test code for SPI communications with any board
leg_message.h
- Committer:
- adimmit
- Date:
- 2021-03-20
- Revision:
- 0:76c761d3caf1
- Child:
- 5:f1703165ca7e
File content as of revision 0:76c761d3caf1:
#ifndef _leg_message #define _leg_message #include <stdint.h> // 88 bytes // 44 16-bit words struct spi_data_t { float q_1s[3]; float q_2s[3]; float q_3s[3]; float qd_1s[3]; float qd_2s[3]; float qd_3s[3]; int32_t flags[3]; int32_t checksum; }; // 196 bytes // 98 16-bit words struct spi_command_t { float q_des_1s[3]; float q_des_2s[3]; float q_des_3s[3]; float qd_des_1s[3]; float qd_des_2s[3]; float qd_des_3s[3]; float kp_1s[3]; float kp_2s[3]; float kp_3s[3]; float kd_1s[3]; float kd_2s[3]; float kd_3s[3]; float tau_1s_ff[3]; float tau_2s_ff[3]; float tau_3s_ff[3]; int32_t flags[3]; int32_t checksum; }; struct joint_control{ float p_des, v_des, kp, kd, t_ff; }; struct joint_state{ float p, v, t; }; struct grouped_act_state{ joint_state a, h, k; }; struct grouped_act_control{ joint_control a, h, k; } ; #endif