Merge pull request #105 from ROBOTIS-GIT/develop

release 1.5.1
ROBOTIS-GIT · May 17, 2021 · 54f0490 · 54f0490
2 parents 7fdde79 + 21b2319
commit 54f0490
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Showing 11 changed files with 80 additions and 45 deletions.
diff --git a/.github/workflows/arduino_ci.yml b/.github/workflows/arduino_ci.yml
@@ -0,0 +1,19 @@
+name: Arduino_CI
+
+on:
+  push:
+    branches: [ master, develop ]
+  pull_request:
+    branches: [ master, develop ]
+
+jobs:
+  arduino_ci:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: actions/checkout@v2
+      - name: install script
+        run: |
+          source <(curl -SLs https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCM9.04/master/install.sh) ${{github.ref}}
+          build_platform opencm904
diff --git a/.travis.yml b/.travis.yml
diff --git a/...ncm9.04/libraries/DynamixelWorkbench/include/dynamixel_workbench_toolbox/dynamixel_item.h b/...ncm9.04/libraries/DynamixelWorkbench/include/dynamixel_workbench_toolbox/dynamixel_item.h
@@ -47,6 +47,7 @@
 #define XL430_W250 1060
 
 #define XL430_W250_2 1090 // 2XL
+#define XC430_W250_2 1160 // 2XC
 
 #define XC430_W150 1070
 #define XC430_W240 1080

diff --git a/...pencm9.04/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_item.cpp b/...pencm9.04/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_item.cpp
@@ -533,7 +533,7 @@ static const ModelInfo info_XL320 = {0.11,
                                   2.61799};
 
 //---------------------------------------------------------
-// XL - (num == XL430_W250, XL430_W250_2, XC430_W150, XC430_W240)
+// XL - (num == XL430_W250, XL430_W250_2, XC430_W150, XC430_W240, XC430_W250_2)
 //---------------------------------------------------------
 static const ControlItem items_XL[]{
     {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2},
@@ -1296,7 +1296,7 @@ const ControlItem *DynamixelItem::getControlTable(uint16_t model_number)
     control_table = items_XL320;
     the_number_of_item = COUNT_XL320_ITEMS;
   }
-  else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240)
+  else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240 || num == XC430_W250_2)
   {
     control_table = items_XL;
     the_number_of_item = COUNT_XL_ITEMS;
@@ -1402,7 +1402,7 @@ const ModelInfo *DynamixelItem::getModelInfo(uint16_t model_number)
   {
     info = &info_XL320;
   }
-  else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240)
+  else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240 || num == XC430_W250_2)
   {
     info = &info_XL;
   }

diff --git a/...pencm9.04/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_tool.cpp b/...pencm9.04/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_tool.cpp
@@ -53,6 +53,7 @@ static const DynamixelModel dynamixel_model_table[] = {
     {XL430_W250, "XL430-W250"},
 
     {XL430_W250_2, "XL430-W250-2"}, // 2XL
+    {XC430_W250_2, "XC430-W240-2"}, // 2XC
 
     {XC430_W150, "XC430-W150"},
     {XC430_W240, "XC430-W240"},
@@ -68,13 +69,13 @@ static const DynamixelModel dynamixel_model_table[] = {
     {XH430_W210, "XH430-W210"},
     {XH430_W350, "XH430-W350"},
 
-    {XH540_W150, "XH540_W150"},
-    {XH540_W270, "XH540_W270"},
-    {XH540_V150, "XH540_V150"},
-    {XH540_V270, "XH540_V270"},
+    {XH540_W150, "XH540-W150"},
+    {XH540_W270, "XH540-W270"},
+    {XH540_V150, "XH540-V150"},
+    {XH540_V270, "XH540-V270"},
 
-    {XW540_T140, "XW540_T140"},
-    {XW540_T260, "XW540_T260"},
+    {XW540_T140, "XW540-T140"},
+    {XW540_T260, "XW540-T260"},
 
     {PRO_L42_10_S300_R, "PRO-L42-10-S300-R"},
     {PRO_L54_30_S400_R, "PRO-L54-30-S400-R"},

diff --git a/arduino/opencm_arduino/opencm9.04/platform.txt b/arduino/opencm_arduino/opencm9.04/platform.txt
@@ -52,11 +52,11 @@ compiler.libs.c.flags= "-I{build.variant.path}/{build.inc1}" "-I{build.variant.p
 # ---------------------
 
 ## Compile c files
-recipe.c.o.pattern=		"{compiler.path}{compiler.c.cmd}" 	{compiler.c.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.c.extra_flags} {build.extra_flags} {build.cpu_flags} {build.common_flags} {compiler.libs.c.flags} {includes} "{source_file}" -o "{object_file}"
+recipe.c.o.pattern="{compiler.path}{compiler.c.cmd}" {compiler.c.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.c.extra_flags} {build.extra_flags} {build.cpu_flags} {build.common_flags} {compiler.libs.c.flags} {includes} "{source_file}" -o "{object_file}"
 ###
 
 ## Compile c++ files
-recipe.cpp.o.pattern=	"{compiler.path}{compiler.cpp.cmd}" {compiler.cpp.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.cpp.extra_flags} {build.extra_flags} {build.cpu_flags} {build.hs_flag} {build.common_flags} {compiler.libs.c.flags} {includes} "{source_file}" -o "{object_file}"
+recipe.cpp.o.pattern="{compiler.path}{compiler.cpp.cmd}" {compiler.cpp.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.cpp.extra_flags} {build.extra_flags} {build.cpu_flags} {build.hs_flag} {build.common_flags} {compiler.libs.c.flags} {includes} "{source_file}" -o "{object_file}"
 #### {compiler.libs.c.flags}  before includes
 
 ## Compile S files
@@ -66,7 +66,7 @@ recipe.s.o.pattern="{compiler.path}{compiler.c.cmd}" {compiler.S.flags} -mcpu={b
 
 ## Create archives
 recipe.ar.pattern="{compiler.path}{compiler.ar.cmd}" {compiler.ar.flags} {compiler.ar.extra_flags} "{archive_file_path}" "{object_file}"
-recipe.c.combine.pattern= "{compiler.path}{compiler.c.elf.cmd}" {compiler.c.elf.flags} -mcpu={build.mcu} "-T{build.variant.path}/{build.ldscript}" "-Wl,-Map,{build.path}/{build.project_name}.map" {compiler.c.elf.extra_flags} -o "{build.path}/{build.project_name}.elf" "-L{build.path}" --specs=nano.specs -u _printf_float -lm -lgcc -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-unresolved-symbols -Wl,--start-group {object_files} "{build.variant.path}/{build.variant_system_lib}" -Wl,--whole-archive "{build.path}/{archive_file}" -Wl,--no-whole-archive -Wl,--end-group
+recipe.c.combine.pattern="{compiler.path}{compiler.c.elf.cmd}" {compiler.c.elf.flags} -mcpu={build.mcu} "-T{build.variant.path}/{build.ldscript}" "-Wl,-Map,{build.path}/{build.project_name}.map" {compiler.c.elf.extra_flags} -o "{build.path}/{build.project_name}.elf" "-L{build.path}" --specs=nano.specs -u _printf_float -lm -lgcc -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-unresolved-symbols -Wl,--start-group {object_files} "{build.variant.path}/{build.variant_system_lib}" -Wl,--whole-archive "{build.path}/{archive_file}" -Wl,--no-whole-archive -Wl,--end-group
 
 ## Create eeprom
 recipe.objcopy.eep.pattern=
@@ -92,6 +92,7 @@ tools.opencm_ld.cmd.windows=opencm9.04_ld.exe
 tools.opencm_ld.path={runtime.tools.opencm_tools.path}/win
 tools.opencm_ld.path.macosx={runtime.tools.opencm_tools.path}/macosx
 tools.opencm_ld.path.linux={runtime.tools.opencm_tools.path}/linux
+tools.opencm_ld.path.arm={runtime.tools.opencm_tools.path}/arm
 
 tools.opencm_ld.upload.params.verbose=-d
 tools.opencm_ld.upload.params.quiet=n

diff --git a/...release/libraries/DynamixelWorkbench/include/dynamixel_workbench_toolbox/dynamixel_item.h b/...release/libraries/DynamixelWorkbench/include/dynamixel_workbench_toolbox/dynamixel_item.h
@@ -47,6 +47,7 @@
 #define XL430_W250 1060
 
 #define XL430_W250_2 1090 // 2XL
+#define XC430_W250_2 1160 // 2XC
 
 #define XC430_W150 1070
 #define XC430_W240 1080

diff --git a/...4_release/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_item.cpp b/...4_release/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_item.cpp
@@ -533,7 +533,7 @@ static const ModelInfo info_XL320 = {0.11,
                                   2.61799};
 
 //---------------------------------------------------------
-// XL - (num == XL430_W250, XL430_W250_2, XC430_W150, XC430_W240)
+// XL - (num == XL430_W250, XL430_W250_2, XC430_W150, XC430_W240, XC430_W250_2)
 //---------------------------------------------------------
 static const ControlItem items_XL[]{
     {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2},
@@ -1296,7 +1296,7 @@ const ControlItem *DynamixelItem::getControlTable(uint16_t model_number)
     control_table = items_XL320;
     the_number_of_item = COUNT_XL320_ITEMS;
   }
-  else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240)
+  else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240 || num == XC430_W250_2)
   {
     control_table = items_XL;
     the_number_of_item = COUNT_XL_ITEMS;
@@ -1402,7 +1402,7 @@ const ModelInfo *DynamixelItem::getModelInfo(uint16_t model_number)
   {
     info = &info_XL320;
   }
-  else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240)
+  else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240 || num == XC430_W250_2)
   {
     info = &info_XL;
   }

diff --git a/...4_release/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_tool.cpp b/...4_release/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_tool.cpp
@@ -53,6 +53,7 @@ static const DynamixelModel dynamixel_model_table[] = {
     {XL430_W250, "XL430-W250"},
 
     {XL430_W250_2, "XL430-W250-2"}, // 2XL
+    {XC430_W250_2, "XC430-W240-2"}, // 2XC
 
     {XC430_W150, "XC430-W150"},
     {XC430_W240, "XC430-W240"},
@@ -68,13 +69,13 @@ static const DynamixelModel dynamixel_model_table[] = {
     {XH430_W210, "XH430-W210"},
     {XH430_W350, "XH430-W350"},
 
-    {XH540_W150, "XH540_W150"},
-    {XH540_W270, "XH540_W270"},
-    {XH540_V150, "XH540_V150"},
-    {XH540_V270, "XH540_V270"},
+    {XH540_W150, "XH540-W150"},
+    {XH540_W270, "XH540-W270"},
+    {XH540_V150, "XH540-V150"},
+    {XH540_V270, "XH540-V270"},
 
-    {XW540_T140, "XW540_T140"},
-    {XW540_T260, "XW540_T260"},
+    {XW540_T140, "XW540-T140"},
+    {XW540_T260, "XW540-T260"},
 
     {PRO_L42_10_S300_R, "PRO-L42-10-S300-R"},
     {PRO_L54_30_S400_R, "PRO-L54-30-S400-R"},

diff --git a/arduino/opencm_arduino/opencm9.04_release/platform.txt b/arduino/opencm_arduino/opencm9.04_release/platform.txt
@@ -52,11 +52,11 @@ compiler.libs.c.flags= "-I{build.variant.path}/{build.inc1}" "-I{build.variant.p
 # ---------------------
 
 ## Compile c files
-recipe.c.o.pattern=		"{compiler.path}{compiler.c.cmd}" 	{compiler.c.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.c.extra_flags} {build.extra_flags} {build.cpu_flags} {build.common_flags} {compiler.libs.c.flags} {includes} "{source_file}" -o "{object_file}"
+recipe.c.o.pattern="{compiler.path}{compiler.c.cmd}" {compiler.c.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.c.extra_flags} {build.extra_flags} {build.cpu_flags} {build.common_flags} {compiler.libs.c.flags} {includes} "{source_file}" -o "{object_file}"
 ###
 
 ## Compile c++ files
-recipe.cpp.o.pattern=	"{compiler.path}{compiler.cpp.cmd}" {compiler.cpp.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.cpp.extra_flags} {build.extra_flags} {build.cpu_flags} {build.hs_flag} {build.common_flags} {compiler.libs.c.flags} {includes} "{source_file}" -o "{object_file}"
+recipe.cpp.o.pattern="{compiler.path}{compiler.cpp.cmd}" {compiler.cpp.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.cpp.extra_flags} {build.extra_flags} {build.cpu_flags} {build.hs_flag} {build.common_flags} {compiler.libs.c.flags} {includes} "{source_file}" -o "{object_file}"
 #### {compiler.libs.c.flags}  before includes
 
 ## Compile S files
@@ -66,7 +66,7 @@ recipe.s.o.pattern="{compiler.path}{compiler.c.cmd}" {compiler.S.flags} -mcpu={b
 
 ## Create archives
 recipe.ar.pattern="{compiler.path}{compiler.ar.cmd}" {compiler.ar.flags} {compiler.ar.extra_flags} "{archive_file_path}" "{object_file}"
-recipe.c.combine.pattern= "{compiler.path}{compiler.c.elf.cmd}" {compiler.c.elf.flags} -mcpu={build.mcu} "-T{build.variant.path}/{build.ldscript}" "-Wl,-Map,{build.path}/{build.project_name}.map" {compiler.c.elf.extra_flags} -o "{build.path}/{build.project_name}.elf" "-L{build.path}" --specs=nano.specs -u _printf_float -lm -lgcc -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-unresolved-symbols -Wl,--start-group {object_files} "{build.variant.path}/{build.variant_system_lib}" -Wl,--whole-archive "{build.path}/{archive_file}" -Wl,--no-whole-archive -Wl,--end-group
+recipe.c.combine.pattern="{compiler.path}{compiler.c.elf.cmd}" {compiler.c.elf.flags} -mcpu={build.mcu} "-T{build.variant.path}/{build.ldscript}" "-Wl,-Map,{build.path}/{build.project_name}.map" {compiler.c.elf.extra_flags} -o "{build.path}/{build.project_name}.elf" "-L{build.path}" --specs=nano.specs -u _printf_float -lm -lgcc -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-unresolved-symbols -Wl,--start-group {object_files} "{build.variant.path}/{build.variant_system_lib}" -Wl,--whole-archive "{build.path}/{archive_file}" -Wl,--no-whole-archive -Wl,--end-group
 
 ## Create eeprom
 recipe.objcopy.eep.pattern=

diff --git a/arduino/opencm_release/package_opencm9.04_index.json b/arduino/opencm_release/package_opencm9.04_index.json
@@ -455,6 +455,38 @@
               "version": "0.0.2"
             }
 
+          ]
+        },
+        {
+          "name": "OpenCM9.04",
+          "architecture": "OpenCM904",
+          "version": "1.5.1",
+          "category": "Arduino",
+          "help": {
+            "online": "http://emanual.robotis.com/docs/en/parts/controller/opencm904/"
+          },
+          "url": "https://github.com/ROBOTIS-GIT/OpenCM9.04/releases/download/1.5.1/opencm9.04_core_1.5.1.tar.bz2",
+          "archiveFileName": "opencm9.04_core_1.5.1.tar.bz2",
+          "checksum": "SHA-256:1B161BFA2D2C2ABC4AB7EEA0F6540CC9C4D85F15C1A468389284171BD4CEA323",
+          "size": "18007799",
+          "help": {
+                    "online": "http://emanual.robotis.com/docs/en/parts/controller/opencm904/"
+          },
+          "boards": [
+            {"name": "OpenCM9.04"}
+          ],
+          "toolsDependencies": [
+            {
+              "packager": "OpenCM904",
+              "name": "opencm_gcc",
+              "version": "5.4.0-2016q2"
+            },
+            {
+              "packager": "OpenCM904",
+              "name": "opencm_tools",
+              "version": "0.0.2"
+            }
+
           ]
         }