM enables you to isolate your build fron everything else running on the computer.
 To set up your VM:
 
-- [Download and install VirtualBox](https://www.virtualbox.org/wiki/Downloads)
+- [Download and install VirtualBox](https://www.oracle.com/virtualization/technologies/vm/downloads/virtualbox-downloads.html)
 - [Download a 32bits Debian ISO](https://www.debian.org/distrib/index.html), preferably the version that you want to build
 - Launch VirtualBox
 - Create a new Debian 32bits VM. Make sure you give enough cores / RAM for the VM to work properly (e.g. 2 cores and 4-8 GB RAM)
 - Select the VM you just created; click on "Settings > Storage", and mount a new CD/DVD. WHen asked, select the file you just downloaded.
 - Turn the VM on; follow the usual Debian installation steps
-- You will probably need to install the VirtualBox Extension Pack to give the guest VM USB 2/3 access. The pack can be downloaded on [the same page as VirtualBox](https://www.virtualbox.org/wiki/Downloads)
+- You will probably need to install the VirtualBox Extension Pack to give the guest VM USB 2/3 access. The pack can be downloaded on [the same page as VirtualBox](https://www.oracle.com/virtualization/technologies/vm/downloads/virtualbox-downloads.html)
 
 Once this is done, you have a working Debian environment. We can now build the iCub LIVE image
 

docs/robot_sensors/ergocub_sensors.md

@@ -7,8 +7,8 @@ This page lists all the sensors mounted on ergoCub, and how to access their info
 |Type |Sensor Name| Device | YARP Port | Data pattern | Publish rate (Hz) |
 | --- | --- | --- | --- | --- | --- |
 |**ControlBoard** | `head` | MC4PLUS | `/ergocub/head/state:o` | (joint_encoders) | 100 |
-| - | - | - | `/ergocub/head/stateExt:o` | Defined in [stateExt.thrift](https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/idl/stateExt.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100 |
-|**IMU** | `head/imu` | RFE, BNO055 | `/ergocub/head/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100 |
+| - | - | - | `/ergocub/head/stateExt:o` | Defined in [stateExt.thrift](https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/idl/stateExt.thrift) | 100 |
+|**IMU** | `head/imu` | RFE, BNO055 | `/ergocub/head/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) | 100 |
 |**Depth Camera** | `depthCamera` | Intel Realsense D450 | `/ergocub/depthCamera/rgbImage:o` | ( (R channel)  (G channel)  (B channel) ) | 30 |
 | - | - | - | `/ergocub/depthCamera/depthImage:o` | (depth_pixels_list) | 30 |
 |**Lidar** | `laser` | Slamtec RP Lidar S2 | `/ergocub/laser:o` | Defined in [LaserScan2D.thrift](https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/idl/LaserScan2D.thrift#L15-L34) | 100 |
@@ -18,46 +18,46 @@ This page lists all the sensors mounted on ergoCub, and how to access their info
 |Type |Sensor name| Device | YARP Port |Data pattern | Publish Rate (Hz) |
 | --- | --- | --- | --- | --- | --- |
 |**ControlBoards** | `torso` | EMS+2FOC | `/ergocub/torso/state:o` | (joint_encoders) | 100|
-| - | - | - | `/ergocub/torso/stateExt:o` | Defined in [stateExt.thrift](https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/idl/stateExt.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100|
+| - | - | - | `/ergocub/torso/stateExt:o` | Defined in [stateExt.thrift](https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/idl/stateExt.thrift) | 100|
 | **Battery** | `battery` | BMS | `/ergocub/battery` | (voltage current charge temperature status) | 1 |
-| **IMU** | `waist/inertials` | XSense MTi-600 | `/ergocub/waist/inertials/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100 |
+| **IMU** | `waist/inertials` | XSense MTi-600 | `/ergocub/waist/inertials/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) | 100 |
 
 ## Left Arm
 
 |Type |Sensor name| Device | YARP Port |Data pattern | Publish Rate (Hz) |
 | --- | --- | --- | --- | --- | --- |
 |**ControlBoards** | `left_arm` | EMS+2FOC, MC4PLUS, AMC+AMCBLDC | `/ergocub/left_arm/state:o` | (joint_encoders) | 100|
-| - | - | - | `/ergocub/left_arm/stateExt:o` | Defined in [stateExt.thrift](https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/idl/stateExt.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100|
-|**Force-Torque Sensor** | `left_arm/FT` | FT45 | `/ergocub/left_arm/FT/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?) |100|
-|**IMU** | `left_arm/imu` | STRAIN2, BNO055 | `/ergocub/left_arm/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100 |
-| - | `left_arm/inertialMTB` | MTB4, BNO055 | `/ergocub/left_arm/inertialMTB/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100 |
+| - | - | - | `/ergocub/left_arm/stateExt:o` | Defined in [stateExt.thrift](https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/idl/stateExt.thrift) | 100|
+|**Force-Torque Sensor** | `left_arm/FT` | FT45 | `/ergocub/left_arm/FT/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) |100|
+|**IMU** | `left_arm/imu` | STRAIN2, BNO055 | `/ergocub/left_arm/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) | 100 |
+| - | `left_arm/inertialMTB` | MTB4, BNO055 | `/ergocub/left_arm/inertialMTB/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) | 100 |
 
 ## Right Arm
 
 |Type |Sensor name| Device | YARP Port |Data pattern | Publish Rate (Hz) |
 | --- | --- | --- | --- | --- | --- |
 |**ControlBoards** | `right_arm` | EMS+2FOC, MC4PLUS, AMC+AMCBLDC | `/ergocub/right_arm/state:o` | (joint_encoders) | 100|
-| - | - | - | `/ergocub/right_arm/stateExt:o` | Defined in [stateExt.thrift](https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/idl/stateExt.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100|
-|**Force-Torque Sensor** | `right_arm/FT` | FT45 | `/ergocub/right_arm/FT/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?) |100|
-|**IMU** | `right_arm/imu` | STRAIN2, BNO055 | `/ergocub/right_arm/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100 |
-| - | `right_arm/inertialMTB` | MTB4, BNO055 | `/ergocub/right_arm/inertialMTB/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100 |
+| - | - | - | `/ergocub/right_arm/stateExt:o` | Defined in [stateExt.thrift](https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/idl/stateExt.thrift) | 100|
+|**Force-Torque Sensor** | `right_arm/FT` | FT45 | `/ergocub/right_arm/FT/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) |100|
+|**IMU** | `right_arm/imu` | STRAIN2, BNO055 | `/ergocub/right_arm/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) | 100 |
+| - | `right_arm/inertialMTB` | MTB4, BNO055 | `/ergocub/right_arm/inertialMTB/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) | 100 |
 
 ## Left Leg
 
 |Type |Sensor name| Device | YARP Port |Data pattern | Publish Rate (Hz) |
 | --- | --- | --- | --- | --- | --- |
 |**ControlBoards** | `left_leg` | EMS+2FOC | `/ergocub/left_leg/state:o` | (joint_encoders) | 100|
-| - | - | - | `/ergocub/left_leg/stateExt:o` | Defined in [stateExt.thrift](https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/idl/stateExt.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100|
-|**Force-Torque Sensors** | `left_leg/FT` | FT45, FT58 | `/ergocub/left_leg/FT/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?) |100|
-|**IMU** | `left_leg/imu` | STRAIN2, BNO055 | `/ergocub/left_leg/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100 |
-| -  | `left_foot_heel_tiptoe/imu` | STRAIN2, BNO055 | `/ergocub/left_foot_heel_tiptoe/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100 |
+| - | - | - | `/ergocub/left_leg/stateExt:o` | Defined in [stateExt.thrift](https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/idl/stateExt.thrift) | 100|
+|**Force-Torque Sensors** | `left_leg/FT` | FT45, FT58 | `/ergocub/left_leg/FT/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) |100|
+|**IMU** | `left_leg/imu` | STRAIN2, BNO055 | `/ergocub/left_leg/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) | 100 |
+| -  | `left_foot_heel_tiptoe/imu` | STRAIN2, BNO055 | `/ergocub/left_foot_heel_tiptoe/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) | 100 |
 
 ## Right Leg
 
 |Type |Sensor name| Device | YARP Port |Data pattern | Publish Rate (Hz) |
 | --- | --- | --- | --- | --- | --- |
 |**ControlBoards** | `right_leg` | EMS+2FOC | `/ergocub/right_leg/state:o` | (joint_encoders) | 100|
-| - | - | - | `/ergocub/right_leg/stateExt:o` | Defined in [stateExt.thrift](https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/idl/stateExt.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100|
-|**Force-Torque Sensors** | `right_leg/FT` | FT45, FT58 | `/ergocub/right_leg/FT/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?) |100|
-|**IMU** | `right_leg/imu` | STRAIN2, BNO055 | `/ergocub/right_leg/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100 |
-| -  | `right_foot_heel_tiptoe/imu` | STRAIN2, BNO055 | `/ergocub/right_foot_heel_tiptoe/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift?rgh-link-date=2023-05-10T12%3A50%3A28Z) | 100 |
+| - | - | - | `/ergocub/right_leg/stateExt:o` | Defined in [stateExt.thrift](https://github.com/robotology/yarp/blob/master/src/libYARP_dev/src/idl/stateExt.thrift) | 100|
+|**Force-Torque Sensors** | `right_leg/FT` | FT45, FT58 | `/ergocub/right_leg/FT/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) |100|
+|**IMU** | `right_leg/imu` | STRAIN2, BNO055 | `/ergocub/right_leg/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) | 100 |
+| -  | `right_foot_heel_tiptoe/imu` | STRAIN2, BNO055 | `/ergocub/right_foot_heel_tiptoe/imu/measures:o` | Defined in  [multipleAnalogSensorsSerializations.thrift](https://github.com/robotology/yarp/blob/master/src/devices/messages/multipleAnalogSensorsMsgs/multipleAnalogSensorsSerializations.thrift) | 100 |