Aditya Mehrotra / SPINE_FIDDY_TEST

test code for SPI communications with any board

Dependencies:   mbed-dev

leg_message.h@12:b203f3ae57d0, 2021-05-12 (annotated)

Committer:
adimmit
Date:
Wed May 12 15:11:14 2021 +0000
Revision:
12:b203f3ae57d0
Parent:
11:f3f01f363dd1
Child:
15:d3c93f01a02b
changed to two motors on a single chip;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adimmit 0:76c761d3caf1 1 #ifndef _leg_message
adimmit 0:76c761d3caf1 2 #define _leg_message
adimmit 0:76c761d3caf1 3
adimmit 0:76c761d3caf1 4 #include <stdint.h>
adimmit 0:76c761d3caf1 5
adimmit 12:b203f3ae57d0 6 // 36 bytes
adimmit 12:b203f3ae57d0 7 // 18 16-bit words
adimmit 0:76c761d3caf1 8 struct spi_data_t
adimmit 0:76c761d3caf1 9 {
adimmit 11:f3f01f363dd1 10 float q_1s[2];
adimmit 11:f3f01f363dd1 11 float qd_1s[2];
adimmit 11:f3f01f363dd1 12 float tau_1s[2];
adimmit 11:f3f01f363dd1 13 int32_t flags[2];
adimmit 0:76c761d3caf1 14 int32_t checksum;
adimmit 0:76c761d3caf1 15 };
adimmit 0:76c761d3caf1 16
adimmit 12:b203f3ae57d0 17 // 52 bytes
adimmit 12:b203f3ae57d0 18 // 26 16-bit words
adimmit 0:76c761d3caf1 19 struct spi_command_t
adimmit 0:76c761d3caf1 20 {
adimmit 11:f3f01f363dd1 21 float q_des_1s[2]; //first motor on each can bus 0-can1, 1-can2, 2-can3
adimmit 11:f3f01f363dd1 22 float qd_des_1s[2];
adimmit 11:f3f01f363dd1 23 float kp_1s[2];
adimmit 11:f3f01f363dd1 24 float kd_1s[2];
adimmit 11:f3f01f363dd1 25 float tau_1s_ff[2];
adimmit 11:f3f01f363dd1 26 int32_t flags[2];
adimmit 0:76c761d3caf1 27 int32_t checksum;
adimmit 0:76c761d3caf1 28 };
adimmit 0:76c761d3caf1 29
adimmit 0:76c761d3caf1 30
adimmit 0:76c761d3caf1 31
adimmit 0:76c761d3caf1 32 struct joint_control{
adimmit 0:76c761d3caf1 33 float p_des, v_des, kp, kd, t_ff;
adimmit 0:76c761d3caf1 34 };
adimmit 0:76c761d3caf1 35
adimmit 0:76c761d3caf1 36 struct joint_state{
adimmit 0:76c761d3caf1 37 float p, v, t;
adimmit 0:76c761d3caf1 38 };
adimmit 0:76c761d3caf1 39
adimmit 0:76c761d3caf1 40 struct grouped_act_state{
adimmit 12:b203f3ae57d0 41 joint_state a1; //removed a2 and a3
adimmit 0:76c761d3caf1 42 };
adimmit 0:76c761d3caf1 43 struct grouped_act_control{
adimmit 12:b203f3ae57d0 44 joint_control a1;
adimmit 0:76c761d3caf1 45 }
adimmit 0:76c761d3caf1 46 ;
adimmit 0:76c761d3caf1 47 #endif