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Here is a short list of the existing firmware for the various control and sensor cards of the iCub.
List of firmware source code repositories
The complete firmware of the iCub consists of:
- control firmware for the BLL and MC4 control cards: see this page and the manual here.
- firmware of the STRAIN sensor card is available here (svn browsing).
- firmware of the MAIS sensor card is availablehere (svn browsing).
- firmware for the facial expressions control card.
Please note that the firmware folder in the repository contains more code including libraries and loaders for the various cards.
Precompiled versions of the firmware (ready to upload via the CanLoader) can be found in here (svn repository).