Aditya Mehrotra
test code for SPI communications with any board
Diff: main.cpp
- Revision:
- 1:aa253b5f5b65
- Parent:
- 0:76c761d3caf1
- Child:
- 2:32f69175c78e
--- a/main.cpp Sat Mar 20 18:38:51 2021 +0000
+++ b/main.cpp Thu Mar 25 19:32:21 2021 +0000
@@ -1,4 +1,6 @@
+//counter for misc purposes
+int counter3 = 0;
//GO THROUGH AND RE-CHECK ALL THE VARIABLES, STRUCT NAMES, SIZES, BUFFERS + ETC!!!
//ALSO GO THROUGH THE COMMENTS TO SEE IF THEY NEED CHANGING
@@ -191,11 +193,11 @@
pack_cmd(&q21_can, q1_control.h);
pack_cmd(&q31_can, q1_control.k);
pack_cmd(&q12_can, q2_control.a);
- pack_cmd(&k22_can, q2_control.h);
- pack_cmd(&k32_can, q2_control.k);
+ pack_cmd(&q22_can, q2_control.h);
+ pack_cmd(&q32_can, q2_control.k);
pack_cmd(&q13_can, q3_control.a);
- pack_cmd(&k23_can, q3_control.h);
- pack_cmd(&k33_can, q3_control.k);
+ pack_cmd(&q23_can, q3_control.h);
+ pack_cmd(&q33_can, q3_control.k);
}
void WriteAll(){
@@ -227,7 +229,7 @@
PackAll();
if(counter>100){
- printf("%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n\r", q1_state.a.p, q1_state.h.p, q1_state.k.p, q2_state.a.p, q2_state.h.p, q_state.k.p, q3_state.a.p, q3_state.h.p, q3_state.k.p);
+ pc.printf("%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n\r", g1_state.a.p, g1_state.h.p, g1_state.k.p, g2_state.a.p, g2_state.h.p, g2_state.k.p, g3_state.a.p, g3_state.h.p, g3_state.k.p);
counter = 0 ;
}
@@ -280,7 +282,7 @@
switch(c){
case(27):
//loop.detach();
- printf("\n\r exiting motor mode \n\r");
+ pc.printf("\n\r exiting motor mode \n\r");
ExitMotorMode(&q11_can);
ExitMotorMode(&q21_can);
ExitMotorMode(&q31_can);
@@ -293,7 +295,7 @@
enabled = 0;
break;
case('m'):
- printf("\n\r entering motor mode \n\r");
+ pc.printf("\n\r entering motor mode \n\r");
EnterMotorMode(&q11_can);
EnterMotorMode(&q21_can);
EnterMotorMode(&q31_can);
@@ -308,13 +310,13 @@
//loop.attach(&sendCMD, .001);
break;
case('s'):
- printf("\n\r standing \n\r");
+ pc.printf("\n\r standing \n\r");
counter2 = 0;
is_standing = 1;
//stand();
break;
case('z'):
- printf("\n\r zeroing \n\r");
+ pc.printf("\n\r zeroing \n\r");
Zero(&q11_can);
Zero(&q21_can);
Zero(&q31_can);
@@ -341,13 +343,14 @@
void spi_isr(void)
{
+ //pc.printf("CS ACTIVE\n");
GPIOC->ODR |= (1 << 8);
GPIOC->ODR &= ~(1 << 8);
int bytecount = 0;
SPI1->DR = tx_buff[0];
while(cs == 0) {
if(SPI1->SR&0x1) {
- [bytecount] = SPI1->DR;
+ rx_buff[bytecount] = SPI1->DR;
bytecount++;
if(bytecount<TX_LEN) {
SPI1->DR = tx_buff[bytecount];
@@ -356,17 +359,20 @@
}
+ //pc.printf("HERE'S A SPI COMMAND:\n");
// after reading, save into spi_command
// should probably check checksum first!
uint32_t calc_checksum = xor_checksum((uint32_t*)rx_buff,32);
for(int i = 0; i < CMD_LEN; i++)
{
((uint16_t*)(&spi_command))[i] = rx_buff[i];
+ //pc.printf("BIT %d RECIEVED\n", i);
}
// run control, which fills in tx_buff for the next iteration
if(calc_checksum != spi_command.checksum){
- spi_data.flags[1] = 0xdead;}
+ spi_data.flags[1] = 0xdead;
+ pc.printf("FAILED CHECKSUM\n");}
//test_control();
//spi_data.q_abad[0] = 12.0f;
@@ -423,7 +429,7 @@
can2.write(q12_can);
EnterMotorMode(&q22_can);
can2.write(q22_can);
- EnterMotorMode(&q31_can);
+ EnterMotorMode(&q32_can);
can2.write(q32_can);
//BUS THREE
EnterMotorMode(&q13_can);
@@ -432,7 +438,7 @@
can3.write(q23_can);
EnterMotorMode(&q33_can);
can3.write(q33_can);
- printf("e\n\r");
+ pc.printf("e\n\r");
return;
}
else if((((spi_command.flags[0]&0x1))==0) && (enabled==1)){
@@ -449,7 +455,7 @@
can2.write(q12_can);
ExitMotorMode(&q22_can);
can2.write(q22_can);
- ExitMotorMode(&q31_can);
+ ExitMotorMode(&q32_can);
can2.write(q32_can);
//BUS THREE
ExitMotorMode(&q13_can);
@@ -458,7 +464,7 @@
can3.write(q23_can);
ExitMotorMode(&q33_can);
can3.write(q33_can);
- printf("x\n\r");
+ pc.printf("x\n\r");
return;
}
@@ -613,14 +619,14 @@
spi->frequency(12000000);
spi->reply(0x0);
cs.fall(&spi_isr);
- printf("done\n\r");
+ pc.printf("done\n\r");
}
int main() {
wait(1);
//led = 1;
- pc.baud(921600);
+ pc.baud(115200); //MAYBE CHANGE THIS IF NEEDED
pc.attach(&serial_isr);
estop.mode(PullUp);
//spi.format(16, 0);
@@ -681,20 +687,24 @@
pack_cmd(&q32_can, q2_control.k);
pack_cmd(&q33_can, q3_control.k);
WriteAll();
+
+ //just debugging things
+ pc.printf("SETUP VARS ALL DONE\n");
// SPI doesn't work if enabled while the CS pin is pulled low
// Wait for CS to not be low, then enable SPI
if(!spi_enabled){
- while((spi_enabled==0) && (cs.read() ==0)){wait_us(10);}
+ while((spi_enabled==0) && (cs.read() ==0)){pc.printf("waiting for CS Pin\n"); wait_us(10);}
init_spi();
spi_enabled = 1;
+ pc.printf("SPI ENABLED AND READY\n");
}
//spi_command=set the thing here...
while(1) {
- pc.printf("test, of SPINE\r\n");
+ //pc.printf("test, of SPINE\r\n");
counter++;
can2.read(rxMsg2);
unpack_reply(rxMsg2, &g2_state);
@@ -703,6 +713,13 @@
can3.read(rxMsg3); // read message into Rx message storage
unpack_reply(rxMsg3, &g3_state);
wait_us(10);
+
+ //print heatbeat (always will print message 0)
+ if (counter3 == 100000) { //for debugging purposes
+ pc.printf("HEARTBEAT\n");
+ counter3 = 0;
+ }
+ counter3++;
}
}
\ No newline at end of file