Merge pull request #7 from motionlayer/update_protocol_3_0_x

Update protocol to 3.0.0 (firmware 3.0.x)

Author: yconst

AGENTS.md

@@ -0,0 +1,28 @@
+# Repository agent notes
+
+## Protocol regeneration (Avlos)
+
+The files `include/tinymovr/tinymovr.hpp`, `include/tinymovr/helpers.hpp` and
+`src/tinymovr/tinymovr.cpp` are generated by
+[Avlos](https://github.com/tinymovr/avlos) from a Tinymovr protocol spec. Do
+not hand-edit them; regenerate instead.
+
+To regenerate, install Avlos in any Python environment and run it against the
+desired spec:
+
+    pip install avlos
+    avlos from file <path-to>/tinymovr_<version>.yaml --config=./avlos_config.yaml
+
+Specs live in the [Tinymovr](https://github.com/tinymovr/Tinymovr) repository
+under `studio/Python/tinymovr/specs/` (e.g. `tinymovr_3_0_x.yaml`). The
+generator config in this repo is [avlos_config.yaml](avlos_config.yaml); it
+controls which files Avlos writes.
+
+## Release flow
+
+1. Branch off `main` (e.g. `update_protocol_<ver>`).
+2. Regenerate the protocol sources with Avlos using the appropriate spec.
+3. Bump `<version>` in [package.xml](package.xml).
+4. Update [RELEASE_NOTES.md](RELEASE_NOTES.md).
+5. Open a PR into `main`. After merge, tag the release on `main` as
+   `vX.Y.Z-ros2-jazzy` and create a matching GitHub Release.

RELEASE_NOTES.md

@@ -1 +1,27 @@
-# Tinymovr ROS for firmware 3.0.x\n\nThis release is compatible with firmware version 3.0.x.\n\n## Features\n- Full support for Tinymovr motors\n- Updated ROS packages for better compatibility\n\n## Changes\n- Performance improvements\n- Bug fixes\n\n## Installation\nFollow instructions on the [GitHub repository](https://github.com/tinymovr/Tinymovr-ROS) to install the latest version.
+# Tinymovr ROS 3.0.0 (firmware 3.0.x)
+
+This release targets Tinymovr firmware **3.0.x**. The protocol bindings under
+`include/tinymovr/` and `src/tinymovr/` were regenerated from
+`tinymovr_3_0_x.yaml` via [Avlos](https://github.com/tinymovr/avlos).
+
+## Changes
+
+- Added `MA600` to the External SPI sensor type enum
+  (`SENSORS_SETUP_EXTERNAL_SPI_TYPE_MA600 = 3`).
+- Updated `avlos_proto_hash` to match the new spec
+  (`3999954334` -> `3786962419`).
+- Bumped package version to `3.0.0` in `package.xml`.
+- Added `AGENTS.md` documenting Avlos-based protocol regeneration and the
+  release flow.
+
+## Compatibility
+
+- The protocol change is additive (a new enum value); existing user code does
+  not need to change.
+- The Tinymovr device firmware must be the matching 3.0.x release, since the
+  protocol hash has changed.
+
+## Installation
+
+Follow instructions on the [GitHub repository](https://github.com/tinymovr/Tinymovr-ROS)
+to install the latest version.

include/tinymovr/tinymovr.hpp

@@ -19,7 +19,7 @@
 #include <homing.hpp>
 #include <watchdog.hpp>
 
-static uint32_t avlos_proto_hash = 3999954334;
+static uint32_t avlos_proto_hash = 3786962419;
 
 enum errors_flags
 {
@@ -129,7 +129,8 @@ enum sensors_setup_external_spi_type_options
 {
     SENSORS_SETUP_EXTERNAL_SPI_TYPE_MA7XX = 0, 
     SENSORS_SETUP_EXTERNAL_SPI_TYPE_AS5047 = 1, 
-    SENSORS_SETUP_EXTERNAL_SPI_TYPE_AMT22 = 2
+    SENSORS_SETUP_EXTERNAL_SPI_TYPE_AMT22 = 2, 
+    SENSORS_SETUP_EXTERNAL_SPI_TYPE_MA600 = 3
 };
 
 enum sensors_setup_external_spi_rate_options

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>tinymovr_ros</name>
-  <version>1.0.0</version>
+  <version>3.0.0</version>
   <description>ROS 2 hardware interface for Tinymovr motor controllers using SocketCAN</description>
 
   <maintainer email="ihatz@todo.todo">ihatz</maintainer>