test code for SPI communications with any board
leg_message.h@17:f200f87b4087, 2022-04-15 (annotated)
- Committer:
- adimmit
- Date:
- Fri Apr 15 14:11:25 2022 +0000
- Revision:
- 17:f200f87b4087
- Parent:
- 15:d3c93f01a02b
changed to mini cheetah version;
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 | 15:d3c93f01a02b | 6 | // 31*4 bytes = 124 8-bit words |
adimmit | 15:d3c93f01a02b | 7 | // 31 32-bit numbers |
adimmit | 0:76c761d3caf1 | 8 | struct spi_data_t |
adimmit | 0:76c761d3caf1 | 9 | { |
adimmit | 15:d3c93f01a02b | 10 | float q_1s[3]; |
adimmit | 15:d3c93f01a02b | 11 | float q_2s[3]; |
adimmit | 15:d3c93f01a02b | 12 | float q_3s[3]; |
adimmit | 15:d3c93f01a02b | 13 | float qd_1s[3]; |
adimmit | 15:d3c93f01a02b | 14 | float qd_2s[3]; |
adimmit | 15:d3c93f01a02b | 15 | float qd_3s[3]; |
adimmit | 15:d3c93f01a02b | 16 | float tau_1s[3]; |
adimmit | 15:d3c93f01a02b | 17 | float tau_2s[3]; |
adimmit | 15:d3c93f01a02b | 18 | float tau_3s[3]; |
adimmit | 15:d3c93f01a02b | 19 | uint32_t flags[3]; |
adimmit | 15:d3c93f01a02b | 20 | uint32_t checksum; |
adimmit | 0:76c761d3caf1 | 21 | }; |
adimmit | 0:76c761d3caf1 | 22 | |
adimmit | 15:d3c93f01a02b | 23 | // 49*4 bytes = 196 8-bit words |
adimmit | 15:d3c93f01a02b | 24 | // 49 32-bit numbers |
adimmit | 0:76c761d3caf1 | 25 | struct spi_command_t |
adimmit | 0:76c761d3caf1 | 26 | { |
adimmit | 15:d3c93f01a02b | 27 | float q_des_1s[3]; //first motor on each can bus 0-can1, 1-can2, 2-can3 |
adimmit | 15:d3c93f01a02b | 28 | float q_des_2s[3]; |
adimmit | 15:d3c93f01a02b | 29 | float q_des_3s[3]; |
adimmit | 15:d3c93f01a02b | 30 | float qd_des_1s[3]; |
adimmit | 15:d3c93f01a02b | 31 | float qd_des_2s[3]; |
adimmit | 15:d3c93f01a02b | 32 | float qd_des_3s[3]; |
adimmit | 15:d3c93f01a02b | 33 | float kp_1s[3]; |
adimmit | 15:d3c93f01a02b | 34 | float kp_2s[3]; |
adimmit | 15:d3c93f01a02b | 35 | float kp_3s[3]; |
adimmit | 15:d3c93f01a02b | 36 | float kd_1s[3]; |
adimmit | 15:d3c93f01a02b | 37 | float kd_2s[3]; |
adimmit | 15:d3c93f01a02b | 38 | float kd_3s[3]; |
adimmit | 15:d3c93f01a02b | 39 | float tau_1s_ff[3]; |
adimmit | 15:d3c93f01a02b | 40 | float tau_2s_ff[3]; |
adimmit | 15:d3c93f01a02b | 41 | float tau_3s_ff[3]; |
adimmit | 15:d3c93f01a02b | 42 | uint32_t flags[3]; |
adimmit | 15:d3c93f01a02b | 43 | uint32_t checksum; |
adimmit | 0:76c761d3caf1 | 44 | }; |
adimmit | 0:76c761d3caf1 | 45 | |
adimmit | 0:76c761d3caf1 | 46 | |
adimmit | 0:76c761d3caf1 | 47 | |
adimmit | 0:76c761d3caf1 | 48 | struct joint_control{ |
adimmit | 0:76c761d3caf1 | 49 | float p_des, v_des, kp, kd, t_ff; |
adimmit | 0:76c761d3caf1 | 50 | }; |
adimmit | 0:76c761d3caf1 | 51 | |
adimmit | 0:76c761d3caf1 | 52 | struct joint_state{ |
adimmit | 0:76c761d3caf1 | 53 | float p, v, t; |
adimmit | 0:76c761d3caf1 | 54 | }; |
adimmit | 0:76c761d3caf1 | 55 | |
adimmit | 0:76c761d3caf1 | 56 | struct grouped_act_state{ |
adimmit | 12:b203f3ae57d0 | 57 | joint_state a1; //removed a2 and a3 |
adimmit | 0:76c761d3caf1 | 58 | }; |
adimmit | 0:76c761d3caf1 | 59 | struct grouped_act_control{ |
adimmit | 12:b203f3ae57d0 | 60 | joint_control a1; |
adimmit | 0:76c761d3caf1 | 61 | } |
adimmit | 0:76c761d3caf1 | 62 | ; |
adimmit | 0:76c761d3caf1 | 63 | #endif |