Aditya Mehrotra / SPINE_FIDDY_TEST

test code for SPI communications with any board

Dependencies:   mbed-dev

leg_message.h@5:f1703165ca7e, 2021-04-01 (annotated)

Committer:
adimmit
Date:
Thu Apr 01 21:28:37 2021 +0000
Revision:
5:f1703165ca7e
Parent:
0:76c761d3caf1
Child:
10:42438194e82b
updated structs and re-mapped busses to correct actuators + things

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 0:76c761d3caf1 6 // 88 bytes
adimmit 0:76c761d3caf1 7 // 44 16-bit words
adimmit 0:76c761d3caf1 8 struct spi_data_t
adimmit 0:76c761d3caf1 9 {
adimmit 0:76c761d3caf1 10 float q_1s[3];
adimmit 0:76c761d3caf1 11 float q_2s[3];
adimmit 0:76c761d3caf1 12 float q_3s[3];
adimmit 0:76c761d3caf1 13 float qd_1s[3];
adimmit 0:76c761d3caf1 14 float qd_2s[3];
adimmit 0:76c761d3caf1 15 float qd_3s[3];
adimmit 0:76c761d3caf1 16 int32_t flags[3];
adimmit 0:76c761d3caf1 17 int32_t checksum;
adimmit 0:76c761d3caf1 18 };
adimmit 0:76c761d3caf1 19
adimmit 0:76c761d3caf1 20 // 196 bytes
adimmit 0:76c761d3caf1 21 // 98 16-bit words
adimmit 0:76c761d3caf1 22 struct spi_command_t
adimmit 0:76c761d3caf1 23 {
adimmit 5:f1703165ca7e 24 float q_des_1s[3]; //first motor on each can bus 0-can1, 1-can2, 2-can3
adimmit 5:f1703165ca7e 25 float q_des_2s[3]; //second motor on each can bus
adimmit 5:f1703165ca7e 26 float q_des_3s[3]; //third motor on each can bus etc...
adimmit 0:76c761d3caf1 27 float qd_des_1s[3];
adimmit 0:76c761d3caf1 28 float qd_des_2s[3];
adimmit 0:76c761d3caf1 29 float qd_des_3s[3];
adimmit 0:76c761d3caf1 30 float kp_1s[3];
adimmit 0:76c761d3caf1 31 float kp_2s[3];
adimmit 0:76c761d3caf1 32 float kp_3s[3];
adimmit 0:76c761d3caf1 33 float kd_1s[3];
adimmit 0:76c761d3caf1 34 float kd_2s[3];
adimmit 0:76c761d3caf1 35 float kd_3s[3];
adimmit 0:76c761d3caf1 36 float tau_1s_ff[3];
adimmit 0:76c761d3caf1 37 float tau_2s_ff[3];
adimmit 0:76c761d3caf1 38 float tau_3s_ff[3];
adimmit 0:76c761d3caf1 39 int32_t flags[3];
adimmit 0:76c761d3caf1 40 int32_t checksum;
adimmit 0:76c761d3caf1 41 };
adimmit 0:76c761d3caf1 42
adimmit 0:76c761d3caf1 43
adimmit 0:76c761d3caf1 44
adimmit 0:76c761d3caf1 45 struct joint_control{
adimmit 0:76c761d3caf1 46 float p_des, v_des, kp, kd, t_ff;
adimmit 0:76c761d3caf1 47 };
adimmit 0:76c761d3caf1 48
adimmit 0:76c761d3caf1 49 struct joint_state{
adimmit 0:76c761d3caf1 50 float p, v, t;
adimmit 0:76c761d3caf1 51 };
adimmit 0:76c761d3caf1 52
adimmit 0:76c761d3caf1 53 struct grouped_act_state{
adimmit 5:f1703165ca7e 54 joint_state a1, a2, a3;
adimmit 0:76c761d3caf1 55 };
adimmit 0:76c761d3caf1 56 struct grouped_act_control{
adimmit 5:f1703165ca7e 57 joint_control a1, a2, a3;
adimmit 0:76c761d3caf1 58 }
adimmit 0:76c761d3caf1 59 ;
adimmit 0:76c761d3caf1 60 #endif