test code for SPI communications with any board
leg_message.h@0:76c761d3caf1, 2021-03-20 (annotated)
- Committer:
- adimmit
- Date:
- Sat Mar 20 18:38:51 2021 +0000
- Revision:
- 0:76c761d3caf1
- Child:
- 5:f1703165ca7e
updated to 18 motors
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:76c761d3caf1 | 24 | float q_des_1s[3]; |
adimmit | 0:76c761d3caf1 | 25 | float q_des_2s[3]; |
adimmit | 0:76c761d3caf1 | 26 | float q_des_3s[3]; |
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 | 0:76c761d3caf1 | 54 | joint_state a, h, k; |
adimmit | 0:76c761d3caf1 | 55 | }; |
adimmit | 0:76c761d3caf1 | 56 | struct grouped_act_control{ |
adimmit | 0:76c761d3caf1 | 57 | joint_control a, h, k; |
adimmit | 0:76c761d3caf1 | 58 | } |
adimmit | 0:76c761d3caf1 | 59 | ; |
adimmit | 0:76c761d3caf1 | 60 | #endif |