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Better Elmo error handling

Christian Dreher requested to merge feat/elmo-error-handling into main
  • Will run the DS-402 state machine now all the time, including Fault recovery etc.
  • Warn bit (bit 7 in status word) is now checked and printed if set
  • More descriptive error messages
  • More documentation

If a local override boolean is set for further inspection:

  • Will perform an error check in case of DS-402 Fault state
  • Error check will at most be executed once roughly each 2s in order to not deteriorate bus performance with spamming SDOs (These changes cannot land in main right now because they would deteriorate bus performance)

These changes helped identifying the issue we had here: https://git.h2t.iar.kit.edu/hw/armar/armar-7/armar-7.documentation/-/issues/282

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