Aditya Mehrotra / SPINE_FIDDY_TEST

test code for SPI communications with any board

Dependencies:   mbed-dev

main.cpp@12:b203f3ae57d0, 2021-05-12 (annotated)

Committer:
adimmit
Date:
Wed May 12 15:11:14 2021 +0000
Revision:
12:b203f3ae57d0
Parent:
10:42438194e82b
Child:
13:ad3ca70bf929
changed to two motors on a single chip;

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 5:f1703165ca7e 32 #define KD_MAX 10.0f
adimmit 5:f1703165ca7e 33 #define T_MIN -72.0f
adimmit 5:f1703165ca7e 34 #define T_MAX 72.0f
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 12:b203f3ae57d0 373 /*
adimmit 2:32f69175c78e 374 void print_SPI_command() {
adimmit 2:32f69175c78e 375 pc.printf("SPI MESSAGE RECIEVED:\n");
adimmit 5:f1703165ca7e 376 //CAN ONE
adimmit 5:f1703165ca7e 377 pc.printf("MOTOR 1-1 Q: %f\n", spi_command.q_des_1s[0]);
adimmit 5:f1703165ca7e 378 pc.printf("MOTOR 1-1 Qd: %f\n", spi_command.qd_des_1s[0]);
adimmit 5:f1703165ca7e 379 pc.printf("MOTOR 1-1 Kp: %f\n", spi_command.kp_1s[0]);
adimmit 5:f1703165ca7e 380 pc.printf("MOTOR 1-1 Kd: %f\n", spi_command.kd_1s[0]);
adimmit 5:f1703165ca7e 381 pc.printf("MOTOR 1-1 T_FF: %f\n", spi_command.tau_1s_ff[0]);
adimmit 2:32f69175c78e 382
adimmit 5:f1703165ca7e 383 pc.printf("MOTOR 1-2 Q: %f\n", spi_command.q_des_2s[0]);
adimmit 5:f1703165ca7e 384 pc.printf("MOTOR 1-2 Qd: %f\n", spi_command.qd_des_2s[0]);
adimmit 5:f1703165ca7e 385 pc.printf("MOTOR 1-2 Kp: %f\n", spi_command.kp_2s[0]);
adimmit 5:f1703165ca7e 386 pc.printf("MOTOR 1-2 Kd: %f\n", spi_command.kd_2s[0]);
adimmit 5:f1703165ca7e 387 pc.printf("MOTOR 1-2 T_FF: %f\n", spi_command.tau_2s_ff[0]);
adimmit 2:32f69175c78e 388
adimmit 5:f1703165ca7e 389 pc.printf("MOTOR 1-3 Q: %f\n", spi_command.q_des_3s[0]);
adimmit 5:f1703165ca7e 390 pc.printf("MOTOR 1-3 Qd: %f\n", spi_command.qd_des_3s[0]);
adimmit 5:f1703165ca7e 391 pc.printf("MOTOR 1-3 Kp: %f\n", spi_command.kp_3s[0]);
adimmit 5:f1703165ca7e 392 pc.printf("MOTOR 1-3 Kd: %f\n", spi_command.kd_3s[0]);
adimmit 5:f1703165ca7e 393 pc.printf("MOTOR 1-3 T_FF: %f\n", spi_command.tau_3s_ff[0]);
adimmit 2:32f69175c78e 394
adimmit 5:f1703165ca7e 395 pc.printf("MOTOR 2-1 Q: %f\n", spi_command.q_des_1s[1]);
adimmit 5:f1703165ca7e 396 pc.printf("MOTOR 2-1 Qd: %f\n", spi_command.qd_des_1s[1]);
adimmit 5:f1703165ca7e 397 pc.printf("MOTOR 2-1 Kp: %f\n", spi_command.kp_1s[1]);
adimmit 5:f1703165ca7e 398 pc.printf("MOTOR 2-1 Kd: %f\n", spi_command.kd_1s[1]);
adimmit 5:f1703165ca7e 399 pc.printf("MOTOR 2-1_FF: %f\n", spi_command.tau_1s_ff[1]);
adimmit 2:32f69175c78e 400
adimmit 5:f1703165ca7e 401 pc.printf("MOTOR 2-2 Q: %f\n", spi_command.q_des_2s[1]);
adimmit 5:f1703165ca7e 402 pc.printf("MOTOR 2-2 Qd: %f\n", spi_command.qd_des_2s[1]);
adimmit 5:f1703165ca7e 403 pc.printf("MOTOR 2-2 Kp: %f\n", spi_command.kp_2s[1]);
adimmit 5:f1703165ca7e 404 pc.printf("MOTOR 2-2 Kd: %f\n", spi_command.kd_2s[1]);
adimmit 5:f1703165ca7e 405 pc.printf("MOTOR 2-2 T_FF: %f\n", spi_command.tau_2s_ff[1]);
adimmit 2:32f69175c78e 406
adimmit 5:f1703165ca7e 407 pc.printf("MOTOR 2-3 Q: %f\n", spi_command.q_des_3s[1]);
adimmit 5:f1703165ca7e 408 pc.printf("MOTOR 2-3 Qd: %f\n", spi_command.qd_des_3s[1]);
adimmit 5:f1703165ca7e 409 pc.printf("MOTOR 2-3 Kp: %f\n", spi_command.kp_3s[1]);
adimmit 5:f1703165ca7e 410 pc.printf("MOTOR 2-3 Kd: %f\n", spi_command.kd_3s[1]);
adimmit 5:f1703165ca7e 411 pc.printf("MOTOR 2-3 T_FF: %f\n", spi_command.tau_3s_ff[1]);
adimmit 2:32f69175c78e 412
adimmit 5:f1703165ca7e 413 pc.printf("MOTOR 3-1 Q: %f\n", spi_command.q_des_1s[2]);
adimmit 5:f1703165ca7e 414 pc.printf("MOTOR 3-1 Qd: %f\n", spi_command.qd_des_1s[2]);
adimmit 5:f1703165ca7e 415 pc.printf("MOTOR 3-1 Kp: %f\n", spi_command.kp_1s[2]);
adimmit 5:f1703165ca7e 416 pc.printf("MOTOR 3-1 Kd: %f\n", spi_command.kd_1s[2]);
adimmit 5:f1703165ca7e 417 pc.printf("MOTOR 3-1 T_FF: %f\n", spi_command.tau_1s_ff[2]);
adimmit 2:32f69175c78e 418
adimmit 5:f1703165ca7e 419 pc.printf("MOTOR 3-2 Q: %f\n", spi_command.q_des_2s[2]);
adimmit 5:f1703165ca7e 420 pc.printf("MOTOR 3-2 Qd: %f\n", spi_command.qd_des_2s[2]);
adimmit 5:f1703165ca7e 421 pc.printf("MOTOR 3-2 Kp: %f\n", spi_command.kp_2s[2]);
adimmit 5:f1703165ca7e 422 pc.printf("MOTOR 3-2 Kd: %f\n", spi_command.kd_2s[2]);
adimmit 5:f1703165ca7e 423 pc.printf("MOTOR 3-2 T_FF: %f\n", spi_command.tau_2s_ff[2]);
adimmit 2:32f69175c78e 424
adimmit 5:f1703165ca7e 425 pc.printf("MOTOR 3-3 Q: %f\n", spi_command.q_des_3s[2]);
adimmit 5:f1703165ca7e 426 pc.printf("MOTOR 3-3 Qd: %f\n", spi_command.qd_des_3s[2]);
adimmit 5:f1703165ca7e 427 pc.printf("MOTOR 3-3 Kp: %f\n", spi_command.kp_3s[2]);
adimmit 5:f1703165ca7e 428 pc.printf("MOTOR 3-3 Kd: %f\n", spi_command.kd_3s[2]);
adimmit 5:f1703165ca7e 429 pc.printf("MOTOR 3-3 T_FF: %f\n", spi_command.tau_3s_ff[2]);
adimmit 2:32f69175c78e 430
adimmit 2:32f69175c78e 431 }
adimmit 12:b203f3ae57d0 432 */
adimmit 2:32f69175c78e 433
adimmit 2:32f69175c78e 434
adimmit 12:b203f3ae57d0 435 /*
adimmit 9:16a550d36425 436 void print_SPI_data() {
adimmit 9:16a550d36425 437 pc.printf("SPI MESSAGE SENT:\n");
adimmit 9:16a550d36425 438 //CAN ONE
adimmit 9:16a550d36425 439 pc.printf("MOTOR 1-1 Q: %f\n", spi_data.q_1s[0]);
adimmit 9:16a550d36425 440 pc.printf("MOTOR 1-1 Qd: %f\n", spi_data.qd_1s[0]);
adimmit 9:16a550d36425 441
adimmit 9:16a550d36425 442 pc.printf("MOTOR 1-2 Q: %f\n", spi_data.q_2s[0]);
adimmit 9:16a550d36425 443 pc.printf("MOTOR 1-2 Qd: %f\n", spi_data.qd_2s[0]);
adimmit 9:16a550d36425 444
adimmit 9:16a550d36425 445 pc.printf("MOTOR 1-3 Q: %f\n", spi_data.q_3s[0]);
adimmit 9:16a550d36425 446 pc.printf("MOTOR 1-3 Qd: %f\n", spi_data.qd_3s[0]);
adimmit 9:16a550d36425 447
adimmit 9:16a550d36425 448 pc.printf("MOTOR 2-1 Q: %f\n", spi_data.q_1s[1]);
adimmit 9:16a550d36425 449 pc.printf("MOTOR 2-1 Qd: %f\n", spi_data.qd_1s[1]);
adimmit 9:16a550d36425 450
adimmit 9:16a550d36425 451 pc.printf("MOTOR 2-2 Q: %f\n", spi_data.q_2s[1]);
adimmit 9:16a550d36425 452 pc.printf("MOTOR 2-2 Qd: %f\n", spi_data.qd_2s[1]);
adimmit 9:16a550d36425 453
adimmit 9:16a550d36425 454 pc.printf("MOTOR 2-3 Q: %f\n", spi_data.q_3s[1]);
adimmit 9:16a550d36425 455 pc.printf("MOTOR 2-3 Qd: %f\n", spi_data.qd_3s[1]);
adimmit 9:16a550d36425 456
adimmit 9:16a550d36425 457 pc.printf("MOTOR 3-1 Q: %f\n", spi_data.q_1s[2]);
adimmit 9:16a550d36425 458 pc.printf("MOTOR 3-1 Qd: %f\n", spi_data.qd_1s[2]);
adimmit 9:16a550d36425 459
adimmit 9:16a550d36425 460 pc.printf("MOTOR 3-2 Q: %f\n", spi_data.q_2s[2]);
adimmit 9:16a550d36425 461 pc.printf("MOTOR 3-2 Qd: %f\n", spi_data.qd_2s[2]);
adimmit 9:16a550d36425 462
adimmit 9:16a550d36425 463 pc.printf("MOTOR 3-3 Q: %f\n", spi_data.q_3s[2]);
adimmit 9:16a550d36425 464 pc.printf("MOTOR 3-3 Qd: %f\n", spi_data.qd_3s[2]);
adimmit 9:16a550d36425 465
adimmit 9:16a550d36425 466 }
adimmit 12:b203f3ae57d0 467 */
adimmit 9:16a550d36425 468
adimmit 9:16a550d36425 469
adimmit 9:16a550d36425 470
adimmit 2:32f69175c78e 471
adimmit 0:76c761d3caf1 472 void spi_isr(void)
adimmit 0:76c761d3caf1 473 {
adimmit 1:aa253b5f5b65 474 //pc.printf("CS ACTIVE\n");
adimmit 0:76c761d3caf1 475 GPIOC->ODR |= (1 << 8);
adimmit 0:76c761d3caf1 476 GPIOC->ODR &= ~(1 << 8);
adimmit 0:76c761d3caf1 477 int bytecount = 0;
adimmit 0:76c761d3caf1 478 SPI1->DR = tx_buff[0];
adimmit 0:76c761d3caf1 479 while(cs == 0) {
adimmit 0:76c761d3caf1 480 if(SPI1->SR&0x1) {
adimmit 1:aa253b5f5b65 481 rx_buff[bytecount] = SPI1->DR;
adimmit 0:76c761d3caf1 482 bytecount++;
adimmit 0:76c761d3caf1 483 if(bytecount<TX_LEN) {
adimmit 0:76c761d3caf1 484 SPI1->DR = tx_buff[bytecount];
adimmit 0:76c761d3caf1 485 }
adimmit 0:76c761d3caf1 486 }
adimmit 0:76c761d3caf1 487 }
adimmit 2:32f69175c78e 488 //pc.printf("RECIEVED: %d BYTES\n", bytecount);
adimmit 0:76c761d3caf1 489
adimmit 1:aa253b5f5b65 490 //pc.printf("HERE'S A SPI COMMAND:\n");
adimmit 0:76c761d3caf1 491 // after reading, save into spi_command
adimmit 0:76c761d3caf1 492 // should probably check checksum first!
adimmit 0:76c761d3caf1 493 uint32_t calc_checksum = xor_checksum((uint32_t*)rx_buff,32);
adimmit 0:76c761d3caf1 494 for(int i = 0; i < CMD_LEN; i++)
adimmit 0:76c761d3caf1 495 {
adimmit 0:76c761d3caf1 496 ((uint16_t*)(&spi_command))[i] = rx_buff[i];
adimmit 9:16a550d36425 497 //pc.printf("BYTE %d SENT: %d\n", i, tx_buff[i]);
adimmit 2:32f69175c78e 498 //pc.printf("WORD %d RECIEVED: %d\n", i, rx_buff[i]);
adimmit 0:76c761d3caf1 499 }
adimmit 6:077e37d5c2da 500 //print_SPI_command();
adimmit 0:76c761d3caf1 501
adimmit 0:76c761d3caf1 502 // run control, which fills in tx_buff for the next iteration
adimmit 2:32f69175c78e 503 /*
adimmit 0:76c761d3caf1 504 if(calc_checksum != spi_command.checksum){
adimmit 1:aa253b5f5b65 505 spi_data.flags[1] = 0xdead;
adimmit 2:32f69175c78e 506 pc.printf("FAILED CHECKSUM\n");
adimmit 2:32f69175c78e 507 pc.printf("ACTUAL: %d\n", calc_checksum);
adimmit 2:32f69175c78e 508 pc.printf("CURRENT: %d\n", spi_command.checksum);}
adimmit 2:32f69175c78e 509 */
adimmit 5:f1703165ca7e 510
adimmit 9:16a550d36425 511 //print_SPI_data();
adimmit 0:76c761d3caf1 512 control();
adimmit 0:76c761d3caf1 513 PackAll();
adimmit 0:76c761d3caf1 514 WriteAll();
adimmit 0:76c761d3caf1 515
adimmit 0:76c761d3caf1 516
adimmit 0:76c761d3caf1 517 //for (int i = 0; i<TX_LEN; i++) {
adimmit 0:76c761d3caf1 518 // tx_buff[i] = 2*rx_buff[i];
adimmit 0:76c761d3caf1 519 //}
adimmit 0:76c761d3caf1 520 // for (int i=0; i<TX_LEN; i++) {
adimmit 0:76c761d3caf1 521 // //printf("%d ", rx_buff[i]);
adimmit 0:76c761d3caf1 522 // }
adimmit 0:76c761d3caf1 523 //printf("\n\r");
adimmit 0:76c761d3caf1 524 }
adimmit 0:76c761d3caf1 525
adimmit 0:76c761d3caf1 526 int softstop_joint(joint_state state, joint_control * control, float limit_p, float limit_n){
adimmit 9:16a550d36425 527 /*
adimmit 0:76c761d3caf1 528 if((state.p)>=limit_p){
adimmit 0:76c761d3caf1 529 //control->p_des = limit_p;
adimmit 0:76c761d3caf1 530 control->v_des = 0.0f;
adimmit 0:76c761d3caf1 531 control->kp = 0;
adimmit 0:76c761d3caf1 532 control->kd = KD_SOFTSTOP;
adimmit 0:76c761d3caf1 533 control->t_ff += KP_SOFTSTOP*(limit_p - state.p);
adimmit 0:76c761d3caf1 534 return 1;
adimmit 0:76c761d3caf1 535 }
adimmit 0:76c761d3caf1 536 else if((state.p)<=limit_n){
adimmit 0:76c761d3caf1 537 //control->p_des = limit_n;
adimmit 0:76c761d3caf1 538 control->v_des = 0.0f;
adimmit 0:76c761d3caf1 539 control->kp = 0;
adimmit 0:76c761d3caf1 540 control->kd = KD_SOFTSTOP;
adimmit 0:76c761d3caf1 541 control->t_ff += KP_SOFTSTOP*(limit_n - state.p);
adimmit 0:76c761d3caf1 542 return 1;
adimmit 0:76c761d3caf1 543 }
adimmit 9:16a550d36425 544 */
adimmit 0:76c761d3caf1 545 return 0;
adimmit 0:76c761d3caf1 546
adimmit 0:76c761d3caf1 547 }
adimmit 0:76c761d3caf1 548
adimmit 0:76c761d3caf1 549
adimmit 0:76c761d3caf1 550 void control()
adimmit 0:76c761d3caf1 551 {
adimmit 0:76c761d3caf1 552
adimmit 0:76c761d3caf1 553 if(((spi_command.flags[0]&0x1)==1) && (enabled==0)){
adimmit 0:76c761d3caf1 554 enabled = 1;
adimmit 0:76c761d3caf1 555 //BUS ONE
adimmit 0:76c761d3caf1 556 EnterMotorMode(&q11_can);
adimmit 0:76c761d3caf1 557 can1.write(q11_can);
adimmit 12:b203f3ae57d0 558 //EnterMotorMode(&q12_can);
adimmit 12:b203f3ae57d0 559 //can1.write(q12_can);
adimmit 12:b203f3ae57d0 560 //EnterMotorMode(&q13_can);
adimmit 12:b203f3ae57d0 561 //can1.write(q13_can);
adimmit 5:f1703165ca7e 562 //BUS TWO
adimmit 0:76c761d3caf1 563 EnterMotorMode(&q21_can);
adimmit 5:f1703165ca7e 564 can2.write(q21_can);
adimmit 12:b203f3ae57d0 565 //EnterMotorMode(&q22_can);
adimmit 12:b203f3ae57d0 566 //can2.write(q22_can);
adimmit 12:b203f3ae57d0 567 //EnterMotorMode(&q23_can);
adimmit 12:b203f3ae57d0 568 //can2.write(q23_can);
adimmit 0:76c761d3caf1 569 //BUS THREE
adimmit 12:b203f3ae57d0 570 //EnterMotorMode(&q31_can);
adimmit 12:b203f3ae57d0 571 //can3.write(q31_can);
adimmit 12:b203f3ae57d0 572 //EnterMotorMode(&q32_can);
adimmit 12:b203f3ae57d0 573 //can3.write(q32_can);
adimmit 12:b203f3ae57d0 574 //EnterMotorMode(&q33_can);
adimmit 12:b203f3ae57d0 575 //can3.write(q33_can);
adimmit 8:450fbccaf4f6 576 //WRITE THE COMMANDS
adimmit 8:450fbccaf4f6 577 //WriteAll();
adimmit 5:f1703165ca7e 578 //SERIAL TO USER
adimmit 8:450fbccaf4f6 579 //pc.printf("e\n\r");
adimmit 0:76c761d3caf1 580 return;
adimmit 0:76c761d3caf1 581 }
adimmit 0:76c761d3caf1 582 else if((((spi_command.flags[0]&0x1))==0) && (enabled==1)){
adimmit 0:76c761d3caf1 583 enabled = 0;
adimmit 0:76c761d3caf1 584 //BUS ONE
adimmit 0:76c761d3caf1 585 ExitMotorMode(&q11_can);
adimmit 0:76c761d3caf1 586 can1.write(q11_can);
adimmit 12:b203f3ae57d0 587 //ExitMotorMode(&q12_can);
adimmit 12:b203f3ae57d0 588 //can1.write(q12_can);
adimmit 12:b203f3ae57d0 589 //ExitMotorMode(&q13_can);
adimmit 12:b203f3ae57d0 590 //can1.write(q13_can);
adimmit 5:f1703165ca7e 591 //BUS TWO
adimmit 0:76c761d3caf1 592 ExitMotorMode(&q21_can);
adimmit 5:f1703165ca7e 593 can2.write(q21_can);
adimmit 12:b203f3ae57d0 594 //ExitMotorMode(&q22_can);
adimmit 12:b203f3ae57d0 595 //can2.write(q22_can);
adimmit 12:b203f3ae57d0 596 //ExitMotorMode(&q23_can);
adimmit 12:b203f3ae57d0 597 //can2.write(q23_can);
adimmit 0:76c761d3caf1 598 //BUS THREE
adimmit 12:b203f3ae57d0 599 //ExitMotorMode(&q31_can);
adimmit 12:b203f3ae57d0 600 //can3.write(q31_can);
adimmit 12:b203f3ae57d0 601 //ExitMotorMode(&q32_can);
adimmit 12:b203f3ae57d0 602 //can3.write(q32_can);
adimmit 12:b203f3ae57d0 603 //ExitMotorMode(&q33_can);
adimmit 12:b203f3ae57d0 604 //can3.write(q33_can);
adimmit 8:450fbccaf4f6 605 //WRITE THE COMMANDS
adimmit 8:450fbccaf4f6 606 //WriteAll();
adimmit 5:f1703165ca7e 607 //SERIAL TO USER
adimmit 8:450fbccaf4f6 608 //pc.printf("x\n\r");
adimmit 0:76c761d3caf1 609 return;
adimmit 0:76c761d3caf1 610 }
adimmit 0:76c761d3caf1 611
adimmit 5:f1703165ca7e 612 //BUS 1 DATA
adimmit 5:f1703165ca7e 613 spi_data.q_1s[0] = g1_state.a1.p;
adimmit 12:b203f3ae57d0 614 //spi_data.q_2s[0] = g1_state.a2.p;
adimmit 12:b203f3ae57d0 615 //spi_data.q_3s[0] = g1_state.a3.p;
adimmit 5:f1703165ca7e 616 spi_data.qd_1s[0] = g1_state.a1.v;
adimmit 12:b203f3ae57d0 617 //spi_data.qd_2s[0] = g1_state.a2.v;
adimmit 12:b203f3ae57d0 618 //spi_data.qd_3s[0] = g1_state.a3.v;
adimmit 10:42438194e82b 619 spi_data.tau_1s[0] = g1_state.a1.t;
adimmit 12:b203f3ae57d0 620 //spi_data.tau_2s[0] = g1_state.a2.t;
adimmit 12:b203f3ae57d0 621 //spi_data.tau_3s[0] = g1_state.a3.t;
adimmit 5:f1703165ca7e 622 //BUS 2 DATA
adimmit 9:16a550d36425 623 spi_data.q_1s[1] = g2_state.a1.p;
adimmit 12:b203f3ae57d0 624 //spi_data.q_2s[1] = g2_state.a2.p;
adimmit 12:b203f3ae57d0 625 //spi_data.q_3s[1] = g2_state.a3.p;
adimmit 9:16a550d36425 626 spi_data.qd_1s[1] = g2_state.a1.v;
adimmit 12:b203f3ae57d0 627 //spi_data.qd_2s[1] = g2_state.a2.v;
adimmit 12:b203f3ae57d0 628 //spi_data.qd_3s[1] = g2_state.a3.v;
adimmit 10:42438194e82b 629 spi_data.tau_1s[1] = g2_state.a1.t;
adimmit 12:b203f3ae57d0 630 //spi_data.tau_2s[1] = g2_state.a2.t;
adimmit 12:b203f3ae57d0 631 //spi_data.tau_3s[1] = g2_state.a3.t;
adimmit 5:f1703165ca7e 632 //BUS 3 DATA
adimmit 12:b203f3ae57d0 633 //spi_data.q_1s[2] = g3_state.a1.p;
adimmit 12:b203f3ae57d0 634 //spi_data.q_2s[2] = g3_state.a2.p;
adimmit 12:b203f3ae57d0 635 //spi_data.q_3s[2] = g3_state.a3.p;
adimmit 12:b203f3ae57d0 636 //spi_data.qd_1s[2] = g3_state.a1.v;
adimmit 12:b203f3ae57d0 637 //spi_data.qd_2s[2] = g3_state.a2.v;
adimmit 12:b203f3ae57d0 638 //spi_data.qd_3s[2] = g3_state.a3.v;
adimmit 12:b203f3ae57d0 639 //spi_data.tau_1s[2] = g3_state.a1.t;
adimmit 12:b203f3ae57d0 640 //spi_data.tau_2s[2] = g3_state.a2.t;
adimmit 12:b203f3ae57d0 641 //spi_data.tau_3s[2] = g3_state.a3.t;
adimmit 0:76c761d3caf1 642
adimmit 0:76c761d3caf1 643 if(estop==0){
adimmit 5:f1703165ca7e 644 printf("estopped!!!!\n\r");
adimmit 6:077e37d5c2da 645 memset(&g1_control, 0, sizeof(g1_control));
adimmit 6:077e37d5c2da 646 memset(&g2_control, 0, sizeof(g2_control));
adimmit 12:b203f3ae57d0 647 //memset(&g3_control, 0, sizeof(g3_control));
adimmit 0:76c761d3caf1 648 spi_data.flags[0] = 0xdead;
adimmit 0:76c761d3caf1 649 spi_data.flags[1] = 0xdead;
adimmit 12:b203f3ae57d0 650 //spi_data.flags[2] = 0xdead;
adimmit 0:76c761d3caf1 651 led = 1;
adimmit 0:76c761d3caf1 652 }
adimmit 0:76c761d3caf1 653
adimmit 0:76c761d3caf1 654 else{
adimmit 0:76c761d3caf1 655 led = 0;
adimmit 6:077e37d5c2da 656 memset(&g1_control, 0, sizeof(g1_control));
adimmit 6:077e37d5c2da 657 memset(&g2_control, 0, sizeof(g2_control));
adimmit 12:b203f3ae57d0 658 //memset(&g3_control, 0, sizeof(g3_control));
adimmit 0:76c761d3caf1 659
adimmit 5:f1703165ca7e 660 //TRANSLATE SPI TO ACTUATOR COMMANNDS
adimmit 5:f1703165ca7e 661 //CAN1
adimmit 5:f1703165ca7e 662 //CAN1 MOTOR1
adimmit 5:f1703165ca7e 663 g1_control.a1.p_des = spi_command.q_des_1s[0];
adimmit 5:f1703165ca7e 664 g1_control.a1.v_des = spi_command.qd_des_1s[0];
adimmit 5:f1703165ca7e 665 g1_control.a1.kp = spi_command.kp_1s[0];
adimmit 5:f1703165ca7e 666 g1_control.a1.kd = spi_command.kd_1s[0];
adimmit 5:f1703165ca7e 667 g1_control.a1.t_ff = spi_command.tau_1s_ff[0];
adimmit 5:f1703165ca7e 668 //CAN1 MOTOR 2
adimmit 12:b203f3ae57d0 669 //g1_control.a2.p_des = spi_command.q_des_2s[0];
adimmit 12:b203f3ae57d0 670 //g1_control.a2.v_des = spi_command.qd_des_2s[0];
adimmit 12:b203f3ae57d0 671 //g1_control.a2.kp = spi_command.kp_2s[0];
adimmit 12:b203f3ae57d0 672 //g1_control.a2.kd = spi_command.kd_2s[0];
adimmit 12:b203f3ae57d0 673 //g1_control.a2.t_ff = spi_command.tau_2s_ff[0];
adimmit 5:f1703165ca7e 674 //CAN1 MOTOR 3
adimmit 12:b203f3ae57d0 675 //g1_control.a3.p_des = spi_command.q_des_3s[0];
adimmit 12:b203f3ae57d0 676 //g1_control.a3.v_des = spi_command.qd_des_3s[0];
adimmit 12:b203f3ae57d0 677 //g1_control.a3.kp = spi_command.kp_3s[0];
adimmit 12:b203f3ae57d0 678 //g1_control.a3.kd = spi_command.kd_3s[0];
adimmit 12:b203f3ae57d0 679 //g1_control.a3.t_ff = spi_command.tau_3s_ff[0];
adimmit 5:f1703165ca7e 680 //CAN2
adimmit 5:f1703165ca7e 681 //CAN2 MOTOR1
adimmit 5:f1703165ca7e 682 g2_control.a1.p_des = spi_command.q_des_1s[1];
adimmit 5:f1703165ca7e 683 g2_control.a1.v_des = spi_command.qd_des_1s[1];
adimmit 5:f1703165ca7e 684 g2_control.a1.kp = spi_command.kp_1s[1];
adimmit 5:f1703165ca7e 685 g2_control.a1.kd = spi_command.kd_1s[1];
adimmit 5:f1703165ca7e 686 g2_control.a1.t_ff = spi_command.tau_1s_ff[1];
adimmit 5:f1703165ca7e 687 //CAN2 MOTOR 2
adimmit 12:b203f3ae57d0 688 //g2_control.a2.p_des = spi_command.q_des_2s[1];
adimmit 12:b203f3ae57d0 689 //g2_control.a2.v_des = spi_command.qd_des_2s[1];
adimmit 12:b203f3ae57d0 690 //g2_control.a2.kp = spi_command.kp_2s[1];
adimmit 12:b203f3ae57d0 691 //g2_control.a2.kd = spi_command.kd_2s[1];
adimmit 12:b203f3ae57d0 692 //g2_control.a2.t_ff = spi_command.tau_2s_ff[1];
adimmit 5:f1703165ca7e 693 //CAN2 MOTOR 3
adimmit 12:b203f3ae57d0 694 //g2_control.a3.p_des = spi_command.q_des_3s[1];
adimmit 12:b203f3ae57d0 695 //g2_control.a3.v_des = spi_command.qd_des_3s[1];
adimmit 12:b203f3ae57d0 696 //g2_control.a3.kp = spi_command.kp_3s[1];
adimmit 12:b203f3ae57d0 697 //g2_control.a3.kd = spi_command.kd_3s[1];
adimmit 12:b203f3ae57d0 698 //g2_control.a3.t_ff = spi_command.tau_3s_ff[1];
adimmit 5:f1703165ca7e 699 //CAN3
adimmit 5:f1703165ca7e 700 //CAN3 MOTOR1
adimmit 12:b203f3ae57d0 701 //g3_control.a1.p_des = spi_command.q_des_1s[2];
adimmit 12:b203f3ae57d0 702 //g3_control.a1.v_des = spi_command.qd_des_1s[2];
adimmit 12:b203f3ae57d0 703 //g3_control.a1.kp = spi_command.kp_1s[2];
adimmit 12:b203f3ae57d0 704 //g3_control.a1.kd = spi_command.kd_1s[2];
adimmit 12:b203f3ae57d0 705 //g3_control.a1.t_ff = spi_command.tau_1s_ff[2];
adimmit 5:f1703165ca7e 706 //CAN3 MOTOR 2
adimmit 12:b203f3ae57d0 707 //g3_control.a2.p_des = spi_command.q_des_2s[2];
adimmit 12:b203f3ae57d0 708 //g3_control.a2.v_des = spi_command.qd_des_2s[2];
adimmit 12:b203f3ae57d0 709 //g3_control.a2.kp = spi_command.kp_2s[2];
adimmit 12:b203f3ae57d0 710 //g3_control.a2.kd = spi_command.kd_2s[2];
adimmit 12:b203f3ae57d0 711 //g3_control.a2.t_ff = spi_command.tau_2s_ff[2];
adimmit 5:f1703165ca7e 712 //CAN3 MOTOR 3
adimmit 12:b203f3ae57d0 713 //g3_control.a3.p_des = spi_command.q_des_3s[2];
adimmit 12:b203f3ae57d0 714 //g3_control.a3.v_des = spi_command.qd_des_3s[2];
adimmit 12:b203f3ae57d0 715 //g3_control.a3.kp = spi_command.kp_3s[2];
adimmit 12:b203f3ae57d0 716 //g3_control.a3.kd = spi_command.kd_3s[2];
adimmit 12:b203f3ae57d0 717 //g3_control.a3.t_ff = spi_command.tau_3s_ff[2];
adimmit 0:76c761d3caf1 718
adimmit 7:2f785cb39f11 719 //SPI FLAGS RETURN //IMPLEMENTS THE JOINT SOFT STOP RIGHT HERE
adimmit 0:76c761d3caf1 720 spi_data.flags[0] = 0;
adimmit 0:76c761d3caf1 721 spi_data.flags[1] = 0;
adimmit 12:b203f3ae57d0 722 //spi_data.flags[2] = 0;
adimmit 9:16a550d36425 723 //spi_data.flags[0] |= softstop_joint(g1_state.a1, &g1_control.a1, A1_LIM_P, A1_LIM_N);
adimmit 9:16a550d36425 724 //spi_data.flags[0] |= (softstop_joint(g1_state.a2, &g1_control.a2, A2_LIM_P, A2_LIM_N))<<1;
adimmit 9:16a550d36425 725 //spi_data.flags[0] |= (softstop_joint(g1_state.a3, &g1_control.a3, A3_LIM_P, A3_LIM_N))<<2;
adimmit 9:16a550d36425 726 //spi_data.flags[1] |= softstop_joint(g2_state.a1, &g2_control.a1, A1_LIM_P, A1_LIM_N);
adimmit 9:16a550d36425 727 //spi_data.flags[1] |= (softstop_joint(g2_state.a2, &g2_control.a2, A2_LIM_P, A2_LIM_N))<<1;
adimmit 9:16a550d36425 728 //spi_data.flags[1] |= (softstop_joint(g2_state.a3, &g2_control.a3, A3_LIM_P, A3_LIM_N))<<2;
adimmit 9:16a550d36425 729 //spi_data.flags[2] |= softstop_joint(g3_state.a1, &g3_control.a1, A1_LIM_P, A1_LIM_N);
adimmit 9:16a550d36425 730 //spi_data.flags[2] |= (softstop_joint(g3_state.a2, &g3_control.a2, A2_LIM_P, A2_LIM_N))<<1;
adimmit 9:16a550d36425 731 //spi_data.flags[2] |= (softstop_joint(g3_state.a3, &g3_control.a3, A3_LIM_P, A3_LIM_N))<<2;
adimmit 0:76c761d3caf1 732
adimmit 0:76c761d3caf1 733 //spi_data.flags[0] = 0xbeef;
adimmit 0:76c761d3caf1 734 //spi_data.flags[1] = 0xbeef;
adimmit 0:76c761d3caf1 735 //PackAll();
adimmit 0:76c761d3caf1 736 //WriteAll();
adimmit 0:76c761d3caf1 737 }
adimmit 0:76c761d3caf1 738 spi_data.checksum = xor_checksum((uint32_t*)&spi_data,14);
adimmit 0:76c761d3caf1 739 for(int i = 0; i < DATA_LEN; i++){
adimmit 0:76c761d3caf1 740 tx_buff[i] = ((uint16_t*)(&spi_data))[i];}
adimmit 0:76c761d3caf1 741
adimmit 0:76c761d3caf1 742 }
adimmit 0:76c761d3caf1 743
adimmit 0:76c761d3caf1 744
adimmit 0:76c761d3caf1 745 void test_control()
adimmit 0:76c761d3caf1 746 {
adimmit 0:76c761d3caf1 747 for(int i = 0; i < 3; i++)
adimmit 0:76c761d3caf1 748 {
adimmit 0:76c761d3caf1 749 spi_data.q_1s[i] = spi_command.q_des_1s[i] + 1.f;
adimmit 12:b203f3ae57d0 750 //spi_data.q_2s[i] = spi_command.q_des_2s[i] + 1.f;
adimmit 12:b203f3ae57d0 751 //spi_data.q_3s[i] = spi_command.q_des_3s[i] + 1.f;
adimmit 0:76c761d3caf1 752
adimmit 0:76c761d3caf1 753 spi_data.qd_1s[i] = spi_command.qd_des_1s[i] + 1.f;
adimmit 12:b203f3ae57d0 754 //spi_data.qd_2s[i] = spi_command.qd_des_2s[i] + 1.f;
adimmit 12:b203f3ae57d0 755 //spi_data.qd_3s[i] = spi_command.qd_des_3s[i] + 1.f;
adimmit 0:76c761d3caf1 756 }
adimmit 0:76c761d3caf1 757
adimmit 0:76c761d3caf1 758 spi_data.flags[0] = 0xdead;
adimmit 0:76c761d3caf1 759 //spi_data.flags[1] = 0xbeef;
adimmit 0:76c761d3caf1 760
adimmit 0:76c761d3caf1 761 // only do first 56 bytes of message.
adimmit 0:76c761d3caf1 762 spi_data.checksum = xor_checksum((uint32_t*)&spi_data,14);
adimmit 0:76c761d3caf1 763
adimmit 0:76c761d3caf1 764 for(int i = 0; i < DATA_LEN; i++)
adimmit 0:76c761d3caf1 765 tx_buff[i] = ((uint16_t*)(&spi_data))[i];
adimmit 0:76c761d3caf1 766 }
adimmit 0:76c761d3caf1 767
adimmit 0:76c761d3caf1 768 void init_spi(void){
adimmit 0:76c761d3caf1 769 SPISlave *spi = new SPISlave(PA_7, PA_6, PA_5, PA_4);
adimmit 0:76c761d3caf1 770 spi->format(16, 0);
adimmit 5:f1703165ca7e 771 spi->frequency(6000000);
adimmit 0:76c761d3caf1 772 spi->reply(0x0);
adimmit 0:76c761d3caf1 773 cs.fall(&spi_isr);
adimmit 1:aa253b5f5b65 774 pc.printf("done\n\r");
adimmit 0:76c761d3caf1 775 }
adimmit 0:76c761d3caf1 776
adimmit 0:76c761d3caf1 777 int main() {
adimmit 0:76c761d3caf1 778 wait(1);
adimmit 0:76c761d3caf1 779 //led = 1;
adimmit 1:aa253b5f5b65 780 pc.baud(115200); //MAYBE CHANGE THIS IF NEEDED
adimmit 0:76c761d3caf1 781 pc.attach(&serial_isr);
adimmit 0:76c761d3caf1 782 estop.mode(PullUp);
adimmit 0:76c761d3caf1 783 //spi.format(16, 0);
adimmit 0:76c761d3caf1 784 //spi.frequency(1000000);
adimmit 0:76c761d3caf1 785 //spi.reply(0x0);
adimmit 0:76c761d3caf1 786 //cs.fall(&spi_isr);
adimmit 0:76c761d3caf1 787
adimmit 0:76c761d3caf1 788 //can1.frequency(1000000); // set bit rate to 1Mbps
adimmit 0:76c761d3caf1 789 //can1.attach(&rxISR1); // attach 'CAN receive-complete' interrupt handler
adimmit 0:76c761d3caf1 790 can1.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
adimmit 0:76c761d3caf1 791 //can2.frequency(1000000); // set bit rate to 1Mbps
adimmit 0:76c761d3caf1 792 //can2.attach(&rxISR2); // attach 'CAN receive-complete' interrupt handler
adimmit 0:76c761d3caf1 793 can2.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
adimmit 0:76c761d3caf1 794 can3.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
adimmit 0:76c761d3caf1 795
adimmit 0:76c761d3caf1 796 memset(&tx_buff, 0, TX_LEN * sizeof(uint16_t));
adimmit 0:76c761d3caf1 797 memset(&spi_data, 0, sizeof(spi_data_t));
adimmit 0:76c761d3caf1 798 memset(&spi_command,0,sizeof(spi_command_t));
adimmit 0:76c761d3caf1 799
adimmit 0:76c761d3caf1 800
adimmit 0:76c761d3caf1 801 NVIC_SetPriority(TIM5_IRQn, 1);
adimmit 0:76c761d3caf1 802 //NVIC_SetPriority(CAN1_RX0_IRQn, 3);
adimmit 0:76c761d3caf1 803 //NVIC_SetPriority(CAN2_RX0_IRQn, 3);
adimmit 0:76c761d3caf1 804
adimmit 0:76c761d3caf1 805 pc.printf("\n\r SPIne\n\r");
adimmit 0:76c761d3caf1 806 //printf("%d\n\r", RX_ID << 18);
adimmit 0:76c761d3caf1 807
adimmit 5:f1703165ca7e 808 //CAN 1 BUS
adimmit 0:76c761d3caf1 809 q11_can.len = 8; //transmit 8 bytes
adimmit 12:b203f3ae57d0 810 //q12_can.len = 8; //transmit 8 bytes
adimmit 12:b203f3ae57d0 811 //q13_can.len = 8;
adimmit 5:f1703165ca7e 812 //CAN 2 BUS
adimmit 0:76c761d3caf1 813 q21_can.len = 8; //transmit 8 bytes
adimmit 12:b203f3ae57d0 814 //q22_can.len = 8; //transmit 8 bytes
adimmit 12:b203f3ae57d0 815 //q23_can.len = 8;
adimmit 5:f1703165ca7e 816 //CAN 3 BUS
adimmit 12:b203f3ae57d0 817 //q31_can.len = 8; //transmit 8 bytes
adimmit 12:b203f3ae57d0 818 //q32_can.len = 8; //transmit 8 bytes
adimmit 12:b203f3ae57d0 819 //q33_can.len = 8;
adimmit 5:f1703165ca7e 820 //RECIEVE
adimmit 0:76c761d3caf1 821 rxMsg1.len = 6; //receive 6 bytes
adimmit 0:76c761d3caf1 822 rxMsg2.len = 6;
adimmit 12:b203f3ae57d0 823 //rxMsg3.len = 6;
adimmit 5:f1703165ca7e 824
adimmit 5:f1703165ca7e 825 //CAN 1 BUS
adimmit 0:76c761d3caf1 826 q11_can.id = 0x1;
adimmit 12:b203f3ae57d0 827 //q12_can.id = 0x2;
adimmit 12:b203f3ae57d0 828 //q13_can.id = 0x3;
adimmit 5:f1703165ca7e 829 //CAN 2 BUS
adimmit 5:f1703165ca7e 830 q21_can.id = 0x1;
adimmit 12:b203f3ae57d0 831 //q22_can.id = 0x2;
adimmit 12:b203f3ae57d0 832 //q23_can.id = 0x3;
adimmit 5:f1703165ca7e 833 //CAN 3 BUS
adimmit 12:b203f3ae57d0 834 //q31_can.id = 0x1;
adimmit 12:b203f3ae57d0 835 //q32_can.id = 0x2;
adimmit 12:b203f3ae57d0 836 //q33_can.id = 0x3;
adimmit 0:76c761d3caf1 837
adimmit 5:f1703165ca7e 838 //actuators on the CAN1 bus
adimmit 6:077e37d5c2da 839 pack_cmd(&q11_can, g1_control.a1);
adimmit 12:b203f3ae57d0 840 //pack_cmd(&q12_can, g1_control.a2);
adimmit 12:b203f3ae57d0 841 //pack_cmd(&q13_can, g1_control.a3);
adimmit 5:f1703165ca7e 842 //actuators on the CAN2 bus
adimmit 6:077e37d5c2da 843 pack_cmd(&q21_can, g2_control.a1);
adimmit 12:b203f3ae57d0 844 //pack_cmd(&q22_can, g2_control.a2);
adimmit 12:b203f3ae57d0 845 //pack_cmd(&q23_can, g2_control.a3);
adimmit 5:f1703165ca7e 846 //actuators on the CAN3 bus
adimmit 12:b203f3ae57d0 847 //pack_cmd(&q31_can, g3_control.a1);
adimmit 12:b203f3ae57d0 848 //pack_cmd(&q32_can, g3_control.a2);
adimmit 12:b203f3ae57d0 849 //pack_cmd(&q33_can, g3_control.a3);
adimmit 5:f1703165ca7e 850 //WRITE THE INITIAL COMMAND
adimmit 0:76c761d3caf1 851 WriteAll();
adimmit 1:aa253b5f5b65 852
adimmit 1:aa253b5f5b65 853 //just debugging things
adimmit 1:aa253b5f5b65 854 pc.printf("SETUP VARS ALL DONE\n");
adimmit 0:76c761d3caf1 855
adimmit 0:76c761d3caf1 856
adimmit 0:76c761d3caf1 857 // SPI doesn't work if enabled while the CS pin is pulled low
adimmit 0:76c761d3caf1 858 // Wait for CS to not be low, then enable SPI
adimmit 0:76c761d3caf1 859 if(!spi_enabled){
adimmit 1:aa253b5f5b65 860 while((spi_enabled==0) && (cs.read() ==0)){pc.printf("waiting for CS Pin\n"); wait_us(10);}
adimmit 0:76c761d3caf1 861 init_spi();
adimmit 0:76c761d3caf1 862 spi_enabled = 1;
adimmit 1:aa253b5f5b65 863 pc.printf("SPI ENABLED AND READY\n");
adimmit 0:76c761d3caf1 864 }
adimmit 0:76c761d3caf1 865
adimmit 0:76c761d3caf1 866 //spi_command=set the thing here...
adimmit 0:76c761d3caf1 867
adimmit 0:76c761d3caf1 868 while(1) {
adimmit 1:aa253b5f5b65 869 //pc.printf("test, of SPINE\r\n");
adimmit 0:76c761d3caf1 870 counter++;
adimmit 0:76c761d3caf1 871 can2.read(rxMsg2);
adimmit 0:76c761d3caf1 872 unpack_reply(rxMsg2, &g2_state);
adimmit 0:76c761d3caf1 873 can1.read(rxMsg1); // read message into Rx message storage
adimmit 0:76c761d3caf1 874 unpack_reply(rxMsg1, &g1_state);
adimmit 12:b203f3ae57d0 875 //can3.read(rxMsg3); // read message into Rx message storage
adimmit 12:b203f3ae57d0 876 //unpack_reply(rxMsg3, &g3_state);
adimmit 0:76c761d3caf1 877 wait_us(10);
adimmit 1:aa253b5f5b65 878
adimmit 1:aa253b5f5b65 879 //print heatbeat (always will print message 0)
adimmit 2:32f69175c78e 880 /*
adimmit 1:aa253b5f5b65 881 if (counter3 == 100000) { //for debugging purposes
adimmit 1:aa253b5f5b65 882 pc.printf("HEARTBEAT\n");
adimmit 1:aa253b5f5b65 883 counter3 = 0;
adimmit 1:aa253b5f5b65 884 }
adimmit 1:aa253b5f5b65 885 counter3++;
adimmit 2:32f69175c78e 886 */
adimmit 0:76c761d3caf1 887 }
adimmit 2:32f69175c78e 888
adimmit 0:76c761d3caf1 889 }