Aditya Mehrotra / SPINE_FIDDY_TEST

test code for SPI communications with any board

Dependencies:   mbed-dev

main.cpp@13:ad3ca70bf929, 2021-07-20 (annotated)

Committer:
adimmit
Date:
Tue Jul 20 19:34:16 2021 +0000
Revision:
13:ad3ca70bf929
Parent:
12:b203f3ae57d0
Child:
14:8a7fd1ebc209
working;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adimmit 0:76c761d3caf1 1
adimmit 1:aa253b5f5b65 2 //counter for misc purposes
adimmit 1:aa253b5f5b65 3 int counter3 = 0;
adimmit 0:76c761d3caf1 4 //GO THROUGH AND RE-CHECK ALL THE VARIABLES, STRUCT NAMES, SIZES, BUFFERS + ETC!!!
adimmit 0:76c761d3caf1 5 //ALSO GO THROUGH THE COMMENTS TO SEE IF THEY NEED CHANGING
adimmit 0:76c761d3caf1 6
adimmit 0:76c761d3caf1 7 #include "mbed.h"
adimmit 0:76c761d3caf1 8 #include "math_ops.h"
adimmit 0:76c761d3caf1 9 #include <cstring>
adimmit 0:76c761d3caf1 10 #include "leg_message.h"
adimmit 0:76c761d3caf1 11
adimmit 0:76c761d3caf1 12 // length of receive/transmit buffers
adimmit 12:b203f3ae57d0 13 #define RX_LEN 26 //CHECK THESE BUFFER LENGHTS
adimmit 12:b203f3ae57d0 14 #define TX_LEN 26 //CHECK THESE BUFFER LENGHTS
adimmit 0:76c761d3caf1 15
adimmit 0:76c761d3caf1 16 // length of outgoing/incoming messages
adimmit 12:b203f3ae57d0 17 #define DATA_LEN 18 //CHECK THESE BUFFER LENGHTS
adimmit 12:b203f3ae57d0 18 #define CMD_LEN 26 //CHECK THESE BUFFER LENGHTS
adimmit 0:76c761d3caf1 19
adimmit 0:76c761d3caf1 20 // Master CAN ID ///
adimmit 0:76c761d3caf1 21 #define CAN_ID 0x0
adimmit 0:76c761d3caf1 22
adimmit 0:76c761d3caf1 23
adimmit 0:76c761d3caf1 24 /// Value Limits ///
adimmit 0:76c761d3caf1 25 #define P_MIN -12.5f
adimmit 0:76c761d3caf1 26 #define P_MAX 12.5f
adimmit 0:76c761d3caf1 27 #define V_MIN -65.0f
adimmit 0:76c761d3caf1 28 #define V_MAX 65.0f
adimmit 0:76c761d3caf1 29 #define KP_MIN 0.0f
adimmit 0:76c761d3caf1 30 #define KP_MAX 500.0f
adimmit 0:76c761d3caf1 31 #define KD_MIN 0.0f
adimmit 13:ad3ca70bf929 32 #define KD_MAX 5.0f
adimmit 13:ad3ca70bf929 33 #define T_MIN -18.0f
adimmit 13:ad3ca70bf929 34 #define T_MAX 18.0f
adimmit 0:76c761d3caf1 35
adimmit 0:76c761d3caf1 36 /// Joint Soft Stops ///
adimmit 7:2f785cb39f11 37 #define A1_LIM_P 1.5f
adimmit 7:2f785cb39f11 38 #define A1_LIM_N -1.5f
adimmit 7:2f785cb39f11 39 #define A2_LIM_P 1.5f
adimmit 7:2f785cb39f11 40 #define A2_LIM_N -1.5f
adimmit 7:2f785cb39f11 41 #define A3_LIM_P 1.5f
adimmit 7:2f785cb39f11 42 #define A3_LIM_N -1.5f
adimmit 0:76c761d3caf1 43 #define KP_SOFTSTOP 100.0f
adimmit 0:76c761d3caf1 44 #define KD_SOFTSTOP 0.4f;
adimmit 0:76c761d3caf1 45
adimmit 0:76c761d3caf1 46 #define ENABLE_CMD 0xFFFF
adimmit 0:76c761d3caf1 47 #define DISABLE_CMD 0x1F1F
adimmit 0:76c761d3caf1 48
adimmit 0:76c761d3caf1 49 spi_data_t spi_data; // data from spine to up
adimmit 0:76c761d3caf1 50 spi_command_t spi_command; // data from up to spine
adimmit 0:76c761d3caf1 51
adimmit 0:76c761d3caf1 52 // spi buffers
adimmit 0:76c761d3caf1 53 uint16_t rx_buff[RX_LEN];
adimmit 0:76c761d3caf1 54 uint16_t tx_buff[TX_LEN];
adimmit 0:76c761d3caf1 55
adimmit 0:76c761d3caf1 56 DigitalOut led(PC_5);
adimmit 0:76c761d3caf1 57
adimmit 0:76c761d3caf1 58
adimmit 0:76c761d3caf1 59 Serial pc(PA_2, PA_3);
adimmit 5:f1703165ca7e 60 CAN can1(PA_11, PA_12, 1000000);
adimmit 5:f1703165ca7e 61 CAN can2(PA_8, PA_15, 1000000);
adimmit 5:f1703165ca7e 62 CAN can3(PB_12, PB_13, 1000000); //corresponds to bus 1-3-6 (controller 1) or 2-4-5 (controller 2) IN THAT ORDER
adimmit 0:76c761d3caf1 63
adimmit 0:76c761d3caf1 64 CANMessage rxMsg1, rxMsg2, rxMsg3;
adimmit 0:76c761d3caf1 65 CANMessage txMsg1, txMsg2, txMsg3;
adimmit 12:b203f3ae57d0 66 CANMessage q11_can, q21_can; //q12_can, q13_can, q21_can, q22_can, q23_can, q31_can, q32_can, q33_can; //TX Messages
adimmit 0:76c761d3caf1 67 int ledState;
adimmit 0:76c761d3caf1 68 Ticker sendCAN;
adimmit 0:76c761d3caf1 69 int counter = 0;
adimmit 0:76c761d3caf1 70 volatile bool msgAvailable = false;
adimmit 0:76c761d3caf1 71 Ticker loop;
adimmit 0:76c761d3caf1 72
adimmit 0:76c761d3caf1 73 int spi_enabled = 0;
adimmit 0:76c761d3caf1 74 InterruptIn cs(PA_4);
adimmit 0:76c761d3caf1 75 DigitalIn estop(PB_15);
adimmit 0:76c761d3caf1 76 //SPISlave spi(PA_7, PA_6, PA_5, PA_4);
adimmit 0:76c761d3caf1 77
adimmit 0:76c761d3caf1 78
adimmit 12:b203f3ae57d0 79 grouped_act_state g1_state, g2_state; //, g3_state;
adimmit 12:b203f3ae57d0 80 grouped_act_control g1_control, g2_control; //, g3_control;
adimmit 0:76c761d3caf1 81
adimmit 0:76c761d3caf1 82 uint16_t x = 0;
adimmit 0:76c761d3caf1 83 uint16_t x2 = 0;
adimmit 0:76c761d3caf1 84 uint16_t count = 0;
adimmit 0:76c761d3caf1 85 uint16_t counter2 = 0; //SEE IF WE NEED TO UPDATE THESE TO ADD COUNTER3 AND X3
adimmit 0:76c761d3caf1 86
adimmit 0:76c761d3caf1 87 int control_mode = 1;
adimmit 0:76c761d3caf1 88 int is_standing = 0; //SEE IF WE STILL NEED THE STANDING THING
adimmit 0:76c761d3caf1 89 int enabled = 0;
adimmit 0:76c761d3caf1 90
adimmit 0:76c761d3caf1 91 // generates fake spi data from spi command
adimmit 0:76c761d3caf1 92 void test_control(); //MAY NEED TO GET RID OF THIS?
adimmit 0:76c761d3caf1 93 void control();
adimmit 0:76c761d3caf1 94
adimmit 0:76c761d3caf1 95
adimmit 0:76c761d3caf1 96 /// CAN Command Packet Structure ///
adimmit 0:76c761d3caf1 97 /// 16 bit position command, between -4*pi and 4*pi
adimmit 0:76c761d3caf1 98 /// 12 bit velocity command, between -30 and + 30 rad/s
adimmit 0:76c761d3caf1 99 /// 12 bit kp, between 0 and 500 N-m/rad
adimmit 0:76c761d3caf1 100 /// 12 bit kd, between 0 and 100 N-m*s/rad
adimmit 0:76c761d3caf1 101 /// 12 bit feed forward torque, between -18 and 18 N-m
adimmit 0:76c761d3caf1 102 /// CAN Packet is 8 8-bit words
adimmit 0:76c761d3caf1 103 /// Formatted as follows. For each quantity, bit 0 is LSB
adimmit 0:76c761d3caf1 104 /// 0: [position[15-8]]
adimmit 0:76c761d3caf1 105 /// 1: [position[7-0]]
adimmit 0:76c761d3caf1 106 /// 2: [velocity[11-4]]
adimmit 0:76c761d3caf1 107 /// 3: [velocity[3-0], kp[11-8]]
adimmit 0:76c761d3caf1 108 /// 4: [kp[7-0]]
adimmit 0:76c761d3caf1 109 /// 5: [kd[11-4]]
adimmit 0:76c761d3caf1 110 /// 6: [kd[3-0], torque[11-8]]
adimmit 0:76c761d3caf1 111 /// 7: [torque[7-0]]
adimmit 0:76c761d3caf1 112
adimmit 0:76c761d3caf1 113 void pack_cmd(CANMessage * msg, joint_control joint){
adimmit 0:76c761d3caf1 114
adimmit 0:76c761d3caf1 115 /// limit data to be within bounds ///
adimmit 0:76c761d3caf1 116 float p_des = fminf(fmaxf(P_MIN, joint.p_des), P_MAX);
adimmit 0:76c761d3caf1 117 float v_des = fminf(fmaxf(V_MIN, joint.v_des), V_MAX);
adimmit 0:76c761d3caf1 118 float kp = fminf(fmaxf(KP_MIN, joint.kp), KP_MAX);
adimmit 0:76c761d3caf1 119 float kd = fminf(fmaxf(KD_MIN, joint.kd), KD_MAX);
adimmit 0:76c761d3caf1 120 float t_ff = fminf(fmaxf(T_MIN, joint.t_ff), T_MAX);
adimmit 0:76c761d3caf1 121 /// convert floats to unsigned ints ///
adimmit 0:76c761d3caf1 122 uint16_t p_int = float_to_uint(p_des, P_MIN, P_MAX, 16);
adimmit 0:76c761d3caf1 123 uint16_t v_int = float_to_uint(v_des, V_MIN, V_MAX, 12);
adimmit 0:76c761d3caf1 124 uint16_t kp_int = float_to_uint(kp, KP_MIN, KP_MAX, 12);
adimmit 0:76c761d3caf1 125 uint16_t kd_int = float_to_uint(kd, KD_MIN, KD_MAX, 12);
adimmit 0:76c761d3caf1 126 uint16_t t_int = float_to_uint(t_ff, T_MIN, T_MAX, 12);
adimmit 0:76c761d3caf1 127 /// pack ints into the can buffer ///
adimmit 0:76c761d3caf1 128 msg->data[0] = p_int>>8;
adimmit 0:76c761d3caf1 129 msg->data[1] = p_int&0xFF;
adimmit 0:76c761d3caf1 130 msg->data[2] = v_int>>4;
adimmit 0:76c761d3caf1 131 msg->data[3] = ((v_int&0xF)<<4)|(kp_int>>8);
adimmit 0:76c761d3caf1 132 msg->data[4] = kp_int&0xFF;
adimmit 0:76c761d3caf1 133 msg->data[5] = kd_int>>4;
adimmit 0:76c761d3caf1 134 msg->data[6] = ((kd_int&0xF)<<4)|(t_int>>8);
adimmit 0:76c761d3caf1 135 msg->data[7] = t_int&0xff;
adimmit 0:76c761d3caf1 136 }
adimmit 0:76c761d3caf1 137
adimmit 0:76c761d3caf1 138 /// CAN Reply Packet Structure ///
adimmit 0:76c761d3caf1 139 /// 16 bit position, between -4*pi and 4*pi
adimmit 0:76c761d3caf1 140 /// 12 bit velocity, between -30 and + 30 rad/s
adimmit 0:76c761d3caf1 141 /// 12 bit current, between -40 and 40;
adimmit 0:76c761d3caf1 142 /// CAN Packet is 5 8-bit words
adimmit 0:76c761d3caf1 143 /// Formatted as follows. For each quantity, bit 0 is LSB
adimmit 0:76c761d3caf1 144 /// 0: [position[15-8]]
adimmit 0:76c761d3caf1 145 /// 1: [position[7-0]]
adimmit 0:76c761d3caf1 146 /// 2: [velocity[11-4]]
adimmit 0:76c761d3caf1 147 /// 3: [velocity[3-0], current[11-8]]
adimmit 0:76c761d3caf1 148 /// 4: [current[7-0]]
adimmit 0:76c761d3caf1 149
adimmit 0:76c761d3caf1 150 void unpack_reply(CANMessage msg, grouped_act_state * group){
adimmit 0:76c761d3caf1 151 /// unpack ints from can buffer ///
adimmit 0:76c761d3caf1 152 uint16_t id = msg.data[0];
adimmit 0:76c761d3caf1 153 uint16_t p_int = (msg.data[1]<<8)|msg.data[2];
adimmit 0:76c761d3caf1 154 uint16_t v_int = (msg.data[3]<<4)|(msg.data[4]>>4);
adimmit 0:76c761d3caf1 155 uint16_t i_int = ((msg.data[4]&0xF)<<8)|msg.data[5];
adimmit 0:76c761d3caf1 156 /// convert uints to floats ///
adimmit 0:76c761d3caf1 157 float p = uint_to_float(p_int, P_MIN, P_MAX, 16);
adimmit 0:76c761d3caf1 158 float v = uint_to_float(v_int, V_MIN, V_MAX, 12);
adimmit 0:76c761d3caf1 159 float t = uint_to_float(i_int, -T_MAX, T_MAX, 12);
adimmit 0:76c761d3caf1 160
adimmit 0:76c761d3caf1 161 if(id==1){
adimmit 5:f1703165ca7e 162 group->a1.p = p;
adimmit 5:f1703165ca7e 163 group->a1.v = v;
adimmit 5:f1703165ca7e 164 group->a1.t = t;
adimmit 0:76c761d3caf1 165 }
adimmit 12:b203f3ae57d0 166 /*
adimmit 0:76c761d3caf1 167 else if(id==2){
adimmit 5:f1703165ca7e 168 group->a2.p = p;
adimmit 5:f1703165ca7e 169 group->a2.v = v;
adimmit 5:f1703165ca7e 170 group->a2.t = t;
adimmit 0:76c761d3caf1 171 }
adimmit 12:b203f3ae57d0 172 */
adimmit 12:b203f3ae57d0 173 /*
adimmit 0:76c761d3caf1 174 else if(id==3){
adimmit 5:f1703165ca7e 175 group->a3.p = p;
adimmit 5:f1703165ca7e 176 group->a3.v = v;
adimmit 5:f1703165ca7e 177 group->a3.t = t;
adimmit 0:76c761d3caf1 178 }
adimmit 12:b203f3ae57d0 179 */
adimmit 0:76c761d3caf1 180 }
adimmit 0:76c761d3caf1 181
adimmit 0:76c761d3caf1 182 void rxISR1() {
adimmit 0:76c761d3caf1 183 can1.read(rxMsg1); // read message into Rx message storage
adimmit 0:76c761d3caf1 184 unpack_reply(rxMsg1, &g1_state);
adimmit 0:76c761d3caf1 185 }
adimmit 0:76c761d3caf1 186 void rxISR2(){
adimmit 0:76c761d3caf1 187 can2.read(rxMsg2);
adimmit 0:76c761d3caf1 188 unpack_reply(rxMsg2, &g2_state);
adimmit 0:76c761d3caf1 189 }
adimmit 12:b203f3ae57d0 190 /*
adimmit 0:76c761d3caf1 191 void rxISR3(){
adimmit 0:76c761d3caf1 192 can3.read(rxMsg3);
adimmit 0:76c761d3caf1 193 unpack_reply(rxMsg3, &g3_state);
adimmit 0:76c761d3caf1 194 }
adimmit 12:b203f3ae57d0 195 */
adimmit 0:76c761d3caf1 196
adimmit 0:76c761d3caf1 197 void PackAll(){
adimmit 5:f1703165ca7e 198 //actuators on the CAN1 bus
adimmit 6:077e37d5c2da 199 pack_cmd(&q11_can, g1_control.a1);
adimmit 12:b203f3ae57d0 200 //pack_cmd(&q12_can, g1_control.a2);
adimmit 12:b203f3ae57d0 201 //pack_cmd(&q13_can, g1_control.a3);
adimmit 5:f1703165ca7e 202 //actuators on the CAN2 bus
adimmit 6:077e37d5c2da 203 pack_cmd(&q21_can, g2_control.a1);
adimmit 12:b203f3ae57d0 204 //pack_cmd(&q22_can, g2_control.a2);
adimmit 12:b203f3ae57d0 205 //pack_cmd(&q23_can, g2_control.a3);
adimmit 5:f1703165ca7e 206 //actuators on the CAN3 bus
adimmit 12:b203f3ae57d0 207 //pack_cmd(&q31_can, g3_control.a1);
adimmit 12:b203f3ae57d0 208 //pack_cmd(&q32_can, g3_control.a2);
adimmit 12:b203f3ae57d0 209 //pack_cmd(&q33_can, g3_control.a3);
adimmit 0:76c761d3caf1 210 }
adimmit 0:76c761d3caf1 211 void WriteAll(){
adimmit 0:76c761d3caf1 212 //toggle = 1;
adimmit 5:f1703165ca7e 213 //ID = 1 actuators
adimmit 0:76c761d3caf1 214 can1.write(q11_can);
adimmit 0:76c761d3caf1 215 wait(.00002);
adimmit 5:f1703165ca7e 216 can2.write(q21_can);
adimmit 0:76c761d3caf1 217 wait(.00002);
adimmit 12:b203f3ae57d0 218 /*
adimmit 5:f1703165ca7e 219 can3.write(q31_can);
adimmit 0:76c761d3caf1 220 wait(.00002);
adimmit 5:f1703165ca7e 221 //ID = 2 actuators
adimmit 5:f1703165ca7e 222 can1.write(q12_can);
adimmit 0:76c761d3caf1 223 wait(.00002);
adimmit 0:76c761d3caf1 224 can2.write(q22_can);
adimmit 0:76c761d3caf1 225 wait(.00002);
adimmit 5:f1703165ca7e 226 can3.write(q32_can);
adimmit 0:76c761d3caf1 227 wait(.00002);
adimmit 5:f1703165ca7e 228 //ID = 3 actuators
adimmit 5:f1703165ca7e 229 can1.write(q13_can);
adimmit 0:76c761d3caf1 230 wait(.00002);
adimmit 5:f1703165ca7e 231 can2.write(q23_can);
adimmit 0:76c761d3caf1 232 wait(.00002);
adimmit 0:76c761d3caf1 233 can3.write(q33_can);
adimmit 0:76c761d3caf1 234 wait(.00002);
adimmit 0:76c761d3caf1 235 //toggle = 0;
adimmit 12:b203f3ae57d0 236 */
adimmit 0:76c761d3caf1 237 }
adimmit 0:76c761d3caf1 238
adimmit 0:76c761d3caf1 239 void sendCMD(){
adimmit 0:76c761d3caf1 240 counter ++;
adimmit 0:76c761d3caf1 241
adimmit 0:76c761d3caf1 242 PackAll();
adimmit 0:76c761d3caf1 243
adimmit 0:76c761d3caf1 244 if(counter>100){
adimmit 12:b203f3ae57d0 245 //pc.printf("%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n\r", g1_state.a1.p, g1_state.a2.p, g1_state.a3.p, g2_state.a1.p, g2_state.a2.p, g2_state.a3.p, g3_state.a1.p, g3_state.a2.p, g3_state.a3.p);
adimmit 0:76c761d3caf1 246 counter = 0 ;
adimmit 0:76c761d3caf1 247 }
adimmit 0:76c761d3caf1 248
adimmit 0:76c761d3caf1 249 WriteAll();
adimmit 0:76c761d3caf1 250 }
adimmit 0:76c761d3caf1 251
adimmit 0:76c761d3caf1 252
adimmit 0:76c761d3caf1 253
adimmit 0:76c761d3caf1 254
adimmit 0:76c761d3caf1 255 void Zero(CANMessage * msg){
adimmit 0:76c761d3caf1 256 msg->data[0] = 0xFF;
adimmit 0:76c761d3caf1 257 msg->data[1] = 0xFF;
adimmit 0:76c761d3caf1 258 msg->data[2] = 0xFF;
adimmit 0:76c761d3caf1 259 msg->data[3] = 0xFF;
adimmit 0:76c761d3caf1 260 msg->data[4] = 0xFF;
adimmit 0:76c761d3caf1 261 msg->data[5] = 0xFF;
adimmit 0:76c761d3caf1 262 msg->data[6] = 0xFF;
adimmit 0:76c761d3caf1 263 msg->data[7] = 0xFE;
adimmit 8:450fbccaf4f6 264 //WriteAll();
adimmit 0:76c761d3caf1 265 }
adimmit 0:76c761d3caf1 266
adimmit 0:76c761d3caf1 267 void EnterMotorMode(CANMessage * msg){
adimmit 0:76c761d3caf1 268 msg->data[0] = 0xFF;
adimmit 0:76c761d3caf1 269 msg->data[1] = 0xFF;
adimmit 0:76c761d3caf1 270 msg->data[2] = 0xFF;
adimmit 0:76c761d3caf1 271 msg->data[3] = 0xFF;
adimmit 0:76c761d3caf1 272 msg->data[4] = 0xFF;
adimmit 0:76c761d3caf1 273 msg->data[5] = 0xFF;
adimmit 0:76c761d3caf1 274 msg->data[6] = 0xFF;
adimmit 0:76c761d3caf1 275 msg->data[7] = 0xFC;
adimmit 8:450fbccaf4f6 276 //WriteAll();
adimmit 0:76c761d3caf1 277 }
adimmit 0:76c761d3caf1 278
adimmit 0:76c761d3caf1 279 void ExitMotorMode(CANMessage * msg){
adimmit 0:76c761d3caf1 280 msg->data[0] = 0xFF;
adimmit 0:76c761d3caf1 281 msg->data[1] = 0xFF;
adimmit 0:76c761d3caf1 282 msg->data[2] = 0xFF;
adimmit 0:76c761d3caf1 283 msg->data[3] = 0xFF;
adimmit 0:76c761d3caf1 284 msg->data[4] = 0xFF;
adimmit 0:76c761d3caf1 285 msg->data[5] = 0xFF;
adimmit 0:76c761d3caf1 286 msg->data[6] = 0xFF;
adimmit 0:76c761d3caf1 287 msg->data[7] = 0xFD;
adimmit 8:450fbccaf4f6 288 //WriteAll();
adimmit 0:76c761d3caf1 289 }
adimmit 5:f1703165ca7e 290
adimmit 8:450fbccaf4f6 291
adimmit 0:76c761d3caf1 292 void serial_isr(){
adimmit 0:76c761d3caf1 293 /// handle keyboard commands from the serial terminal ///
adimmit 0:76c761d3caf1 294 while(pc.readable()){
adimmit 0:76c761d3caf1 295 char c = pc.getc();
adimmit 0:76c761d3caf1 296 //led = !led;
adimmit 0:76c761d3caf1 297 switch(c){
adimmit 0:76c761d3caf1 298 case(27):
adimmit 0:76c761d3caf1 299 //loop.detach();
adimmit 1:aa253b5f5b65 300 pc.printf("\n\r exiting motor mode \n\r");
adimmit 5:f1703165ca7e 301 //CAN BUS 1
adimmit 0:76c761d3caf1 302 ExitMotorMode(&q11_can);
adimmit 12:b203f3ae57d0 303 //ExitMotorMode(&q12_can);
adimmit 12:b203f3ae57d0 304 //ExitMotorMode(&q13_can);
adimmit 5:f1703165ca7e 305 //CAN BUS 2
adimmit 0:76c761d3caf1 306 ExitMotorMode(&q21_can);
adimmit 12:b203f3ae57d0 307 //ExitMotorMode(&q22_can);
adimmit 12:b203f3ae57d0 308 //ExitMotorMode(&q23_can);
adimmit 5:f1703165ca7e 309 //CAN BUS 3
adimmit 12:b203f3ae57d0 310 //ExitMotorMode(&q31_can);
adimmit 12:b203f3ae57d0 311 //ExitMotorMode(&q32_can);
adimmit 12:b203f3ae57d0 312 //ExitMotorMode(&q33_can);
adimmit 5:f1703165ca7e 313 //DISABLE FLAG
adimmit 0:76c761d3caf1 314 enabled = 0;
adimmit 0:76c761d3caf1 315 break;
adimmit 0:76c761d3caf1 316 case('m'):
adimmit 1:aa253b5f5b65 317 pc.printf("\n\r entering motor mode \n\r");
adimmit 5:f1703165ca7e 318 //CAN BUS 1
adimmit 0:76c761d3caf1 319 EnterMotorMode(&q11_can);
adimmit 12:b203f3ae57d0 320 //EnterMotorMode(&q12_can);
adimmit 12:b203f3ae57d0 321 //EnterMotorMode(&q13_can);
adimmit 5:f1703165ca7e 322 //CAN BUS 2
adimmit 0:76c761d3caf1 323 EnterMotorMode(&q21_can);
adimmit 12:b203f3ae57d0 324 //EnterMotorMode(&q22_can);
adimmit 12:b203f3ae57d0 325 //EnterMotorMode(&q23_can);
adimmit 5:f1703165ca7e 326 //CAN BUS 3
adimmit 12:b203f3ae57d0 327 //EnterMotorMode(&q31_can);
adimmit 12:b203f3ae57d0 328 //EnterMotorMode(&q32_can);
adimmit 12:b203f3ae57d0 329 //EnterMotorMode(&q33_can);
adimmit 5:f1703165ca7e 330 //WAIT FOR ENABLE
adimmit 0:76c761d3caf1 331 wait(.5);
adimmit 5:f1703165ca7e 332 //ENABLE FLAG
adimmit 0:76c761d3caf1 333 enabled = 1;
adimmit 0:76c761d3caf1 334 //loop.attach(&sendCMD, .001);
adimmit 0:76c761d3caf1 335 break;
adimmit 0:76c761d3caf1 336 case('s'):
adimmit 1:aa253b5f5b65 337 pc.printf("\n\r standing \n\r");
adimmit 0:76c761d3caf1 338 counter2 = 0;
adimmit 0:76c761d3caf1 339 is_standing = 1;
adimmit 0:76c761d3caf1 340 //stand();
adimmit 0:76c761d3caf1 341 break;
adimmit 0:76c761d3caf1 342 case('z'):
adimmit 1:aa253b5f5b65 343 pc.printf("\n\r zeroing \n\r");
adimmit 5:f1703165ca7e 344 //CAN BUS 1
adimmit 0:76c761d3caf1 345 Zero(&q11_can);
adimmit 12:b203f3ae57d0 346 //Zero(&q12_can);
adimmit 12:b203f3ae57d0 347 //Zero(&q13_can);
adimmit 5:f1703165ca7e 348 //CAN BUS 2
adimmit 5:f1703165ca7e 349 Zero(&q21_can);
adimmit 12:b203f3ae57d0 350 //Zero(&q22_can);
adimmit 12:b203f3ae57d0 351 //Zero(&q23_can);
adimmit 5:f1703165ca7e 352 //CAN BUS 3
adimmit 12:b203f3ae57d0 353 //Zero(&q31_can);
adimmit 12:b203f3ae57d0 354 //Zero(&q32_can);
adimmit 12:b203f3ae57d0 355 //Zero(&q33_can);
adimmit 0:76c761d3caf1 356 break;
adimmit 0:76c761d3caf1 357 }
adimmit 0:76c761d3caf1 358 }
adimmit 0:76c761d3caf1 359 WriteAll();
adimmit 0:76c761d3caf1 360
adimmit 0:76c761d3caf1 361 }
adimmit 8:450fbccaf4f6 362
adimmit 0:76c761d3caf1 363
adimmit 0:76c761d3caf1 364 uint32_t xor_checksum(uint32_t* data, size_t len)
adimmit 0:76c761d3caf1 365 {
adimmit 0:76c761d3caf1 366 uint32_t t = 0;
adimmit 0:76c761d3caf1 367 for(int i = 0; i < len; i++)
adimmit 0:76c761d3caf1 368 t = t ^ data[i];
adimmit 0:76c761d3caf1 369 return t;
adimmit 0:76c761d3caf1 370 }
adimmit 0:76c761d3caf1 371
adimmit 2:32f69175c78e 372
adimmit 13:ad3ca70bf929 373
adimmit 2:32f69175c78e 374 void print_SPI_command() {
adimmit 2:32f69175c78e 375 pc.printf("SPI MESSAGE RECIEVED:\n");
adimmit 5:f1703165ca7e 376 pc.printf("MOTOR 1-1 Q: %f\n", spi_command.q_des_1s[0]);
adimmit 5:f1703165ca7e 377 pc.printf("MOTOR 1-1 Qd: %f\n", spi_command.qd_des_1s[0]);
adimmit 5:f1703165ca7e 378 pc.printf("MOTOR 1-1 Kp: %f\n", spi_command.kp_1s[0]);
adimmit 5:f1703165ca7e 379 pc.printf("MOTOR 1-1 Kd: %f\n", spi_command.kd_1s[0]);
adimmit 5:f1703165ca7e 380 pc.printf("MOTOR 1-1 T_FF: %f\n", spi_command.tau_1s_ff[0]);
adimmit 2:32f69175c78e 381
adimmit 13:ad3ca70bf929 382 //pc.printf("MOTOR 1-2 Q: %f\n", spi_command.q_des_2s[0]);
adimmit 13:ad3ca70bf929 383 //pc.printf("MOTOR 1-2 Qd: %f\n", spi_command.qd_des_2s[0]);
adimmit 13:ad3ca70bf929 384 //pc.printf("MOTOR 1-2 Kp: %f\n", spi_command.kp_2s[0]);
adimmit 13:ad3ca70bf929 385 //pc.printf("MOTOR 1-2 Kd: %f\n", spi_command.kd_2s[0]);
adimmit 13:ad3ca70bf929 386 //pc.printf("MOTOR 1-2 T_FF: %f\n", spi_command.tau_2s_ff[0]);
adimmit 2:32f69175c78e 387
adimmit 13:ad3ca70bf929 388 //pc.printf("MOTOR 1-3 Q: %f\n", spi_command.q_des_3s[0]);
adimmit 13:ad3ca70bf929 389 //pc.printf("MOTOR 1-3 Qd: %f\n", spi_command.qd_des_3s[0]);
adimmit 13:ad3ca70bf929 390 //pc.printf("MOTOR 1-3 Kp: %f\n", spi_command.kp_3s[0]);
adimmit 13:ad3ca70bf929 391 //pc.printf("MOTOR 1-3 Kd: %f\n", spi_command.kd_3s[0]);
adimmit 13:ad3ca70bf929 392 //pc.printf("MOTOR 1-3 T_FF: %f\n", spi_command.tau_3s_ff[0]);
adimmit 2:32f69175c78e 393
adimmit 5:f1703165ca7e 394 pc.printf("MOTOR 2-1 Q: %f\n", spi_command.q_des_1s[1]);
adimmit 5:f1703165ca7e 395 pc.printf("MOTOR 2-1 Qd: %f\n", spi_command.qd_des_1s[1]);
adimmit 5:f1703165ca7e 396 pc.printf("MOTOR 2-1 Kp: %f\n", spi_command.kp_1s[1]);
adimmit 5:f1703165ca7e 397 pc.printf("MOTOR 2-1 Kd: %f\n", spi_command.kd_1s[1]);
adimmit 5:f1703165ca7e 398 pc.printf("MOTOR 2-1_FF: %f\n", spi_command.tau_1s_ff[1]);
adimmit 2:32f69175c78e 399
adimmit 13:ad3ca70bf929 400 //pc.printf("MOTOR 2-2 Q: %f\n", spi_command.q_des_2s[1]);
adimmit 13:ad3ca70bf929 401 //pc.printf("MOTOR 2-2 Qd: %f\n", spi_command.qd_des_2s[1]);
adimmit 13:ad3ca70bf929 402 //pc.printf("MOTOR 2-2 Kp: %f\n", spi_command.kp_2s[1]);
adimmit 13:ad3ca70bf929 403 //pc.printf("MOTOR 2-2 Kd: %f\n", spi_command.kd_2s[1]);
adimmit 13:ad3ca70bf929 404 //pc.printf("MOTOR 2-2 T_FF: %f\n", spi_command.tau_2s_ff[1]);
adimmit 2:32f69175c78e 405
adimmit 13:ad3ca70bf929 406 //pc.printf("MOTOR 2-3 Q: %f\n", spi_command.q_des_3s[1]);
adimmit 13:ad3ca70bf929 407 //pc.printf("MOTOR 2-3 Qd: %f\n", spi_command.qd_des_3s[1]);
adimmit 13:ad3ca70bf929 408 //pc.printf("MOTOR 2-3 Kp: %f\n", spi_command.kp_3s[1]);
adimmit 13:ad3ca70bf929 409 //pc.printf("MOTOR 2-3 Kd: %f\n", spi_command.kd_3s[1]);
adimmit 13:ad3ca70bf929 410 //pc.printf("MOTOR 2-3 T_FF: %f\n", spi_command.tau_3s_ff[1]);
adimmit 2:32f69175c78e 411
adimmit 13:ad3ca70bf929 412 //pc.printf("MOTOR 3-1 Q: %f\n", spi_command.q_des_1s[2]);
adimmit 13:ad3ca70bf929 413 //pc.printf("MOTOR 3-1 Qd: %f\n", spi_command.qd_des_1s[2]);
adimmit 13:ad3ca70bf929 414 //pc.printf("MOTOR 3-1 Kp: %f\n", spi_command.kp_1s[2]);
adimmit 13:ad3ca70bf929 415 //pc.printf("MOTOR 3-1 Kd: %f\n", spi_command.kd_1s[2]);
adimmit 13:ad3ca70bf929 416 //pc.printf("MOTOR 3-1 T_FF: %f\n", spi_command.tau_1s_ff[2]);
adimmit 2:32f69175c78e 417
adimmit 13:ad3ca70bf929 418 //pc.printf("MOTOR 3-2 Q: %f\n", spi_command.q_des_2s[2]);
adimmit 13:ad3ca70bf929 419 //pc.printf("MOTOR 3-2 Qd: %f\n", spi_command.qd_des_2s[2]);
adimmit 13:ad3ca70bf929 420 //pc.printf("MOTOR 3-2 Kp: %f\n", spi_command.kp_2s[2]);
adimmit 13:ad3ca70bf929 421 //pc.printf("MOTOR 3-2 Kd: %f\n", spi_command.kd_2s[2]);
adimmit 13:ad3ca70bf929 422 //pc.printf("MOTOR 3-2 T_FF: %f\n", spi_command.tau_2s_ff[2]);
adimmit 2:32f69175c78e 423
adimmit 13:ad3ca70bf929 424 //pc.printf("MOTOR 3-3 Q: %f\n", spi_command.q_des_3s[2]);
adimmit 13:ad3ca70bf929 425 //pc.printf("MOTOR 3-3 Qd: %f\n", spi_command.qd_des_3s[2]);
adimmit 13:ad3ca70bf929 426 //pc.printf("MOTOR 3-3 Kp: %f\n", spi_command.kp_3s[2]);
adimmit 13:ad3ca70bf929 427 //pc.printf("MOTOR 3-3 Kd: %f\n", spi_command.kd_3s[2]);
adimmit 13:ad3ca70bf929 428 //pc.printf("MOTOR 3-3 T_FF: %f\n", spi_command.tau_3s_ff[2]);
adimmit 2:32f69175c78e 429
adimmit 2:32f69175c78e 430 }
adimmit 2:32f69175c78e 431
adimmit 2:32f69175c78e 432
adimmit 12:b203f3ae57d0 433 /*
adimmit 9:16a550d36425 434 void print_SPI_data() {
adimmit 9:16a550d36425 435 pc.printf("SPI MESSAGE SENT:\n");
adimmit 9:16a550d36425 436 //CAN ONE
adimmit 9:16a550d36425 437 pc.printf("MOTOR 1-1 Q: %f\n", spi_data.q_1s[0]);
adimmit 9:16a550d36425 438 pc.printf("MOTOR 1-1 Qd: %f\n", spi_data.qd_1s[0]);
adimmit 9:16a550d36425 439
adimmit 9:16a550d36425 440 pc.printf("MOTOR 1-2 Q: %f\n", spi_data.q_2s[0]);
adimmit 9:16a550d36425 441 pc.printf("MOTOR 1-2 Qd: %f\n", spi_data.qd_2s[0]);
adimmit 9:16a550d36425 442
adimmit 9:16a550d36425 443 pc.printf("MOTOR 1-3 Q: %f\n", spi_data.q_3s[0]);
adimmit 9:16a550d36425 444 pc.printf("MOTOR 1-3 Qd: %f\n", spi_data.qd_3s[0]);
adimmit 9:16a550d36425 445
adimmit 9:16a550d36425 446 pc.printf("MOTOR 2-1 Q: %f\n", spi_data.q_1s[1]);
adimmit 9:16a550d36425 447 pc.printf("MOTOR 2-1 Qd: %f\n", spi_data.qd_1s[1]);
adimmit 9:16a550d36425 448
adimmit 9:16a550d36425 449 pc.printf("MOTOR 2-2 Q: %f\n", spi_data.q_2s[1]);
adimmit 9:16a550d36425 450 pc.printf("MOTOR 2-2 Qd: %f\n", spi_data.qd_2s[1]);
adimmit 9:16a550d36425 451
adimmit 9:16a550d36425 452 pc.printf("MOTOR 2-3 Q: %f\n", spi_data.q_3s[1]);
adimmit 9:16a550d36425 453 pc.printf("MOTOR 2-3 Qd: %f\n", spi_data.qd_3s[1]);
adimmit 9:16a550d36425 454
adimmit 9:16a550d36425 455 pc.printf("MOTOR 3-1 Q: %f\n", spi_data.q_1s[2]);
adimmit 9:16a550d36425 456 pc.printf("MOTOR 3-1 Qd: %f\n", spi_data.qd_1s[2]);
adimmit 9:16a550d36425 457
adimmit 9:16a550d36425 458 pc.printf("MOTOR 3-2 Q: %f\n", spi_data.q_2s[2]);
adimmit 9:16a550d36425 459 pc.printf("MOTOR 3-2 Qd: %f\n", spi_data.qd_2s[2]);
adimmit 9:16a550d36425 460
adimmit 9:16a550d36425 461 pc.printf("MOTOR 3-3 Q: %f\n", spi_data.q_3s[2]);
adimmit 9:16a550d36425 462 pc.printf("MOTOR 3-3 Qd: %f\n", spi_data.qd_3s[2]);
adimmit 9:16a550d36425 463
adimmit 9:16a550d36425 464 }
adimmit 12:b203f3ae57d0 465 */
adimmit 9:16a550d36425 466
adimmit 9:16a550d36425 467
adimmit 9:16a550d36425 468
adimmit 2:32f69175c78e 469
adimmit 0:76c761d3caf1 470 void spi_isr(void)
adimmit 0:76c761d3caf1 471 {
adimmit 1:aa253b5f5b65 472 //pc.printf("CS ACTIVE\n");
adimmit 0:76c761d3caf1 473 GPIOC->ODR |= (1 << 8);
adimmit 0:76c761d3caf1 474 GPIOC->ODR &= ~(1 << 8);
adimmit 0:76c761d3caf1 475 int bytecount = 0;
adimmit 0:76c761d3caf1 476 SPI1->DR = tx_buff[0];
adimmit 0:76c761d3caf1 477 while(cs == 0) {
adimmit 0:76c761d3caf1 478 if(SPI1->SR&0x1) {
adimmit 1:aa253b5f5b65 479 rx_buff[bytecount] = SPI1->DR;
adimmit 0:76c761d3caf1 480 bytecount++;
adimmit 0:76c761d3caf1 481 if(bytecount<TX_LEN) {
adimmit 0:76c761d3caf1 482 SPI1->DR = tx_buff[bytecount];
adimmit 0:76c761d3caf1 483 }
adimmit 0:76c761d3caf1 484 }
adimmit 0:76c761d3caf1 485 }
adimmit 2:32f69175c78e 486 //pc.printf("RECIEVED: %d BYTES\n", bytecount);
adimmit 0:76c761d3caf1 487
adimmit 1:aa253b5f5b65 488 //pc.printf("HERE'S A SPI COMMAND:\n");
adimmit 0:76c761d3caf1 489 // after reading, save into spi_command
adimmit 0:76c761d3caf1 490 // should probably check checksum first!
adimmit 0:76c761d3caf1 491 uint32_t calc_checksum = xor_checksum((uint32_t*)rx_buff,32);
adimmit 0:76c761d3caf1 492 for(int i = 0; i < CMD_LEN; i++)
adimmit 0:76c761d3caf1 493 {
adimmit 0:76c761d3caf1 494 ((uint16_t*)(&spi_command))[i] = rx_buff[i];
adimmit 9:16a550d36425 495 //pc.printf("BYTE %d SENT: %d\n", i, tx_buff[i]);
adimmit 2:32f69175c78e 496 //pc.printf("WORD %d RECIEVED: %d\n", i, rx_buff[i]);
adimmit 0:76c761d3caf1 497 }
adimmit 6:077e37d5c2da 498 //print_SPI_command();
adimmit 0:76c761d3caf1 499
adimmit 0:76c761d3caf1 500 // run control, which fills in tx_buff for the next iteration
adimmit 2:32f69175c78e 501 /*
adimmit 0:76c761d3caf1 502 if(calc_checksum != spi_command.checksum){
adimmit 1:aa253b5f5b65 503 spi_data.flags[1] = 0xdead;
adimmit 2:32f69175c78e 504 pc.printf("FAILED CHECKSUM\n");
adimmit 2:32f69175c78e 505 pc.printf("ACTUAL: %d\n", calc_checksum);
adimmit 2:32f69175c78e 506 pc.printf("CURRENT: %d\n", spi_command.checksum);}
adimmit 2:32f69175c78e 507 */
adimmit 5:f1703165ca7e 508
adimmit 9:16a550d36425 509 //print_SPI_data();
adimmit 0:76c761d3caf1 510 control();
adimmit 0:76c761d3caf1 511 PackAll();
adimmit 0:76c761d3caf1 512 WriteAll();
adimmit 0:76c761d3caf1 513
adimmit 0:76c761d3caf1 514
adimmit 0:76c761d3caf1 515 //for (int i = 0; i<TX_LEN; i++) {
adimmit 0:76c761d3caf1 516 // tx_buff[i] = 2*rx_buff[i];
adimmit 0:76c761d3caf1 517 //}
adimmit 0:76c761d3caf1 518 // for (int i=0; i<TX_LEN; i++) {
adimmit 0:76c761d3caf1 519 // //printf("%d ", rx_buff[i]);
adimmit 0:76c761d3caf1 520 // }
adimmit 0:76c761d3caf1 521 //printf("\n\r");
adimmit 0:76c761d3caf1 522 }
adimmit 0:76c761d3caf1 523
adimmit 0:76c761d3caf1 524 int softstop_joint(joint_state state, joint_control * control, float limit_p, float limit_n){
adimmit 9:16a550d36425 525 /*
adimmit 0:76c761d3caf1 526 if((state.p)>=limit_p){
adimmit 0:76c761d3caf1 527 //control->p_des = limit_p;
adimmit 0:76c761d3caf1 528 control->v_des = 0.0f;
adimmit 0:76c761d3caf1 529 control->kp = 0;
adimmit 0:76c761d3caf1 530 control->kd = KD_SOFTSTOP;
adimmit 0:76c761d3caf1 531 control->t_ff += KP_SOFTSTOP*(limit_p - state.p);
adimmit 0:76c761d3caf1 532 return 1;
adimmit 0:76c761d3caf1 533 }
adimmit 0:76c761d3caf1 534 else if((state.p)<=limit_n){
adimmit 0:76c761d3caf1 535 //control->p_des = limit_n;
adimmit 0:76c761d3caf1 536 control->v_des = 0.0f;
adimmit 0:76c761d3caf1 537 control->kp = 0;
adimmit 0:76c761d3caf1 538 control->kd = KD_SOFTSTOP;
adimmit 0:76c761d3caf1 539 control->t_ff += KP_SOFTSTOP*(limit_n - state.p);
adimmit 0:76c761d3caf1 540 return 1;
adimmit 0:76c761d3caf1 541 }
adimmit 9:16a550d36425 542 */
adimmit 0:76c761d3caf1 543 return 0;
adimmit 0:76c761d3caf1 544
adimmit 0:76c761d3caf1 545 }
adimmit 0:76c761d3caf1 546
adimmit 0:76c761d3caf1 547
adimmit 0:76c761d3caf1 548 void control()
adimmit 0:76c761d3caf1 549 {
adimmit 0:76c761d3caf1 550
adimmit 0:76c761d3caf1 551 if(((spi_command.flags[0]&0x1)==1) && (enabled==0)){
adimmit 0:76c761d3caf1 552 enabled = 1;
adimmit 0:76c761d3caf1 553 //BUS ONE
adimmit 0:76c761d3caf1 554 EnterMotorMode(&q11_can);
adimmit 0:76c761d3caf1 555 can1.write(q11_can);
adimmit 12:b203f3ae57d0 556 //EnterMotorMode(&q12_can);
adimmit 12:b203f3ae57d0 557 //can1.write(q12_can);
adimmit 12:b203f3ae57d0 558 //EnterMotorMode(&q13_can);
adimmit 12:b203f3ae57d0 559 //can1.write(q13_can);
adimmit 5:f1703165ca7e 560 //BUS TWO
adimmit 0:76c761d3caf1 561 EnterMotorMode(&q21_can);
adimmit 5:f1703165ca7e 562 can2.write(q21_can);
adimmit 12:b203f3ae57d0 563 //EnterMotorMode(&q22_can);
adimmit 12:b203f3ae57d0 564 //can2.write(q22_can);
adimmit 12:b203f3ae57d0 565 //EnterMotorMode(&q23_can);
adimmit 12:b203f3ae57d0 566 //can2.write(q23_can);
adimmit 0:76c761d3caf1 567 //BUS THREE
adimmit 12:b203f3ae57d0 568 //EnterMotorMode(&q31_can);
adimmit 12:b203f3ae57d0 569 //can3.write(q31_can);
adimmit 12:b203f3ae57d0 570 //EnterMotorMode(&q32_can);
adimmit 12:b203f3ae57d0 571 //can3.write(q32_can);
adimmit 12:b203f3ae57d0 572 //EnterMotorMode(&q33_can);
adimmit 12:b203f3ae57d0 573 //can3.write(q33_can);
adimmit 8:450fbccaf4f6 574 //WRITE THE COMMANDS
adimmit 8:450fbccaf4f6 575 //WriteAll();
adimmit 5:f1703165ca7e 576 //SERIAL TO USER
adimmit 8:450fbccaf4f6 577 //pc.printf("e\n\r");
adimmit 0:76c761d3caf1 578 return;
adimmit 0:76c761d3caf1 579 }
adimmit 0:76c761d3caf1 580 else if((((spi_command.flags[0]&0x1))==0) && (enabled==1)){
adimmit 0:76c761d3caf1 581 enabled = 0;
adimmit 0:76c761d3caf1 582 //BUS ONE
adimmit 0:76c761d3caf1 583 ExitMotorMode(&q11_can);
adimmit 0:76c761d3caf1 584 can1.write(q11_can);
adimmit 12:b203f3ae57d0 585 //ExitMotorMode(&q12_can);
adimmit 12:b203f3ae57d0 586 //can1.write(q12_can);
adimmit 12:b203f3ae57d0 587 //ExitMotorMode(&q13_can);
adimmit 12:b203f3ae57d0 588 //can1.write(q13_can);
adimmit 5:f1703165ca7e 589 //BUS TWO
adimmit 0:76c761d3caf1 590 ExitMotorMode(&q21_can);
adimmit 5:f1703165ca7e 591 can2.write(q21_can);
adimmit 12:b203f3ae57d0 592 //ExitMotorMode(&q22_can);
adimmit 12:b203f3ae57d0 593 //can2.write(q22_can);
adimmit 12:b203f3ae57d0 594 //ExitMotorMode(&q23_can);
adimmit 12:b203f3ae57d0 595 //can2.write(q23_can);
adimmit 0:76c761d3caf1 596 //BUS THREE
adimmit 12:b203f3ae57d0 597 //ExitMotorMode(&q31_can);
adimmit 12:b203f3ae57d0 598 //can3.write(q31_can);
adimmit 12:b203f3ae57d0 599 //ExitMotorMode(&q32_can);
adimmit 12:b203f3ae57d0 600 //can3.write(q32_can);
adimmit 12:b203f3ae57d0 601 //ExitMotorMode(&q33_can);
adimmit 12:b203f3ae57d0 602 //can3.write(q33_can);
adimmit 8:450fbccaf4f6 603 //WRITE THE COMMANDS
adimmit 8:450fbccaf4f6 604 //WriteAll();
adimmit 5:f1703165ca7e 605 //SERIAL TO USER
adimmit 8:450fbccaf4f6 606 //pc.printf("x\n\r");
adimmit 0:76c761d3caf1 607 return;
adimmit 0:76c761d3caf1 608 }
adimmit 0:76c761d3caf1 609
adimmit 5:f1703165ca7e 610 //BUS 1 DATA
adimmit 5:f1703165ca7e 611 spi_data.q_1s[0] = g1_state.a1.p;
adimmit 12:b203f3ae57d0 612 //spi_data.q_2s[0] = g1_state.a2.p;
adimmit 12:b203f3ae57d0 613 //spi_data.q_3s[0] = g1_state.a3.p;
adimmit 5:f1703165ca7e 614 spi_data.qd_1s[0] = g1_state.a1.v;
adimmit 12:b203f3ae57d0 615 //spi_data.qd_2s[0] = g1_state.a2.v;
adimmit 12:b203f3ae57d0 616 //spi_data.qd_3s[0] = g1_state.a3.v;
adimmit 10:42438194e82b 617 spi_data.tau_1s[0] = g1_state.a1.t;
adimmit 12:b203f3ae57d0 618 //spi_data.tau_2s[0] = g1_state.a2.t;
adimmit 12:b203f3ae57d0 619 //spi_data.tau_3s[0] = g1_state.a3.t;
adimmit 5:f1703165ca7e 620 //BUS 2 DATA
adimmit 9:16a550d36425 621 spi_data.q_1s[1] = g2_state.a1.p;
adimmit 12:b203f3ae57d0 622 //spi_data.q_2s[1] = g2_state.a2.p;
adimmit 12:b203f3ae57d0 623 //spi_data.q_3s[1] = g2_state.a3.p;
adimmit 9:16a550d36425 624 spi_data.qd_1s[1] = g2_state.a1.v;
adimmit 12:b203f3ae57d0 625 //spi_data.qd_2s[1] = g2_state.a2.v;
adimmit 12:b203f3ae57d0 626 //spi_data.qd_3s[1] = g2_state.a3.v;
adimmit 10:42438194e82b 627 spi_data.tau_1s[1] = g2_state.a1.t;
adimmit 12:b203f3ae57d0 628 //spi_data.tau_2s[1] = g2_state.a2.t;
adimmit 12:b203f3ae57d0 629 //spi_data.tau_3s[1] = g2_state.a3.t;
adimmit 5:f1703165ca7e 630 //BUS 3 DATA
adimmit 12:b203f3ae57d0 631 //spi_data.q_1s[2] = g3_state.a1.p;
adimmit 12:b203f3ae57d0 632 //spi_data.q_2s[2] = g3_state.a2.p;
adimmit 12:b203f3ae57d0 633 //spi_data.q_3s[2] = g3_state.a3.p;
adimmit 12:b203f3ae57d0 634 //spi_data.qd_1s[2] = g3_state.a1.v;
adimmit 12:b203f3ae57d0 635 //spi_data.qd_2s[2] = g3_state.a2.v;
adimmit 12:b203f3ae57d0 636 //spi_data.qd_3s[2] = g3_state.a3.v;
adimmit 12:b203f3ae57d0 637 //spi_data.tau_1s[2] = g3_state.a1.t;
adimmit 12:b203f3ae57d0 638 //spi_data.tau_2s[2] = g3_state.a2.t;
adimmit 12:b203f3ae57d0 639 //spi_data.tau_3s[2] = g3_state.a3.t;
adimmit 0:76c761d3caf1 640
adimmit 0:76c761d3caf1 641 if(estop==0){
adimmit 5:f1703165ca7e 642 printf("estopped!!!!\n\r");
adimmit 6:077e37d5c2da 643 memset(&g1_control, 0, sizeof(g1_control));
adimmit 6:077e37d5c2da 644 memset(&g2_control, 0, sizeof(g2_control));
adimmit 12:b203f3ae57d0 645 //memset(&g3_control, 0, sizeof(g3_control));
adimmit 0:76c761d3caf1 646 spi_data.flags[0] = 0xdead;
adimmit 0:76c761d3caf1 647 spi_data.flags[1] = 0xdead;
adimmit 12:b203f3ae57d0 648 //spi_data.flags[2] = 0xdead;
adimmit 0:76c761d3caf1 649 led = 1;
adimmit 0:76c761d3caf1 650 }
adimmit 0:76c761d3caf1 651
adimmit 0:76c761d3caf1 652 else{
adimmit 0:76c761d3caf1 653 led = 0;
adimmit 6:077e37d5c2da 654 memset(&g1_control, 0, sizeof(g1_control));
adimmit 6:077e37d5c2da 655 memset(&g2_control, 0, sizeof(g2_control));
adimmit 12:b203f3ae57d0 656 //memset(&g3_control, 0, sizeof(g3_control));
adimmit 0:76c761d3caf1 657
adimmit 5:f1703165ca7e 658 //TRANSLATE SPI TO ACTUATOR COMMANNDS
adimmit 5:f1703165ca7e 659 //CAN1
adimmit 5:f1703165ca7e 660 //CAN1 MOTOR1
adimmit 5:f1703165ca7e 661 g1_control.a1.p_des = spi_command.q_des_1s[0];
adimmit 5:f1703165ca7e 662 g1_control.a1.v_des = spi_command.qd_des_1s[0];
adimmit 5:f1703165ca7e 663 g1_control.a1.kp = spi_command.kp_1s[0];
adimmit 5:f1703165ca7e 664 g1_control.a1.kd = spi_command.kd_1s[0];
adimmit 5:f1703165ca7e 665 g1_control.a1.t_ff = spi_command.tau_1s_ff[0];
adimmit 5:f1703165ca7e 666 //CAN1 MOTOR 2
adimmit 12:b203f3ae57d0 667 //g1_control.a2.p_des = spi_command.q_des_2s[0];
adimmit 12:b203f3ae57d0 668 //g1_control.a2.v_des = spi_command.qd_des_2s[0];
adimmit 12:b203f3ae57d0 669 //g1_control.a2.kp = spi_command.kp_2s[0];
adimmit 12:b203f3ae57d0 670 //g1_control.a2.kd = spi_command.kd_2s[0];
adimmit 12:b203f3ae57d0 671 //g1_control.a2.t_ff = spi_command.tau_2s_ff[0];
adimmit 5:f1703165ca7e 672 //CAN1 MOTOR 3
adimmit 12:b203f3ae57d0 673 //g1_control.a3.p_des = spi_command.q_des_3s[0];
adimmit 12:b203f3ae57d0 674 //g1_control.a3.v_des = spi_command.qd_des_3s[0];
adimmit 12:b203f3ae57d0 675 //g1_control.a3.kp = spi_command.kp_3s[0];
adimmit 12:b203f3ae57d0 676 //g1_control.a3.kd = spi_command.kd_3s[0];
adimmit 12:b203f3ae57d0 677 //g1_control.a3.t_ff = spi_command.tau_3s_ff[0];
adimmit 5:f1703165ca7e 678 //CAN2
adimmit 5:f1703165ca7e 679 //CAN2 MOTOR1
adimmit 5:f1703165ca7e 680 g2_control.a1.p_des = spi_command.q_des_1s[1];
adimmit 5:f1703165ca7e 681 g2_control.a1.v_des = spi_command.qd_des_1s[1];
adimmit 5:f1703165ca7e 682 g2_control.a1.kp = spi_command.kp_1s[1];
adimmit 5:f1703165ca7e 683 g2_control.a1.kd = spi_command.kd_1s[1];
adimmit 5:f1703165ca7e 684 g2_control.a1.t_ff = spi_command.tau_1s_ff[1];
adimmit 5:f1703165ca7e 685 //CAN2 MOTOR 2
adimmit 12:b203f3ae57d0 686 //g2_control.a2.p_des = spi_command.q_des_2s[1];
adimmit 12:b203f3ae57d0 687 //g2_control.a2.v_des = spi_command.qd_des_2s[1];
adimmit 12:b203f3ae57d0 688 //g2_control.a2.kp = spi_command.kp_2s[1];
adimmit 12:b203f3ae57d0 689 //g2_control.a2.kd = spi_command.kd_2s[1];
adimmit 12:b203f3ae57d0 690 //g2_control.a2.t_ff = spi_command.tau_2s_ff[1];
adimmit 5:f1703165ca7e 691 //CAN2 MOTOR 3
adimmit 12:b203f3ae57d0 692 //g2_control.a3.p_des = spi_command.q_des_3s[1];
adimmit 12:b203f3ae57d0 693 //g2_control.a3.v_des = spi_command.qd_des_3s[1];
adimmit 12:b203f3ae57d0 694 //g2_control.a3.kp = spi_command.kp_3s[1];
adimmit 12:b203f3ae57d0 695 //g2_control.a3.kd = spi_command.kd_3s[1];
adimmit 12:b203f3ae57d0 696 //g2_control.a3.t_ff = spi_command.tau_3s_ff[1];
adimmit 5:f1703165ca7e 697 //CAN3
adimmit 5:f1703165ca7e 698 //CAN3 MOTOR1
adimmit 12:b203f3ae57d0 699 //g3_control.a1.p_des = spi_command.q_des_1s[2];
adimmit 12:b203f3ae57d0 700 //g3_control.a1.v_des = spi_command.qd_des_1s[2];
adimmit 12:b203f3ae57d0 701 //g3_control.a1.kp = spi_command.kp_1s[2];
adimmit 12:b203f3ae57d0 702 //g3_control.a1.kd = spi_command.kd_1s[2];
adimmit 12:b203f3ae57d0 703 //g3_control.a1.t_ff = spi_command.tau_1s_ff[2];
adimmit 5:f1703165ca7e 704 //CAN3 MOTOR 2
adimmit 12:b203f3ae57d0 705 //g3_control.a2.p_des = spi_command.q_des_2s[2];
adimmit 12:b203f3ae57d0 706 //g3_control.a2.v_des = spi_command.qd_des_2s[2];
adimmit 12:b203f3ae57d0 707 //g3_control.a2.kp = spi_command.kp_2s[2];
adimmit 12:b203f3ae57d0 708 //g3_control.a2.kd = spi_command.kd_2s[2];
adimmit 12:b203f3ae57d0 709 //g3_control.a2.t_ff = spi_command.tau_2s_ff[2];
adimmit 5:f1703165ca7e 710 //CAN3 MOTOR 3
adimmit 12:b203f3ae57d0 711 //g3_control.a3.p_des = spi_command.q_des_3s[2];
adimmit 12:b203f3ae57d0 712 //g3_control.a3.v_des = spi_command.qd_des_3s[2];
adimmit 12:b203f3ae57d0 713 //g3_control.a3.kp = spi_command.kp_3s[2];
adimmit 12:b203f3ae57d0 714 //g3_control.a3.kd = spi_command.kd_3s[2];
adimmit 12:b203f3ae57d0 715 //g3_control.a3.t_ff = spi_command.tau_3s_ff[2];
adimmit 0:76c761d3caf1 716
adimmit 7:2f785cb39f11 717 //SPI FLAGS RETURN //IMPLEMENTS THE JOINT SOFT STOP RIGHT HERE
adimmit 0:76c761d3caf1 718 spi_data.flags[0] = 0;
adimmit 0:76c761d3caf1 719 spi_data.flags[1] = 0;
adimmit 12:b203f3ae57d0 720 //spi_data.flags[2] = 0;
adimmit 9:16a550d36425 721 //spi_data.flags[0] |= softstop_joint(g1_state.a1, &g1_control.a1, A1_LIM_P, A1_LIM_N);
adimmit 9:16a550d36425 722 //spi_data.flags[0] |= (softstop_joint(g1_state.a2, &g1_control.a2, A2_LIM_P, A2_LIM_N))<<1;
adimmit 9:16a550d36425 723 //spi_data.flags[0] |= (softstop_joint(g1_state.a3, &g1_control.a3, A3_LIM_P, A3_LIM_N))<<2;
adimmit 9:16a550d36425 724 //spi_data.flags[1] |= softstop_joint(g2_state.a1, &g2_control.a1, A1_LIM_P, A1_LIM_N);
adimmit 9:16a550d36425 725 //spi_data.flags[1] |= (softstop_joint(g2_state.a2, &g2_control.a2, A2_LIM_P, A2_LIM_N))<<1;
adimmit 9:16a550d36425 726 //spi_data.flags[1] |= (softstop_joint(g2_state.a3, &g2_control.a3, A3_LIM_P, A3_LIM_N))<<2;
adimmit 9:16a550d36425 727 //spi_data.flags[2] |= softstop_joint(g3_state.a1, &g3_control.a1, A1_LIM_P, A1_LIM_N);
adimmit 9:16a550d36425 728 //spi_data.flags[2] |= (softstop_joint(g3_state.a2, &g3_control.a2, A2_LIM_P, A2_LIM_N))<<1;
adimmit 9:16a550d36425 729 //spi_data.flags[2] |= (softstop_joint(g3_state.a3, &g3_control.a3, A3_LIM_P, A3_LIM_N))<<2;
adimmit 0:76c761d3caf1 730
adimmit 0:76c761d3caf1 731 //spi_data.flags[0] = 0xbeef;
adimmit 0:76c761d3caf1 732 //spi_data.flags[1] = 0xbeef;
adimmit 0:76c761d3caf1 733 //PackAll();
adimmit 0:76c761d3caf1 734 //WriteAll();
adimmit 0:76c761d3caf1 735 }
adimmit 0:76c761d3caf1 736 spi_data.checksum = xor_checksum((uint32_t*)&spi_data,14);
adimmit 0:76c761d3caf1 737 for(int i = 0; i < DATA_LEN; i++){
adimmit 0:76c761d3caf1 738 tx_buff[i] = ((uint16_t*)(&spi_data))[i];}
adimmit 0:76c761d3caf1 739
adimmit 0:76c761d3caf1 740 }
adimmit 0:76c761d3caf1 741
adimmit 0:76c761d3caf1 742
adimmit 0:76c761d3caf1 743 void test_control()
adimmit 0:76c761d3caf1 744 {
adimmit 0:76c761d3caf1 745 for(int i = 0; i < 3; i++)
adimmit 0:76c761d3caf1 746 {
adimmit 0:76c761d3caf1 747 spi_data.q_1s[i] = spi_command.q_des_1s[i] + 1.f;
adimmit 12:b203f3ae57d0 748 //spi_data.q_2s[i] = spi_command.q_des_2s[i] + 1.f;
adimmit 12:b203f3ae57d0 749 //spi_data.q_3s[i] = spi_command.q_des_3s[i] + 1.f;
adimmit 0:76c761d3caf1 750
adimmit 0:76c761d3caf1 751 spi_data.qd_1s[i] = spi_command.qd_des_1s[i] + 1.f;
adimmit 12:b203f3ae57d0 752 //spi_data.qd_2s[i] = spi_command.qd_des_2s[i] + 1.f;
adimmit 12:b203f3ae57d0 753 //spi_data.qd_3s[i] = spi_command.qd_des_3s[i] + 1.f;
adimmit 0:76c761d3caf1 754 }
adimmit 0:76c761d3caf1 755
adimmit 0:76c761d3caf1 756 spi_data.flags[0] = 0xdead;
adimmit 0:76c761d3caf1 757 //spi_data.flags[1] = 0xbeef;
adimmit 0:76c761d3caf1 758
adimmit 0:76c761d3caf1 759 // only do first 56 bytes of message.
adimmit 0:76c761d3caf1 760 spi_data.checksum = xor_checksum((uint32_t*)&spi_data,14);
adimmit 0:76c761d3caf1 761
adimmit 0:76c761d3caf1 762 for(int i = 0; i < DATA_LEN; i++)
adimmit 0:76c761d3caf1 763 tx_buff[i] = ((uint16_t*)(&spi_data))[i];
adimmit 0:76c761d3caf1 764 }
adimmit 0:76c761d3caf1 765
adimmit 0:76c761d3caf1 766 void init_spi(void){
adimmit 0:76c761d3caf1 767 SPISlave *spi = new SPISlave(PA_7, PA_6, PA_5, PA_4);
adimmit 0:76c761d3caf1 768 spi->format(16, 0);
adimmit 13:ad3ca70bf929 769 spi->frequency(12000000);
adimmit 0:76c761d3caf1 770 spi->reply(0x0);
adimmit 0:76c761d3caf1 771 cs.fall(&spi_isr);
adimmit 1:aa253b5f5b65 772 pc.printf("done\n\r");
adimmit 0:76c761d3caf1 773 }
adimmit 0:76c761d3caf1 774
adimmit 0:76c761d3caf1 775 int main() {
adimmit 0:76c761d3caf1 776 wait(1);
adimmit 0:76c761d3caf1 777 //led = 1;
adimmit 1:aa253b5f5b65 778 pc.baud(115200); //MAYBE CHANGE THIS IF NEEDED
adimmit 0:76c761d3caf1 779 pc.attach(&serial_isr);
adimmit 0:76c761d3caf1 780 estop.mode(PullUp);
adimmit 0:76c761d3caf1 781 //spi.format(16, 0);
adimmit 0:76c761d3caf1 782 //spi.frequency(1000000);
adimmit 0:76c761d3caf1 783 //spi.reply(0x0);
adimmit 0:76c761d3caf1 784 //cs.fall(&spi_isr);
adimmit 0:76c761d3caf1 785
adimmit 0:76c761d3caf1 786 //can1.frequency(1000000); // set bit rate to 1Mbps
adimmit 0:76c761d3caf1 787 //can1.attach(&rxISR1); // attach 'CAN receive-complete' interrupt handler
adimmit 0:76c761d3caf1 788 can1.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
adimmit 0:76c761d3caf1 789 //can2.frequency(1000000); // set bit rate to 1Mbps
adimmit 0:76c761d3caf1 790 //can2.attach(&rxISR2); // attach 'CAN receive-complete' interrupt handler
adimmit 0:76c761d3caf1 791 can2.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
adimmit 13:ad3ca70bf929 792 //can3.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
adimmit 0:76c761d3caf1 793
adimmit 0:76c761d3caf1 794 memset(&tx_buff, 0, TX_LEN * sizeof(uint16_t));
adimmit 0:76c761d3caf1 795 memset(&spi_data, 0, sizeof(spi_data_t));
adimmit 0:76c761d3caf1 796 memset(&spi_command,0,sizeof(spi_command_t));
adimmit 0:76c761d3caf1 797
adimmit 0:76c761d3caf1 798
adimmit 0:76c761d3caf1 799 NVIC_SetPriority(TIM5_IRQn, 1);
adimmit 0:76c761d3caf1 800 //NVIC_SetPriority(CAN1_RX0_IRQn, 3);
adimmit 0:76c761d3caf1 801 //NVIC_SetPriority(CAN2_RX0_IRQn, 3);
adimmit 0:76c761d3caf1 802
adimmit 0:76c761d3caf1 803 pc.printf("\n\r SPIne\n\r");
adimmit 0:76c761d3caf1 804 //printf("%d\n\r", RX_ID << 18);
adimmit 0:76c761d3caf1 805
adimmit 5:f1703165ca7e 806 //CAN 1 BUS
adimmit 0:76c761d3caf1 807 q11_can.len = 8; //transmit 8 bytes
adimmit 12:b203f3ae57d0 808 //q12_can.len = 8; //transmit 8 bytes
adimmit 12:b203f3ae57d0 809 //q13_can.len = 8;
adimmit 5:f1703165ca7e 810 //CAN 2 BUS
adimmit 0:76c761d3caf1 811 q21_can.len = 8; //transmit 8 bytes
adimmit 12:b203f3ae57d0 812 //q22_can.len = 8; //transmit 8 bytes
adimmit 12:b203f3ae57d0 813 //q23_can.len = 8;
adimmit 5:f1703165ca7e 814 //CAN 3 BUS
adimmit 12:b203f3ae57d0 815 //q31_can.len = 8; //transmit 8 bytes
adimmit 12:b203f3ae57d0 816 //q32_can.len = 8; //transmit 8 bytes
adimmit 12:b203f3ae57d0 817 //q33_can.len = 8;
adimmit 5:f1703165ca7e 818 //RECIEVE
adimmit 0:76c761d3caf1 819 rxMsg1.len = 6; //receive 6 bytes
adimmit 0:76c761d3caf1 820 rxMsg2.len = 6;
adimmit 12:b203f3ae57d0 821 //rxMsg3.len = 6;
adimmit 5:f1703165ca7e 822
adimmit 5:f1703165ca7e 823 //CAN 1 BUS
adimmit 0:76c761d3caf1 824 q11_can.id = 0x1;
adimmit 12:b203f3ae57d0 825 //q12_can.id = 0x2;
adimmit 12:b203f3ae57d0 826 //q13_can.id = 0x3;
adimmit 5:f1703165ca7e 827 //CAN 2 BUS
adimmit 5:f1703165ca7e 828 q21_can.id = 0x1;
adimmit 12:b203f3ae57d0 829 //q22_can.id = 0x2;
adimmit 12:b203f3ae57d0 830 //q23_can.id = 0x3;
adimmit 5:f1703165ca7e 831 //CAN 3 BUS
adimmit 12:b203f3ae57d0 832 //q31_can.id = 0x1;
adimmit 12:b203f3ae57d0 833 //q32_can.id = 0x2;
adimmit 12:b203f3ae57d0 834 //q33_can.id = 0x3;
adimmit 0:76c761d3caf1 835
adimmit 5:f1703165ca7e 836 //actuators on the CAN1 bus
adimmit 6:077e37d5c2da 837 pack_cmd(&q11_can, g1_control.a1);
adimmit 12:b203f3ae57d0 838 //pack_cmd(&q12_can, g1_control.a2);
adimmit 12:b203f3ae57d0 839 //pack_cmd(&q13_can, g1_control.a3);
adimmit 5:f1703165ca7e 840 //actuators on the CAN2 bus
adimmit 6:077e37d5c2da 841 pack_cmd(&q21_can, g2_control.a1);
adimmit 12:b203f3ae57d0 842 //pack_cmd(&q22_can, g2_control.a2);
adimmit 12:b203f3ae57d0 843 //pack_cmd(&q23_can, g2_control.a3);
adimmit 5:f1703165ca7e 844 //actuators on the CAN3 bus
adimmit 12:b203f3ae57d0 845 //pack_cmd(&q31_can, g3_control.a1);
adimmit 12:b203f3ae57d0 846 //pack_cmd(&q32_can, g3_control.a2);
adimmit 12:b203f3ae57d0 847 //pack_cmd(&q33_can, g3_control.a3);
adimmit 5:f1703165ca7e 848 //WRITE THE INITIAL COMMAND
adimmit 0:76c761d3caf1 849 WriteAll();
adimmit 1:aa253b5f5b65 850
adimmit 1:aa253b5f5b65 851 //just debugging things
adimmit 1:aa253b5f5b65 852 pc.printf("SETUP VARS ALL DONE\n");
adimmit 0:76c761d3caf1 853
adimmit 0:76c761d3caf1 854
adimmit 0:76c761d3caf1 855 // SPI doesn't work if enabled while the CS pin is pulled low
adimmit 0:76c761d3caf1 856 // Wait for CS to not be low, then enable SPI
adimmit 0:76c761d3caf1 857 if(!spi_enabled){
adimmit 1:aa253b5f5b65 858 while((spi_enabled==0) && (cs.read() ==0)){pc.printf("waiting for CS Pin\n"); wait_us(10);}
adimmit 0:76c761d3caf1 859 init_spi();
adimmit 0:76c761d3caf1 860 spi_enabled = 1;
adimmit 1:aa253b5f5b65 861 pc.printf("SPI ENABLED AND READY\n");
adimmit 0:76c761d3caf1 862 }
adimmit 0:76c761d3caf1 863
adimmit 0:76c761d3caf1 864 //spi_command=set the thing here...
adimmit 0:76c761d3caf1 865
adimmit 0:76c761d3caf1 866 while(1) {
adimmit 1:aa253b5f5b65 867 //pc.printf("test, of SPINE\r\n");
adimmit 0:76c761d3caf1 868 counter++;
adimmit 0:76c761d3caf1 869 can2.read(rxMsg2);
adimmit 0:76c761d3caf1 870 unpack_reply(rxMsg2, &g2_state);
adimmit 0:76c761d3caf1 871 can1.read(rxMsg1); // read message into Rx message storage
adimmit 0:76c761d3caf1 872 unpack_reply(rxMsg1, &g1_state);
adimmit 13:ad3ca70bf929 873 ///wait(0.01);
adimmit 13:ad3ca70bf929 874 }
adimmit 2:32f69175c78e 875
adimmit 0:76c761d3caf1 876 }