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Add battery configuration files (#572)
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‎experimentalSetups/battery/ergocub_battery.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<robot name="ergoCubSN000" xmlns:xi="http://www.w3.org/2001/XInclude">
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<devices>
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<!-- battery -->
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<xi:include href="wrappers/battery/ergobattery.xml" />
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<xi:include href="hardware/battery/ergocubbattery.xml" />
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</devices>
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</robot>
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‎experimentalSetups/battery/ergocub_battery_couple.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<robot name="ergoCubSN000" xmlns:xi="http://www.w3.org/2001/XInclude">
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<devices>
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<!-- battery BAT -->
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<xi:include href="wrappers/battery/ergobattery_bat.xml" />
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<xi:include href="hardware/battery/ergocubbattery_bat.xml" />
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<!-- battery BMS -->
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<xi:include href="wrappers/battery/ergobattery_bms.xml" />
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<xi:include href="hardware/battery/ergocubbattery_bms.xml" />
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</devices>
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</robot>
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‎experimentalSetups/battery/firmwareupdater.ini‎

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[DRIVERS]
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ETH "eth"

‎experimentalSetups/battery/general.xml‎

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<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ergoCubSN000" build="1">
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<group name="GENERAL">
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<param name="skipCalibration"> false </param>
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<param name="useRawEncoderData"> false </param>
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<param name="useLimitedPWM"> false </param>
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<param name="verbose"> false </param>
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</group>
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</params>

‎experimentalSetups/battery/hardware/battery/ergocubbattery.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE device PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="ergocub_battery" type="embObjBattery">
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<xi:include href="../../general.xml" />
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<xi:include href="../electronics/battery_eb1-j0_1-eln.xml" />
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<group name="SERVICE">
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<param name="type"> eomn_serv_AS_battery </param>
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<group name="PROPERTIES">
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<group name="CANBOARDS">
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<param name="type"> bat </param>
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<group name="PROTOCOL">
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<param name="major"> 0 </param>
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<param name="minor"> 0 </param>
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</group>
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<group name="FIRMWARE">
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<param name="major"> 1 </param>
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<param name="minor"> 3 </param>
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<param name="build"> 0 </param>
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</group>
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</group>
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<group name="SENSORS">
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<param name="id"> battery1 </param>
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<param name="board"> bat </param>
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<param name="location"> CAN1:1 </param>
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</group>
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</group>
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<group name="SETTINGS">
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<param name="enabledSensors"> battery1 </param>
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<param name="acquisitionRate"> 1000 </param> <!-- msec -->
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</group>
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</group>
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</device>
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‎experimentalSetups/battery/hardware/battery/ergocubbattery_bat.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE device PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="ergocub_battery_bat" type="embObjBattery">
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<xi:include href="../../general.xml" />
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<xi:include href="../electronics/battery_eb1-j0_1-eln.xml" />
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<group name="SERVICE">
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<param name="type"> eomn_serv_AS_battery </param>
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<group name="PROPERTIES">
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<group name="CANBOARDS">
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<param name="type"> bat </param>
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<group name="PROTOCOL">
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<param name="major"> 0 </param>
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<param name="minor"> 0 </param>
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</group>
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<group name="FIRMWARE">
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<param name="major"> 1 </param>
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<param name="minor"> 3 </param>
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<param name="build"> 0 </param>
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</group>
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</group>
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<group name="SENSORS">
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<param name="id"> battery1 </param>
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<param name="board"> bat </param>
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<param name="location"> CAN1:1 </param>
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</group>
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</group>
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<group name="SETTINGS">
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<param name="enabledSensors"> battery1 </param>
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<param name="acquisitionRate"> 1000 </param> <!-- msec -->
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</group>
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</group>
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</device>
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‎experimentalSetups/battery/hardware/battery/ergocubbattery_bms.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE device PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="ergocub_battery_bms" type="embObjBattery">
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<xi:include href="../../general.xml" />
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<xi:include href="../electronics/battery_eb2-j0_1-eln.xml" />
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<group name="SERVICE">
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<param name="type"> eomn_serv_AS_battery </param>
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<group name="PROPERTIES">
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<group name="CANBOARDS">
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<param name="type"> bms </param>
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<group name="PROTOCOL">
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<param name="major"> 0 </param>
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<param name="minor"> 0 </param>
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</group>
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<group name="FIRMWARE">
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<param name="major"> 1 </param>
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<param name="minor"> 2 </param>
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<param name="build"> 0 </param>
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</group>
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</group>
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<group name="SENSORS">
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<param name="id"> battery1 </param>
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<param name="board"> bms </param>
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<param name="location"> CAN1:1 </param>
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</group>
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</group>
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<group name="SETTINGS">
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<param name="enabledSensors"> battery1 </param>
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<param name="acquisitionRate"> 1000 </param> <!-- msec -->
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</group>
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</group>
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</device>
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‎experimentalSetups/battery/hardware/electronics/battery_eb1-j0_1-eln.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ergoCubSN000" build="1">
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<xi:include href="./pc104.xml" />
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<group name="ETH_BOARD">
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<group name="ETH_BOARD_PROPERTIES">
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<param name="IpAddress"> 10.0.1.1 </param>
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<param name="IpPort"> 12345 </param>
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<param name="Type"> ems4 </param>
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<param name="maxSizeRXpacket"> 768 </param>
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<param name="maxSizeROP"> 384 </param>
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</group>
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<group name="ETH_BOARD_SETTINGS">
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<param name="Name"> "battery_eb1-j0_1-eln" </param>
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<group name="RUNNINGMODE">
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<param name="period"> 1000 </param>
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<param name="maxTimeOfRXactivity"> 400 </param>
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<param name="maxTimeOfDOactivity"> 300 </param>
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<param name="maxTimeOfTXactivity"> 300 </param>
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<param name="TXrateOfRegularROPs"> 2 </param>
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</group>
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</group>
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<group name="ETH_BOARD_ACTIONS">
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<group name="MONITOR_ITS_PRESENCE">
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<param name="enabled"> true </param>
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<param name="timeout"> 0.020 </param>
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<param name="periodOfMissingReport"> 60.0 </param>
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</group>
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</group>
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</group>
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</params>

‎experimentalSetups/battery/hardware/electronics/battery_eb2-j0_1-eln.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ergoCubSN000" build="1">
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<xi:include href="./pc104.xml" />
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<group name="ETH_BOARD">
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<group name="ETH_BOARD_PROPERTIES">
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<param name="IpAddress"> 10.0.1.2 </param>
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<param name="IpPort"> 12345 </param>
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<param name="Type"> ems4 </param>
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<param name="maxSizeRXpacket"> 768 </param>
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<param name="maxSizeROP"> 384 </param>
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</group>
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<group name="ETH_BOARD_SETTINGS">
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<param name="Name"> "battery_eb2-j0_1-eln" </param>
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<group name="RUNNINGMODE">
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<param name="period"> 1000 </param>
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<param name="maxTimeOfRXactivity"> 400 </param>
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<param name="maxTimeOfDOactivity"> 300 </param>
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<param name="maxTimeOfTXactivity"> 300 </param>
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<param name="TXrateOfRegularROPs"> 2 </param>
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</group>
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</group>
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<group name="ETH_BOARD_ACTIONS">
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<group name="MONITOR_ITS_PRESENCE">
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<param name="enabled"> true </param>
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<param name="timeout"> 0.020 </param>
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<param name="periodOfMissingReport"> 60.0 </param>
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</group>
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</group>
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</group>
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</params>

‎experimentalSetups/battery/hardware/electronics/pc104.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ergoCubSN000" build="1">
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<group name="PC104">
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<param name="PC104IpAddress"> 10.0.1.104 </param>
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<param name="PC104IpPort"> 12345 </param>
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<param name="PC104TXrate"> 1 </param>
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<param name="PC104RXrate"> 2 </param>
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</group>
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<group name="DEBUG">
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<param name="embBoardsConnected"> 1 </param>
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</group>
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</params>
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