Aditya Mehrotra
N/A
Diff: main.cpp
- Revision:
- 0:a043c98470ae
- Child:
- 1:b0bdde8aa220
diff -r 000000000000 -r a043c98470ae main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Mar 07 18:08:47 2021 +0000
@@ -0,0 +1,224 @@
+
+#include "mbed.h"
+#include "leg_message.h"
+#include "math_ops.h"
+
+// Master CAN ID ///
+#define CAN_ID 0x0
+
+/// Value Limits ///
+#define P_MIN -12.5f
+#define P_MAX 12.5f
+#define V_MIN -65.0f
+#define V_MAX 65.0f
+#define KP_MIN 0.0f
+#define KP_MAX 500.0f
+#define KD_MIN 0.0f
+#define KD_MAX 5.0f
+#define T_MIN -18.0f
+#define T_MAX 18.0f
+
+/// Joint Soft Stops ///
+#define A_LIM_P 1.5f
+#define A_LIM_N -1.5f
+#define H_LIM_P 5.0f
+#define H_LIM_N -5.0f
+#define K_LIM_P 0.2f
+#define K_LIM_N 7.7f
+#define KP_SOFTSTOP 100.0f
+#define KD_SOFTSTOP 0.4f;
+
+DigitalOut led(PC_5);
+
+Serial pc(PA_2, PA_3);
+CAN can1(PB_12, PB_13, 1000000); // CAN Rx pin name, CAN Tx pin name //CAN5 on board
+CAN can2(PA_11, PA_12, 1000000); // CAN Rx pin name, CAN Tx pin name //CAN2 on board
+CAN can3(PA_8, PA_15, 1000000); // CAN Rx pin name, CAN Tx pin name //CAN4 on board
+
+CANMessage rxMsg1, rxMsg2;
+CANMessage txMsg1, txMsg2;
+CANMessage q1_can, q2_can, q3_can; //TX Messages
+int ledState;
+Ticker sendCAN;
+int counter = 0;
+volatile bool msgAvailable = false;
+Ticker loop;
+
+leg_state l1_state, l2_state;;
+leg_control l1_control, l2_control;
+
+/// CAN Command Packet Structure ///
+/// 16 bit position command, between -4*pi and 4*pi
+/// 12 bit velocity command, between -30 and + 30 rad/s
+/// 12 bit kp, between 0 and 500 N-m/rad
+/// 12 bit kd, between 0 and 100 N-m*s/rad
+/// 12 bit feed forward torque, between -18 and 18 N-m
+/// CAN Packet is 8 8-bit words
+/// Formatted as follows. For each quantity, bit 0 is LSB
+/// 0: [position[15-8]]
+/// 1: [position[7-0]]
+/// 2: [velocity[11-4]]
+/// 3: [velocity[3-0], kp[11-8]]
+/// 4: [kp[7-0]]
+/// 5: [kd[11-4]]
+/// 6: [kd[3-0], torque[11-8]]
+/// 7: [torque[7-0]]
+
+void pack_cmd(CANMessage *msg, joint_control joint){
+
+ /// limit data to be within bounds ///
+ float p_des = fminf(fmaxf(P_MIN, joint.p_des), P_MAX);
+ float v_des = fminf(fmaxf(V_MIN, joint.v_des), V_MAX);
+ float kp = fminf(fmaxf(KP_MIN, joint.kp), KP_MAX);
+ float kd = fminf(fmaxf(KD_MIN, joint.kd), KD_MAX);
+ float t_ff = fminf(fmaxf(T_MIN, joint.t_ff), T_MAX);
+ /// convert floats to unsigned ints ///
+ uint16_t p_int = float_to_uint(p_des, P_MIN, P_MAX, 16);
+ uint16_t v_int = float_to_uint(v_des, V_MIN, V_MAX, 12);
+ uint16_t kp_int = float_to_uint(kp, KP_MIN, KP_MAX, 12);
+ uint16_t kd_int = float_to_uint(kd, KD_MIN, KD_MAX, 12);
+ uint16_t t_int = float_to_uint(t_ff, T_MIN, T_MAX, 12);
+ /// pack ints into the can buffer ///
+ msg->data[0] = p_int>>8;
+ msg->data[1] = p_int&0xFF;
+ msg->data[2] = v_int>>4;
+ msg->data[3] = ((v_int&0xF)<<4)|(kp_int>>8);
+ msg->data[4] = kp_int&0xFF;
+ msg->data[5] = kd_int>>4;
+ msg->data[6] = ((kd_int&0xF)<<4)|(t_int>>8);
+ msg->data[7] = t_int&0xff;
+ }
+
+/// CAN Reply Packet Structure ///
+/// 16 bit position, between -4*pi and 4*pi
+/// 12 bit velocity, between -30 and + 30 rad/s
+/// 12 bit current, between -40 and 40;
+/// CAN Packet is 5 8-bit words
+/// Formatted as follows. For each quantity, bit 0 is LSB
+/// 0: [position[15-8]]
+/// 1: [position[7-0]]
+/// 2: [velocity[11-4]]
+/// 3: [velocity[3-0], current[11-8]]
+/// 4: [current[7-0]]
+
+void unpack_reply(CANMessage msg, leg_state *leg){
+ /// unpack ints from can buffer ///
+ uint16_t id = msg.data[0];
+ uint16_t p_int = (msg.data[1]<<8)|msg.data[2];
+ uint16_t v_int = (msg.data[3]<<4)|(msg.data[4]>>4);
+ uint16_t i_int = ((msg.data[4]&0xF)<<8)|msg.data[5];
+ /// convert uints to floats ///
+ float p = uint_to_float(p_int, P_MIN, P_MAX, 16);
+ float v = uint_to_float(v_int, V_MIN, V_MAX, 12);
+ float t = uint_to_float(i_int, -T_MAX, T_MAX, 12);
+
+ if(id==1){
+ leg->a.p = p;
+ leg->a.v = v;
+ leg->a.t = t;
+ }
+ else if(id==2){
+ leg->h.p = p;
+ leg->h.v = v;
+ leg->h.t = t;
+ }
+ else if(id==3){
+ leg->k.p = p;
+ leg->k.v = v;
+ leg->k.t = t;
+ }
+ }
+
+void rxISR1() {
+ can1.read(rxMsg1); // read message into Rx message storage
+ unpack_reply(rxMsg1, &l1_state);
+}
+void rxISR2(){
+ can2.read(rxMsg2);
+ unpack_reply(rxMsg2, &l2_state);
+}
+
+void WriteAll(){
+ //toggle = 1;
+ int w1 = can1.write(q1_can);
+ pc.printf("CAN1 Write: %d\n", w1);
+ wait(.00002);
+ int w2 = can2.write(q2_can);
+ pc.printf("CAN2 Write: %d\n", w2);
+ wait(.00002);
+ int w3 = can3.write(q3_can);
+ pc.printf("CAN3 Write: %d\n", w3);
+ wait(.00002);
+ //toggle = 0;
+ }
+
+void Random(CANMessage *msg){
+ msg->data[0] = 0xF1;
+ msg->data[1] = 0xF2;
+ msg->data[2] = 0xF3;
+ msg->data[3] = 0xF4;
+ msg->data[4] = 0xF5;
+ msg->data[5] = 0xF6;
+ msg->data[6] = 0xF7;
+ msg->data[7] = 0xF8;
+ WriteAll();
+ }
+
+void Random2(CANMessage *msg){
+ msg->data[0] = 0xF8;
+ msg->data[1] = 0xF7;
+ msg->data[2] = 0xF6;
+ msg->data[3] = 0xF5;
+ msg->data[4] = 0xF4;
+ msg->data[5] = 0xF3;
+ msg->data[6] = 0xF2;
+ msg->data[7] = 0xF1;
+ WriteAll();
+ }
+
+void Random3(CANMessage *msg){
+ msg->data[0] = 0xF7;
+ msg->data[1] = 0xF8;
+ msg->data[2] = 0xF7;
+ msg->data[3] = 0xF8;
+ msg->data[4] = 0xF7;
+ msg->data[5] = 0xF8;
+ msg->data[6] = 0xF7;
+ msg->data[7] = 0xF8;
+ WriteAll();
+ }
+
+int main() {
+ //setup the PC baud rate
+ pc.baud(115200);
+
+ //setup the CAN buffers
+ can1.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
+ can2.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
+ can3.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
+
+ //set random messages
+ Random(&q1_can);
+ Random2(&q2_can);
+ Random3(&q3_can);
+ //write these
+ while(1) {
+ WriteAll();
+ wait(.25);
+ //pc.printf("Published New...\n");
+
+ //IF WE WANT
+ /*
+ can2.read(rxMsg2);
+ unpack_reply(rxMsg2, &l2_state);
+ can1.read(rxMsg1); // read message into Rx message storage
+ unpack_reply(rxMsg1, &l1_state);
+ wait_us(10);
+ */
+ }
+}
+
+
+
+
+