test code for SPI communications with any board
leg_message.h
- Committer:
- adimmit
- Date:
- 2022-01-31
- Revision:
- 15:d3c93f01a02b
- Parent:
- 12:b203f3ae57d0
File content as of revision 15:d3c93f01a02b:
#ifndef _leg_message #define _leg_message #include <stdint.h> // 31*4 bytes = 124 8-bit words // 31 32-bit numbers 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]; float tau_1s[3]; float tau_2s[3]; float tau_3s[3]; uint32_t flags[3]; uint32_t checksum; }; // 49*4 bytes = 196 8-bit words // 49 32-bit numbers struct spi_command_t { float q_des_1s[3]; //first motor on each can bus 0-can1, 1-can2, 2-can3 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]; uint32_t flags[3]; uint32_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 a1; //removed a2 and a3 }; struct grouped_act_control{ joint_control a1; } ; #endif