Aditya Mehrotra / SPIne_Plus_Dyno_v2

Updated for checksum

Dependencies:   mbed-dev

main.cpp@13:87e7ce883f6a, 2022-02-04 (annotated)

Committer:
adimmit
Date:
Fri Feb 04 19:42:10 2022 +0000
Revision:
13:87e7ce883f6a
Parent:
12:5f97bcab6c50
Child:
14:6fec697f62ef
ben was right lol;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adimmit 0:76c761d3caf1 1
adimmit 1:aa253b5f5b65 2 //counter for misc purposes
adimmit 1:aa253b5f5b65 3 int counter3 = 0;
adimmit 0:76c761d3caf1 4 //GO THROUGH AND RE-CHECK ALL THE VARIABLES, STRUCT NAMES, SIZES, BUFFERS + ETC!!!
adimmit 0:76c761d3caf1 5 //ALSO GO THROUGH THE COMMENTS TO SEE IF THEY NEED CHANGING
adimmit 0:76c761d3caf1 6
adimmit 0:76c761d3caf1 7 #include "mbed.h"
adimmit 0:76c761d3caf1 8 #include "math_ops.h"
adimmit 0:76c761d3caf1 9 #include <cstring>
adimmit 0:76c761d3caf1 10 #include "leg_message.h"
adimmit 0:76c761d3caf1 11
adimmit 0:76c761d3caf1 12 // length of receive/transmit buffers
adimmit 0:76c761d3caf1 13 #define RX_LEN 98 //CHECK THESE BUFFER LENGHTS
adimmit 13:87e7ce883f6a 14 #define TX_LEN 62 //CHECK THESE BUFFER LENGHTS
adimmit 0:76c761d3caf1 15
adimmit 0:76c761d3caf1 16 // length of outgoing/incoming messages
adimmit 11:40d5d9b5d2ba 17 #define DATA_LEN 62 //CHECK THESE BUFFER LENGHTS
adimmit 0:76c761d3caf1 18 #define CMD_LEN 98 //CHECK THESE BUFFER LENGHTS
adimmit 0:76c761d3caf1 19
adimmit 0:76c761d3caf1 20 // Master CAN ID ///
adimmit 0:76c761d3caf1 21 #define CAN_ID 0x0
adimmit 0:76c761d3caf1 22
adimmit 0:76c761d3caf1 23
adimmit 0:76c761d3caf1 24 /// Value Limits ///
adimmit 0:76c761d3caf1 25 #define P_MIN -12.5f
adimmit 0:76c761d3caf1 26 #define P_MAX 12.5f
adimmit 0:76c761d3caf1 27 #define V_MIN -65.0f
adimmit 0:76c761d3caf1 28 #define V_MAX 65.0f
adimmit 0:76c761d3caf1 29 #define KP_MIN 0.0f
adimmit 0:76c761d3caf1 30 #define KP_MAX 500.0f
adimmit 0:76c761d3caf1 31 #define KD_MIN 0.0f
adimmit 5:f1703165ca7e 32 #define KD_MAX 10.0f
adimmit 5:f1703165ca7e 33 #define T_MIN -72.0f
adimmit 5:f1703165ca7e 34 #define T_MAX 72.0f
adimmit 0:76c761d3caf1 35
adimmit 0:76c761d3caf1 36 /// Joint Soft Stops ///
adimmit 7:2f785cb39f11 37 #define A1_LIM_P 1.5f
adimmit 7:2f785cb39f11 38 #define A1_LIM_N -1.5f
adimmit 7:2f785cb39f11 39 #define A2_LIM_P 1.5f
adimmit 7:2f785cb39f11 40 #define A2_LIM_N -1.5f
adimmit 7:2f785cb39f11 41 #define A3_LIM_P 1.5f
adimmit 7:2f785cb39f11 42 #define A3_LIM_N -1.5f
adimmit 0:76c761d3caf1 43 #define KP_SOFTSTOP 100.0f
adimmit 0:76c761d3caf1 44 #define KD_SOFTSTOP 0.4f;
adimmit 0:76c761d3caf1 45
adimmit 0:76c761d3caf1 46 #define ENABLE_CMD 0xFFFF
adimmit 0:76c761d3caf1 47 #define DISABLE_CMD 0x1F1F
adimmit 0:76c761d3caf1 48
adimmit 0:76c761d3caf1 49 spi_data_t spi_data; // data from spine to up
adimmit 0:76c761d3caf1 50 spi_command_t spi_command; // data from up to spine
adimmit 13:87e7ce883f6a 51 spi_command_t tmp_crc_chk;
adimmit 0:76c761d3caf1 52
adimmit 0:76c761d3caf1 53 // spi buffers
adimmit 0:76c761d3caf1 54 uint16_t rx_buff[RX_LEN];
adimmit 0:76c761d3caf1 55 uint16_t tx_buff[TX_LEN];
adimmit 0:76c761d3caf1 56
adimmit 0:76c761d3caf1 57 DigitalOut led(PC_5);
adimmit 0:76c761d3caf1 58
adimmit 0:76c761d3caf1 59
adimmit 0:76c761d3caf1 60 Serial pc(PA_2, PA_3);
adimmit 5:f1703165ca7e 61 CAN can1(PA_11, PA_12, 1000000);
adimmit 5:f1703165ca7e 62 CAN can2(PA_8, PA_15, 1000000);
adimmit 5:f1703165ca7e 63 CAN can3(PB_12, PB_13, 1000000); //corresponds to bus 1-3-6 (controller 1) or 2-4-5 (controller 2) IN THAT ORDER
adimmit 0:76c761d3caf1 64
adimmit 0:76c761d3caf1 65 CANMessage rxMsg1, rxMsg2, rxMsg3;
adimmit 0:76c761d3caf1 66 CANMessage txMsg1, txMsg2, txMsg3;
adimmit 5:f1703165ca7e 67 CANMessage q11_can, q12_can, q13_can, q21_can, q22_can, q23_can, q31_can, q32_can, q33_can; //TX Messages
adimmit 0:76c761d3caf1 68 int ledState;
adimmit 0:76c761d3caf1 69 Ticker sendCAN;
adimmit 0:76c761d3caf1 70 int counter = 0;
adimmit 0:76c761d3caf1 71 volatile bool msgAvailable = false;
adimmit 0:76c761d3caf1 72 Ticker loop;
adimmit 0:76c761d3caf1 73
adimmit 0:76c761d3caf1 74 int spi_enabled = 0;
adimmit 0:76c761d3caf1 75 InterruptIn cs(PA_4);
adimmit 0:76c761d3caf1 76 DigitalIn estop(PB_15);
adimmit 0:76c761d3caf1 77 //SPISlave spi(PA_7, PA_6, PA_5, PA_4);
adimmit 0:76c761d3caf1 78
adimmit 0:76c761d3caf1 79
adimmit 0:76c761d3caf1 80 grouped_act_state g1_state, g2_state, g3_state;
adimmit 5:f1703165ca7e 81 grouped_act_control g1_control, g2_control, g3_control;
adimmit 0:76c761d3caf1 82
adimmit 0:76c761d3caf1 83 uint16_t x = 0;
adimmit 0:76c761d3caf1 84 uint16_t x2 = 0;
adimmit 0:76c761d3caf1 85 uint16_t count = 0;
adimmit 0:76c761d3caf1 86 uint16_t counter2 = 0; //SEE IF WE NEED TO UPDATE THESE TO ADD COUNTER3 AND X3
adimmit 0:76c761d3caf1 87
adimmit 0:76c761d3caf1 88 int control_mode = 1;
adimmit 0:76c761d3caf1 89 int is_standing = 0; //SEE IF WE STILL NEED THE STANDING THING
adimmit 0:76c761d3caf1 90 int enabled = 0;
adimmit 0:76c761d3caf1 91
adimmit 0:76c761d3caf1 92 // generates fake spi data from spi command
adimmit 0:76c761d3caf1 93 void test_control(); //MAY NEED TO GET RID OF THIS?
adimmit 0:76c761d3caf1 94 void control();
adimmit 0:76c761d3caf1 95
adimmit 0:76c761d3caf1 96
adimmit 0:76c761d3caf1 97 /// CAN Command Packet Structure ///
adimmit 0:76c761d3caf1 98 /// 16 bit position command, between -4*pi and 4*pi
adimmit 0:76c761d3caf1 99 /// 12 bit velocity command, between -30 and + 30 rad/s
adimmit 0:76c761d3caf1 100 /// 12 bit kp, between 0 and 500 N-m/rad
adimmit 0:76c761d3caf1 101 /// 12 bit kd, between 0 and 100 N-m*s/rad
adimmit 0:76c761d3caf1 102 /// 12 bit feed forward torque, between -18 and 18 N-m
adimmit 0:76c761d3caf1 103 /// CAN Packet is 8 8-bit words
adimmit 0:76c761d3caf1 104 /// Formatted as follows. For each quantity, bit 0 is LSB
adimmit 0:76c761d3caf1 105 /// 0: [position[15-8]]
adimmit 0:76c761d3caf1 106 /// 1: [position[7-0]]
adimmit 0:76c761d3caf1 107 /// 2: [velocity[11-4]]
adimmit 0:76c761d3caf1 108 /// 3: [velocity[3-0], kp[11-8]]
adimmit 0:76c761d3caf1 109 /// 4: [kp[7-0]]
adimmit 0:76c761d3caf1 110 /// 5: [kd[11-4]]
adimmit 0:76c761d3caf1 111 /// 6: [kd[3-0], torque[11-8]]
adimmit 0:76c761d3caf1 112 /// 7: [torque[7-0]]
adimmit 0:76c761d3caf1 113
adimmit 0:76c761d3caf1 114 void pack_cmd(CANMessage * msg, joint_control joint){
adimmit 0:76c761d3caf1 115
adimmit 0:76c761d3caf1 116 /// limit data to be within bounds ///
adimmit 0:76c761d3caf1 117 float p_des = fminf(fmaxf(P_MIN, joint.p_des), P_MAX);
adimmit 0:76c761d3caf1 118 float v_des = fminf(fmaxf(V_MIN, joint.v_des), V_MAX);
adimmit 0:76c761d3caf1 119 float kp = fminf(fmaxf(KP_MIN, joint.kp), KP_MAX);
adimmit 0:76c761d3caf1 120 float kd = fminf(fmaxf(KD_MIN, joint.kd), KD_MAX);
adimmit 0:76c761d3caf1 121 float t_ff = fminf(fmaxf(T_MIN, joint.t_ff), T_MAX);
adimmit 0:76c761d3caf1 122 /// convert floats to unsigned ints ///
adimmit 0:76c761d3caf1 123 uint16_t p_int = float_to_uint(p_des, P_MIN, P_MAX, 16);
adimmit 0:76c761d3caf1 124 uint16_t v_int = float_to_uint(v_des, V_MIN, V_MAX, 12);
adimmit 0:76c761d3caf1 125 uint16_t kp_int = float_to_uint(kp, KP_MIN, KP_MAX, 12);
adimmit 0:76c761d3caf1 126 uint16_t kd_int = float_to_uint(kd, KD_MIN, KD_MAX, 12);
adimmit 0:76c761d3caf1 127 uint16_t t_int = float_to_uint(t_ff, T_MIN, T_MAX, 12);
adimmit 0:76c761d3caf1 128 /// pack ints into the can buffer ///
adimmit 0:76c761d3caf1 129 msg->data[0] = p_int>>8;
adimmit 0:76c761d3caf1 130 msg->data[1] = p_int&0xFF;
adimmit 0:76c761d3caf1 131 msg->data[2] = v_int>>4;
adimmit 0:76c761d3caf1 132 msg->data[3] = ((v_int&0xF)<<4)|(kp_int>>8);
adimmit 0:76c761d3caf1 133 msg->data[4] = kp_int&0xFF;
adimmit 0:76c761d3caf1 134 msg->data[5] = kd_int>>4;
adimmit 0:76c761d3caf1 135 msg->data[6] = ((kd_int&0xF)<<4)|(t_int>>8);
adimmit 0:76c761d3caf1 136 msg->data[7] = t_int&0xff;
adimmit 0:76c761d3caf1 137 }
adimmit 0:76c761d3caf1 138
adimmit 0:76c761d3caf1 139 /// CAN Reply Packet Structure ///
adimmit 0:76c761d3caf1 140 /// 16 bit position, between -4*pi and 4*pi
adimmit 0:76c761d3caf1 141 /// 12 bit velocity, between -30 and + 30 rad/s
adimmit 0:76c761d3caf1 142 /// 12 bit current, between -40 and 40;
adimmit 0:76c761d3caf1 143 /// CAN Packet is 5 8-bit words
adimmit 0:76c761d3caf1 144 /// Formatted as follows. For each quantity, bit 0 is LSB
adimmit 0:76c761d3caf1 145 /// 0: [position[15-8]]
adimmit 0:76c761d3caf1 146 /// 1: [position[7-0]]
adimmit 0:76c761d3caf1 147 /// 2: [velocity[11-4]]
adimmit 0:76c761d3caf1 148 /// 3: [velocity[3-0], current[11-8]]
adimmit 0:76c761d3caf1 149 /// 4: [current[7-0]]
adimmit 0:76c761d3caf1 150
adimmit 0:76c761d3caf1 151 void unpack_reply(CANMessage msg, grouped_act_state * group){
adimmit 0:76c761d3caf1 152 /// unpack ints from can buffer ///
adimmit 0:76c761d3caf1 153 uint16_t id = msg.data[0];
adimmit 0:76c761d3caf1 154 uint16_t p_int = (msg.data[1]<<8)|msg.data[2];
adimmit 0:76c761d3caf1 155 uint16_t v_int = (msg.data[3]<<4)|(msg.data[4]>>4);
adimmit 0:76c761d3caf1 156 uint16_t i_int = ((msg.data[4]&0xF)<<8)|msg.data[5];
adimmit 0:76c761d3caf1 157 /// convert uints to floats ///
adimmit 0:76c761d3caf1 158 float p = uint_to_float(p_int, P_MIN, P_MAX, 16);
adimmit 0:76c761d3caf1 159 float v = uint_to_float(v_int, V_MIN, V_MAX, 12);
adimmit 0:76c761d3caf1 160 float t = uint_to_float(i_int, -T_MAX, T_MAX, 12);
adimmit 0:76c761d3caf1 161
adimmit 0:76c761d3caf1 162 if(id==1){
adimmit 5:f1703165ca7e 163 group->a1.p = p;
adimmit 5:f1703165ca7e 164 group->a1.v = v;
adimmit 5:f1703165ca7e 165 group->a1.t = t;
adimmit 0:76c761d3caf1 166 }
adimmit 0:76c761d3caf1 167 else if(id==2){
adimmit 5:f1703165ca7e 168 group->a2.p = p;
adimmit 5:f1703165ca7e 169 group->a2.v = v;
adimmit 5:f1703165ca7e 170 group->a2.t = t;
adimmit 0:76c761d3caf1 171 }
adimmit 0:76c761d3caf1 172 else if(id==3){
adimmit 5:f1703165ca7e 173 group->a3.p = p;
adimmit 5:f1703165ca7e 174 group->a3.v = v;
adimmit 5:f1703165ca7e 175 group->a3.t = t;
adimmit 0:76c761d3caf1 176 }
adimmit 0:76c761d3caf1 177 }
adimmit 0:76c761d3caf1 178
adimmit 0:76c761d3caf1 179 void rxISR1() {
adimmit 0:76c761d3caf1 180 can1.read(rxMsg1); // read message into Rx message storage
adimmit 0:76c761d3caf1 181 unpack_reply(rxMsg1, &g1_state);
adimmit 0:76c761d3caf1 182 }
adimmit 0:76c761d3caf1 183 void rxISR2(){
adimmit 0:76c761d3caf1 184 can2.read(rxMsg2);
adimmit 0:76c761d3caf1 185 unpack_reply(rxMsg2, &g2_state);
adimmit 0:76c761d3caf1 186 }
adimmit 0:76c761d3caf1 187 void rxISR3(){
adimmit 0:76c761d3caf1 188 can3.read(rxMsg3);
adimmit 0:76c761d3caf1 189 unpack_reply(rxMsg3, &g3_state);
adimmit 0:76c761d3caf1 190 }
adimmit 0:76c761d3caf1 191
adimmit 0:76c761d3caf1 192 void PackAll(){
adimmit 5:f1703165ca7e 193 //actuators on the CAN1 bus
adimmit 6:077e37d5c2da 194 pack_cmd(&q11_can, g1_control.a1);
adimmit 6:077e37d5c2da 195 pack_cmd(&q12_can, g1_control.a2);
adimmit 6:077e37d5c2da 196 pack_cmd(&q13_can, g1_control.a3);
adimmit 5:f1703165ca7e 197 //actuators on the CAN2 bus
adimmit 6:077e37d5c2da 198 pack_cmd(&q21_can, g2_control.a1);
adimmit 6:077e37d5c2da 199 pack_cmd(&q22_can, g2_control.a2);
adimmit 6:077e37d5c2da 200 pack_cmd(&q23_can, g2_control.a3);
adimmit 5:f1703165ca7e 201 //actuators on the CAN3 bus
adimmit 6:077e37d5c2da 202 pack_cmd(&q31_can, g3_control.a1);
adimmit 6:077e37d5c2da 203 pack_cmd(&q32_can, g3_control.a2);
adimmit 6:077e37d5c2da 204 pack_cmd(&q33_can, g3_control.a3);
adimmit 0:76c761d3caf1 205 }
adimmit 0:76c761d3caf1 206 void WriteAll(){
adimmit 0:76c761d3caf1 207 //toggle = 1;
adimmit 5:f1703165ca7e 208 //ID = 1 actuators
adimmit 0:76c761d3caf1 209 can1.write(q11_can);
adimmit 0:76c761d3caf1 210 wait(.00002);
adimmit 5:f1703165ca7e 211 can2.write(q21_can);
adimmit 0:76c761d3caf1 212 wait(.00002);
adimmit 5:f1703165ca7e 213 can3.write(q31_can);
adimmit 0:76c761d3caf1 214 wait(.00002);
adimmit 5:f1703165ca7e 215 //ID = 2 actuators
adimmit 5:f1703165ca7e 216 can1.write(q12_can);
adimmit 0:76c761d3caf1 217 wait(.00002);
adimmit 0:76c761d3caf1 218 can2.write(q22_can);
adimmit 0:76c761d3caf1 219 wait(.00002);
adimmit 5:f1703165ca7e 220 can3.write(q32_can);
adimmit 0:76c761d3caf1 221 wait(.00002);
adimmit 5:f1703165ca7e 222 //ID = 3 actuators
adimmit 5:f1703165ca7e 223 can1.write(q13_can);
adimmit 0:76c761d3caf1 224 wait(.00002);
adimmit 5:f1703165ca7e 225 can2.write(q23_can);
adimmit 0:76c761d3caf1 226 wait(.00002);
adimmit 0:76c761d3caf1 227 can3.write(q33_can);
adimmit 0:76c761d3caf1 228 wait(.00002);
adimmit 0:76c761d3caf1 229 //toggle = 0;
adimmit 0:76c761d3caf1 230 }
adimmit 0:76c761d3caf1 231
adimmit 0:76c761d3caf1 232 void sendCMD(){
adimmit 0:76c761d3caf1 233 counter ++;
adimmit 0:76c761d3caf1 234
adimmit 0:76c761d3caf1 235 PackAll();
adimmit 0:76c761d3caf1 236
adimmit 0:76c761d3caf1 237 if(counter>100){
adimmit 6:077e37d5c2da 238 pc.printf("%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n\r", g1_state.a1.p, g1_state.a2.p, g1_state.a3.p, g2_state.a1.p, g2_state.a2.p, g2_state.a3.p, g3_state.a1.p, g3_state.a2.p, g3_state.a3.p);
adimmit 0:76c761d3caf1 239 counter = 0 ;
adimmit 0:76c761d3caf1 240 }
adimmit 0:76c761d3caf1 241
adimmit 0:76c761d3caf1 242 WriteAll();
adimmit 0:76c761d3caf1 243 }
adimmit 0:76c761d3caf1 244
adimmit 0:76c761d3caf1 245
adimmit 0:76c761d3caf1 246
adimmit 0:76c761d3caf1 247
adimmit 0:76c761d3caf1 248 void Zero(CANMessage * msg){
adimmit 0:76c761d3caf1 249 msg->data[0] = 0xFF;
adimmit 0:76c761d3caf1 250 msg->data[1] = 0xFF;
adimmit 0:76c761d3caf1 251 msg->data[2] = 0xFF;
adimmit 0:76c761d3caf1 252 msg->data[3] = 0xFF;
adimmit 0:76c761d3caf1 253 msg->data[4] = 0xFF;
adimmit 0:76c761d3caf1 254 msg->data[5] = 0xFF;
adimmit 0:76c761d3caf1 255 msg->data[6] = 0xFF;
adimmit 0:76c761d3caf1 256 msg->data[7] = 0xFE;
adimmit 8:450fbccaf4f6 257 //WriteAll();
adimmit 0:76c761d3caf1 258 }
adimmit 0:76c761d3caf1 259
adimmit 0:76c761d3caf1 260 void EnterMotorMode(CANMessage * msg){
adimmit 0:76c761d3caf1 261 msg->data[0] = 0xFF;
adimmit 0:76c761d3caf1 262 msg->data[1] = 0xFF;
adimmit 0:76c761d3caf1 263 msg->data[2] = 0xFF;
adimmit 0:76c761d3caf1 264 msg->data[3] = 0xFF;
adimmit 0:76c761d3caf1 265 msg->data[4] = 0xFF;
adimmit 0:76c761d3caf1 266 msg->data[5] = 0xFF;
adimmit 0:76c761d3caf1 267 msg->data[6] = 0xFF;
adimmit 0:76c761d3caf1 268 msg->data[7] = 0xFC;
adimmit 8:450fbccaf4f6 269 //WriteAll();
adimmit 0:76c761d3caf1 270 }
adimmit 0:76c761d3caf1 271
adimmit 0:76c761d3caf1 272 void ExitMotorMode(CANMessage * msg){
adimmit 0:76c761d3caf1 273 msg->data[0] = 0xFF;
adimmit 0:76c761d3caf1 274 msg->data[1] = 0xFF;
adimmit 0:76c761d3caf1 275 msg->data[2] = 0xFF;
adimmit 0:76c761d3caf1 276 msg->data[3] = 0xFF;
adimmit 0:76c761d3caf1 277 msg->data[4] = 0xFF;
adimmit 0:76c761d3caf1 278 msg->data[5] = 0xFF;
adimmit 0:76c761d3caf1 279 msg->data[6] = 0xFF;
adimmit 0:76c761d3caf1 280 msg->data[7] = 0xFD;
adimmit 8:450fbccaf4f6 281 //WriteAll();
adimmit 0:76c761d3caf1 282 }
adimmit 5:f1703165ca7e 283
adimmit 8:450fbccaf4f6 284
adimmit 0:76c761d3caf1 285 void serial_isr(){
adimmit 0:76c761d3caf1 286 /// handle keyboard commands from the serial terminal ///
adimmit 0:76c761d3caf1 287 while(pc.readable()){
adimmit 0:76c761d3caf1 288 char c = pc.getc();
adimmit 0:76c761d3caf1 289 //led = !led;
adimmit 0:76c761d3caf1 290 switch(c){
adimmit 0:76c761d3caf1 291 case(27):
adimmit 0:76c761d3caf1 292 //loop.detach();
adimmit 1:aa253b5f5b65 293 pc.printf("\n\r exiting motor mode \n\r");
adimmit 5:f1703165ca7e 294 //CAN BUS 1
adimmit 0:76c761d3caf1 295 ExitMotorMode(&q11_can);
adimmit 5:f1703165ca7e 296 ExitMotorMode(&q12_can);
adimmit 5:f1703165ca7e 297 ExitMotorMode(&q13_can);
adimmit 5:f1703165ca7e 298 //CAN BUS 2
adimmit 0:76c761d3caf1 299 ExitMotorMode(&q21_can);
adimmit 0:76c761d3caf1 300 ExitMotorMode(&q22_can);
adimmit 5:f1703165ca7e 301 ExitMotorMode(&q23_can);
adimmit 5:f1703165ca7e 302 //CAN BUS 3
adimmit 5:f1703165ca7e 303 ExitMotorMode(&q31_can);
adimmit 0:76c761d3caf1 304 ExitMotorMode(&q32_can);
adimmit 0:76c761d3caf1 305 ExitMotorMode(&q33_can);
adimmit 5:f1703165ca7e 306 //DISABLE FLAG
adimmit 0:76c761d3caf1 307 enabled = 0;
adimmit 0:76c761d3caf1 308 break;
adimmit 0:76c761d3caf1 309 case('m'):
adimmit 1:aa253b5f5b65 310 pc.printf("\n\r entering motor mode \n\r");
adimmit 5:f1703165ca7e 311 //CAN BUS 1
adimmit 0:76c761d3caf1 312 EnterMotorMode(&q11_can);
adimmit 5:f1703165ca7e 313 EnterMotorMode(&q12_can);
adimmit 5:f1703165ca7e 314 EnterMotorMode(&q13_can);
adimmit 5:f1703165ca7e 315 //CAN BUS 2
adimmit 0:76c761d3caf1 316 EnterMotorMode(&q21_can);
adimmit 0:76c761d3caf1 317 EnterMotorMode(&q22_can);
adimmit 5:f1703165ca7e 318 EnterMotorMode(&q23_can);
adimmit 5:f1703165ca7e 319 //CAN BUS 3
adimmit 5:f1703165ca7e 320 EnterMotorMode(&q31_can);
adimmit 0:76c761d3caf1 321 EnterMotorMode(&q32_can);
adimmit 0:76c761d3caf1 322 EnterMotorMode(&q33_can);
adimmit 5:f1703165ca7e 323 //WAIT FOR ENABLE
adimmit 0:76c761d3caf1 324 wait(.5);
adimmit 5:f1703165ca7e 325 //ENABLE FLAG
adimmit 0:76c761d3caf1 326 enabled = 1;
adimmit 0:76c761d3caf1 327 //loop.attach(&sendCMD, .001);
adimmit 0:76c761d3caf1 328 break;
adimmit 0:76c761d3caf1 329 case('s'):
adimmit 1:aa253b5f5b65 330 pc.printf("\n\r standing \n\r");
adimmit 0:76c761d3caf1 331 counter2 = 0;
adimmit 0:76c761d3caf1 332 is_standing = 1;
adimmit 0:76c761d3caf1 333 //stand();
adimmit 0:76c761d3caf1 334 break;
adimmit 0:76c761d3caf1 335 case('z'):
adimmit 1:aa253b5f5b65 336 pc.printf("\n\r zeroing \n\r");
adimmit 5:f1703165ca7e 337 //CAN BUS 1
adimmit 0:76c761d3caf1 338 Zero(&q11_can);
adimmit 0:76c761d3caf1 339 Zero(&q12_can);
adimmit 5:f1703165ca7e 340 Zero(&q13_can);
adimmit 5:f1703165ca7e 341 //CAN BUS 2
adimmit 5:f1703165ca7e 342 Zero(&q21_can);
adimmit 0:76c761d3caf1 343 Zero(&q22_can);
adimmit 5:f1703165ca7e 344 Zero(&q23_can);
adimmit 5:f1703165ca7e 345 //CAN BUS 3
adimmit 5:f1703165ca7e 346 Zero(&q31_can);
adimmit 0:76c761d3caf1 347 Zero(&q32_can);
adimmit 0:76c761d3caf1 348 Zero(&q33_can);
adimmit 0:76c761d3caf1 349 break;
adimmit 0:76c761d3caf1 350 }
adimmit 0:76c761d3caf1 351 }
adimmit 0:76c761d3caf1 352 WriteAll();
adimmit 0:76c761d3caf1 353
adimmit 0:76c761d3caf1 354 }
adimmit 8:450fbccaf4f6 355
adimmit 0:76c761d3caf1 356
adimmit 0:76c761d3caf1 357 uint32_t xor_checksum(uint32_t* data, size_t len)
adimmit 0:76c761d3caf1 358 {
adimmit 0:76c761d3caf1 359 uint32_t t = 0;
adimmit 0:76c761d3caf1 360 for(int i = 0; i < len; i++)
adimmit 0:76c761d3caf1 361 t = t ^ data[i];
adimmit 0:76c761d3caf1 362 return t;
adimmit 0:76c761d3caf1 363 }
adimmit 0:76c761d3caf1 364
adimmit 2:32f69175c78e 365
adimmit 2:32f69175c78e 366
adimmit 2:32f69175c78e 367 void print_SPI_command() {
adimmit 2:32f69175c78e 368 pc.printf("SPI MESSAGE RECIEVED:\n");
adimmit 5:f1703165ca7e 369 //CAN ONE
adimmit 5:f1703165ca7e 370 pc.printf("MOTOR 1-1 Q: %f\n", spi_command.q_des_1s[0]);
adimmit 5:f1703165ca7e 371 pc.printf("MOTOR 1-1 Qd: %f\n", spi_command.qd_des_1s[0]);
adimmit 5:f1703165ca7e 372 pc.printf("MOTOR 1-1 Kp: %f\n", spi_command.kp_1s[0]);
adimmit 5:f1703165ca7e 373 pc.printf("MOTOR 1-1 Kd: %f\n", spi_command.kd_1s[0]);
adimmit 5:f1703165ca7e 374 pc.printf("MOTOR 1-1 T_FF: %f\n", spi_command.tau_1s_ff[0]);
adimmit 2:32f69175c78e 375
adimmit 5:f1703165ca7e 376 pc.printf("MOTOR 1-2 Q: %f\n", spi_command.q_des_2s[0]);
adimmit 5:f1703165ca7e 377 pc.printf("MOTOR 1-2 Qd: %f\n", spi_command.qd_des_2s[0]);
adimmit 5:f1703165ca7e 378 pc.printf("MOTOR 1-2 Kp: %f\n", spi_command.kp_2s[0]);
adimmit 5:f1703165ca7e 379 pc.printf("MOTOR 1-2 Kd: %f\n", spi_command.kd_2s[0]);
adimmit 5:f1703165ca7e 380 pc.printf("MOTOR 1-2 T_FF: %f\n", spi_command.tau_2s_ff[0]);
adimmit 2:32f69175c78e 381
adimmit 5:f1703165ca7e 382 pc.printf("MOTOR 1-3 Q: %f\n", spi_command.q_des_3s[0]);
adimmit 5:f1703165ca7e 383 pc.printf("MOTOR 1-3 Qd: %f\n", spi_command.qd_des_3s[0]);
adimmit 5:f1703165ca7e 384 pc.printf("MOTOR 1-3 Kp: %f\n", spi_command.kp_3s[0]);
adimmit 5:f1703165ca7e 385 pc.printf("MOTOR 1-3 Kd: %f\n", spi_command.kd_3s[0]);
adimmit 5:f1703165ca7e 386 pc.printf("MOTOR 1-3 T_FF: %f\n", spi_command.tau_3s_ff[0]);
adimmit 2:32f69175c78e 387
adimmit 5:f1703165ca7e 388 pc.printf("MOTOR 2-1 Q: %f\n", spi_command.q_des_1s[1]);
adimmit 5:f1703165ca7e 389 pc.printf("MOTOR 2-1 Qd: %f\n", spi_command.qd_des_1s[1]);
adimmit 5:f1703165ca7e 390 pc.printf("MOTOR 2-1 Kp: %f\n", spi_command.kp_1s[1]);
adimmit 5:f1703165ca7e 391 pc.printf("MOTOR 2-1 Kd: %f\n", spi_command.kd_1s[1]);
adimmit 5:f1703165ca7e 392 pc.printf("MOTOR 2-1_FF: %f\n", spi_command.tau_1s_ff[1]);
adimmit 2:32f69175c78e 393
adimmit 5:f1703165ca7e 394 pc.printf("MOTOR 2-2 Q: %f\n", spi_command.q_des_2s[1]);
adimmit 5:f1703165ca7e 395 pc.printf("MOTOR 2-2 Qd: %f\n", spi_command.qd_des_2s[1]);
adimmit 5:f1703165ca7e 396 pc.printf("MOTOR 2-2 Kp: %f\n", spi_command.kp_2s[1]);
adimmit 5:f1703165ca7e 397 pc.printf("MOTOR 2-2 Kd: %f\n", spi_command.kd_2s[1]);
adimmit 5:f1703165ca7e 398 pc.printf("MOTOR 2-2 T_FF: %f\n", spi_command.tau_2s_ff[1]);
adimmit 2:32f69175c78e 399
adimmit 5:f1703165ca7e 400 pc.printf("MOTOR 2-3 Q: %f\n", spi_command.q_des_3s[1]);
adimmit 5:f1703165ca7e 401 pc.printf("MOTOR 2-3 Qd: %f\n", spi_command.qd_des_3s[1]);
adimmit 5:f1703165ca7e 402 pc.printf("MOTOR 2-3 Kp: %f\n", spi_command.kp_3s[1]);
adimmit 5:f1703165ca7e 403 pc.printf("MOTOR 2-3 Kd: %f\n", spi_command.kd_3s[1]);
adimmit 5:f1703165ca7e 404 pc.printf("MOTOR 2-3 T_FF: %f\n", spi_command.tau_3s_ff[1]);
adimmit 2:32f69175c78e 405
adimmit 5:f1703165ca7e 406 pc.printf("MOTOR 3-1 Q: %f\n", spi_command.q_des_1s[2]);
adimmit 5:f1703165ca7e 407 pc.printf("MOTOR 3-1 Qd: %f\n", spi_command.qd_des_1s[2]);
adimmit 5:f1703165ca7e 408 pc.printf("MOTOR 3-1 Kp: %f\n", spi_command.kp_1s[2]);
adimmit 5:f1703165ca7e 409 pc.printf("MOTOR 3-1 Kd: %f\n", spi_command.kd_1s[2]);
adimmit 5:f1703165ca7e 410 pc.printf("MOTOR 3-1 T_FF: %f\n", spi_command.tau_1s_ff[2]);
adimmit 2:32f69175c78e 411
adimmit 5:f1703165ca7e 412 pc.printf("MOTOR 3-2 Q: %f\n", spi_command.q_des_2s[2]);
adimmit 5:f1703165ca7e 413 pc.printf("MOTOR 3-2 Qd: %f\n", spi_command.qd_des_2s[2]);
adimmit 5:f1703165ca7e 414 pc.printf("MOTOR 3-2 Kp: %f\n", spi_command.kp_2s[2]);
adimmit 5:f1703165ca7e 415 pc.printf("MOTOR 3-2 Kd: %f\n", spi_command.kd_2s[2]);
adimmit 5:f1703165ca7e 416 pc.printf("MOTOR 3-2 T_FF: %f\n", spi_command.tau_2s_ff[2]);
adimmit 2:32f69175c78e 417
adimmit 5:f1703165ca7e 418 pc.printf("MOTOR 3-3 Q: %f\n", spi_command.q_des_3s[2]);
adimmit 5:f1703165ca7e 419 pc.printf("MOTOR 3-3 Qd: %f\n", spi_command.qd_des_3s[2]);
adimmit 5:f1703165ca7e 420 pc.printf("MOTOR 3-3 Kp: %f\n", spi_command.kp_3s[2]);
adimmit 5:f1703165ca7e 421 pc.printf("MOTOR 3-3 Kd: %f\n", spi_command.kd_3s[2]);
adimmit 5:f1703165ca7e 422 pc.printf("MOTOR 3-3 T_FF: %f\n", spi_command.tau_3s_ff[2]);
adimmit 2:32f69175c78e 423
adimmit 2:32f69175c78e 424 }
adimmit 2:32f69175c78e 425
adimmit 2:32f69175c78e 426
adimmit 2:32f69175c78e 427
adimmit 2:32f69175c78e 428
adimmit 9:16a550d36425 429 void print_SPI_data() {
adimmit 9:16a550d36425 430 pc.printf("SPI MESSAGE SENT:\n");
adimmit 9:16a550d36425 431 //CAN ONE
adimmit 9:16a550d36425 432 pc.printf("MOTOR 1-1 Q: %f\n", spi_data.q_1s[0]);
adimmit 9:16a550d36425 433 pc.printf("MOTOR 1-1 Qd: %f\n", spi_data.qd_1s[0]);
adimmit 9:16a550d36425 434
adimmit 9:16a550d36425 435 pc.printf("MOTOR 1-2 Q: %f\n", spi_data.q_2s[0]);
adimmit 9:16a550d36425 436 pc.printf("MOTOR 1-2 Qd: %f\n", spi_data.qd_2s[0]);
adimmit 9:16a550d36425 437
adimmit 9:16a550d36425 438 pc.printf("MOTOR 1-3 Q: %f\n", spi_data.q_3s[0]);
adimmit 9:16a550d36425 439 pc.printf("MOTOR 1-3 Qd: %f\n", spi_data.qd_3s[0]);
adimmit 9:16a550d36425 440
adimmit 9:16a550d36425 441 pc.printf("MOTOR 2-1 Q: %f\n", spi_data.q_1s[1]);
adimmit 9:16a550d36425 442 pc.printf("MOTOR 2-1 Qd: %f\n", spi_data.qd_1s[1]);
adimmit 9:16a550d36425 443
adimmit 9:16a550d36425 444 pc.printf("MOTOR 2-2 Q: %f\n", spi_data.q_2s[1]);
adimmit 9:16a550d36425 445 pc.printf("MOTOR 2-2 Qd: %f\n", spi_data.qd_2s[1]);
adimmit 9:16a550d36425 446
adimmit 9:16a550d36425 447 pc.printf("MOTOR 2-3 Q: %f\n", spi_data.q_3s[1]);
adimmit 9:16a550d36425 448 pc.printf("MOTOR 2-3 Qd: %f\n", spi_data.qd_3s[1]);
adimmit 9:16a550d36425 449
adimmit 9:16a550d36425 450 pc.printf("MOTOR 3-1 Q: %f\n", spi_data.q_1s[2]);
adimmit 9:16a550d36425 451 pc.printf("MOTOR 3-1 Qd: %f\n", spi_data.qd_1s[2]);
adimmit 9:16a550d36425 452
adimmit 9:16a550d36425 453 pc.printf("MOTOR 3-2 Q: %f\n", spi_data.q_2s[2]);
adimmit 9:16a550d36425 454 pc.printf("MOTOR 3-2 Qd: %f\n", spi_data.qd_2s[2]);
adimmit 9:16a550d36425 455
adimmit 9:16a550d36425 456 pc.printf("MOTOR 3-3 Q: %f\n", spi_data.q_3s[2]);
adimmit 9:16a550d36425 457 pc.printf("MOTOR 3-3 Qd: %f\n", spi_data.qd_3s[2]);
adimmit 9:16a550d36425 458
adimmit 9:16a550d36425 459 }
adimmit 9:16a550d36425 460
adimmit 9:16a550d36425 461
adimmit 9:16a550d36425 462
adimmit 12:5f97bcab6c50 463 void process()
adimmit 12:5f97bcab6c50 464 {
adimmit 13:87e7ce883f6a 465 //pc.printf("%f\n", spi_command.q_des_2s[0]);
adimmit 12:5f97bcab6c50 466 // update qs
adimmit 12:5f97bcab6c50 467 spi_data.q_1s[0] = spi_command.q_des_1s[0]+1.0;
adimmit 12:5f97bcab6c50 468 spi_data.q_2s[0] = spi_command.q_des_2s[0]+1.0;
adimmit 12:5f97bcab6c50 469 spi_data.q_3s[0] = spi_command.q_des_3s[0]+1.0;
adimmit 12:5f97bcab6c50 470 spi_data.q_1s[1] = spi_command.q_des_1s[1]+1.0;
adimmit 12:5f97bcab6c50 471 spi_data.q_2s[1] = spi_command.q_des_2s[1]+1.0;
adimmit 12:5f97bcab6c50 472 spi_data.q_3s[1] = spi_command.q_des_3s[1]+1.0;
adimmit 12:5f97bcab6c50 473 spi_data.q_1s[2] = spi_command.q_des_1s[2]+1.0;
adimmit 12:5f97bcab6c50 474 spi_data.q_2s[2] = spi_command.q_des_2s[2]+1.0;
adimmit 12:5f97bcab6c50 475 spi_data.q_3s[2] = spi_command.q_des_3s[2]+1.0;
adimmit 12:5f97bcab6c50 476 // update qds
adimmit 12:5f97bcab6c50 477 spi_data.qd_1s[0] = spi_command.qd_des_1s[0]+1.0;
adimmit 12:5f97bcab6c50 478 spi_data.qd_2s[0] = spi_command.qd_des_2s[0]+1.0;
adimmit 12:5f97bcab6c50 479 spi_data.qd_3s[0] = spi_command.qd_des_3s[0]+1.0;
adimmit 12:5f97bcab6c50 480 spi_data.qd_1s[1] = spi_command.qd_des_1s[1]+1.0;
adimmit 12:5f97bcab6c50 481 spi_data.qd_2s[1] = spi_command.qd_des_2s[1]+1.0;
adimmit 12:5f97bcab6c50 482 spi_data.qd_3s[1] = spi_command.qd_des_3s[1]+1.0;
adimmit 12:5f97bcab6c50 483 spi_data.qd_1s[2] = spi_command.qd_des_1s[2]+1.0;
adimmit 12:5f97bcab6c50 484 spi_data.qd_2s[2] = spi_command.qd_des_2s[2]+1.0;
adimmit 12:5f97bcab6c50 485 spi_data.qd_3s[2] = spi_command.qd_des_3s[2]+1.0;
adimmit 12:5f97bcab6c50 486 // update taus
adimmit 12:5f97bcab6c50 487 spi_data.tau_1s[0] = spi_command.tau_1s_ff[0]+1.0;
adimmit 12:5f97bcab6c50 488 spi_data.tau_2s[0] = spi_command.tau_2s_ff[0]+1.0;
adimmit 12:5f97bcab6c50 489 spi_data.tau_3s[0] = spi_command.tau_3s_ff[0]+1.0;
adimmit 12:5f97bcab6c50 490 spi_data.tau_1s[1] = spi_command.tau_1s_ff[1]+1.0;
adimmit 12:5f97bcab6c50 491 spi_data.tau_2s[1] = spi_command.tau_2s_ff[1]+1.0;
adimmit 12:5f97bcab6c50 492 spi_data.tau_3s[1] = spi_command.tau_3s_ff[1]+1.0;
adimmit 12:5f97bcab6c50 493 spi_data.tau_1s[2] = spi_command.tau_1s_ff[2]+1.0;
adimmit 12:5f97bcab6c50 494 spi_data.tau_2s[2] = spi_command.tau_2s_ff[2]+1.0;
adimmit 12:5f97bcab6c50 495 spi_data.tau_3s[2] = spi_command.tau_3s_ff[2]+1.0;
adimmit 12:5f97bcab6c50 496 // UDPATE FLAGS
adimmit 12:5f97bcab6c50 497 spi_data.flags[0] = 0;
adimmit 12:5f97bcab6c50 498 spi_data.flags[1] = 0;
adimmit 12:5f97bcab6c50 499 spi_data.flags[2] = 0;
adimmit 12:5f97bcab6c50 500 // UPDATE CHECKSUM
adimmit 13:87e7ce883f6a 501 spi_data.checksum = xor_checksum((uint32_t*)&spi_data, 30);
adimmit 12:5f97bcab6c50 502 for(int i = 0; i < DATA_LEN; i++){
adimmit 12:5f97bcab6c50 503 tx_buff[i] = ((uint16_t*)(&spi_data))[i];}
adimmit 12:5f97bcab6c50 504 }
adimmit 12:5f97bcab6c50 505
adimmit 9:16a550d36425 506
adimmit 2:32f69175c78e 507
adimmit 0:76c761d3caf1 508 void spi_isr(void)
adimmit 0:76c761d3caf1 509 {
adimmit 1:aa253b5f5b65 510 //pc.printf("CS ACTIVE\n");
adimmit 0:76c761d3caf1 511 GPIOC->ODR |= (1 << 8);
adimmit 0:76c761d3caf1 512 GPIOC->ODR &= ~(1 << 8);
adimmit 0:76c761d3caf1 513 int bytecount = 0;
adimmit 0:76c761d3caf1 514 SPI1->DR = tx_buff[0];
adimmit 0:76c761d3caf1 515 while(cs == 0) {
adimmit 0:76c761d3caf1 516 if(SPI1->SR&0x1) {
adimmit 1:aa253b5f5b65 517 rx_buff[bytecount] = SPI1->DR;
adimmit 0:76c761d3caf1 518 bytecount++;
adimmit 0:76c761d3caf1 519 if(bytecount<TX_LEN) {
adimmit 0:76c761d3caf1 520 SPI1->DR = tx_buff[bytecount];
adimmit 0:76c761d3caf1 521 }
adimmit 0:76c761d3caf1 522 }
adimmit 0:76c761d3caf1 523 }
adimmit 2:32f69175c78e 524 //pc.printf("RECIEVED: %d BYTES\n", bytecount);
adimmit 0:76c761d3caf1 525
adimmit 13:87e7ce883f6a 526 //update crc_chk from buffer
adimmit 13:87e7ce883f6a 527 for(int i = 0; i < RX_LEN; i++) {((uint16_t*)(&tmp_crc_chk))[i] = rx_buff[i];}
adimmit 13:87e7ce883f6a 528 // CHECK THE CHECKSUM
adimmit 13:87e7ce883f6a 529 uint32_t _crc = xor_checksum((uint32_t*)&tmp_crc_chk, 48);
adimmit 13:87e7ce883f6a 530 // READ CHECKSUM
adimmit 13:87e7ce883f6a 531 uint32_t _rx_crc = tmp_crc_chk.checksum;
adimmit 0:76c761d3caf1 532
adimmit 13:87e7ce883f6a 533 if(_crc == _rx_crc) {
adimmit 13:87e7ce883f6a 534 //pc.printf("CHECKSUM PASSED...");
adimmit 13:87e7ce883f6a 535 //update crc_chk from buffer
adimmit 13:87e7ce883f6a 536 spi_command = tmp_crc_chk;
adimmit 13:87e7ce883f6a 537 //do math on the input
adimmit 13:87e7ce883f6a 538 process();
adimmit 13:87e7ce883f6a 539 //control();
adimmit 13:87e7ce883f6a 540 //new_command = 1;
adimmit 13:87e7ce883f6a 541 //print_SPI_command();
adimmit 13:87e7ce883f6a 542 }
adimmit 13:87e7ce883f6a 543 else{pc.printf("bigger F in the chat...\n");}
adimmit 5:f1703165ca7e 544
adimmit 13:87e7ce883f6a 545
adimmit 0:76c761d3caf1 546 }
adimmit 0:76c761d3caf1 547
adimmit 0:76c761d3caf1 548 int softstop_joint(joint_state state, joint_control * control, float limit_p, float limit_n){
adimmit 9:16a550d36425 549 /*
adimmit 0:76c761d3caf1 550 if((state.p)>=limit_p){
adimmit 0:76c761d3caf1 551 //control->p_des = limit_p;
adimmit 0:76c761d3caf1 552 control->v_des = 0.0f;
adimmit 0:76c761d3caf1 553 control->kp = 0;
adimmit 0:76c761d3caf1 554 control->kd = KD_SOFTSTOP;
adimmit 0:76c761d3caf1 555 control->t_ff += KP_SOFTSTOP*(limit_p - state.p);
adimmit 0:76c761d3caf1 556 return 1;
adimmit 0:76c761d3caf1 557 }
adimmit 0:76c761d3caf1 558 else if((state.p)<=limit_n){
adimmit 0:76c761d3caf1 559 //control->p_des = limit_n;
adimmit 0:76c761d3caf1 560 control->v_des = 0.0f;
adimmit 0:76c761d3caf1 561 control->kp = 0;
adimmit 0:76c761d3caf1 562 control->kd = KD_SOFTSTOP;
adimmit 0:76c761d3caf1 563 control->t_ff += KP_SOFTSTOP*(limit_n - state.p);
adimmit 0:76c761d3caf1 564 return 1;
adimmit 0:76c761d3caf1 565 }
adimmit 9:16a550d36425 566 */
adimmit 0:76c761d3caf1 567 return 0;
adimmit 0:76c761d3caf1 568
adimmit 0:76c761d3caf1 569 }
adimmit 0:76c761d3caf1 570
adimmit 0:76c761d3caf1 571
adimmit 0:76c761d3caf1 572 void control()
adimmit 0:76c761d3caf1 573 {
adimmit 0:76c761d3caf1 574
adimmit 0:76c761d3caf1 575 if(((spi_command.flags[0]&0x1)==1) && (enabled==0)){
adimmit 0:76c761d3caf1 576 enabled = 1;
adimmit 0:76c761d3caf1 577 //BUS ONE
adimmit 0:76c761d3caf1 578 EnterMotorMode(&q11_can);
adimmit 0:76c761d3caf1 579 can1.write(q11_can);
adimmit 5:f1703165ca7e 580 EnterMotorMode(&q12_can);
adimmit 5:f1703165ca7e 581 can1.write(q12_can);
adimmit 5:f1703165ca7e 582 EnterMotorMode(&q13_can);
adimmit 5:f1703165ca7e 583 can1.write(q13_can);
adimmit 5:f1703165ca7e 584 //BUS TWO
adimmit 0:76c761d3caf1 585 EnterMotorMode(&q21_can);
adimmit 5:f1703165ca7e 586 can2.write(q21_can);
adimmit 0:76c761d3caf1 587 EnterMotorMode(&q22_can);
adimmit 0:76c761d3caf1 588 can2.write(q22_can);
adimmit 5:f1703165ca7e 589 EnterMotorMode(&q23_can);
adimmit 5:f1703165ca7e 590 can2.write(q23_can);
adimmit 0:76c761d3caf1 591 //BUS THREE
adimmit 5:f1703165ca7e 592 EnterMotorMode(&q31_can);
adimmit 5:f1703165ca7e 593 can3.write(q31_can);
adimmit 5:f1703165ca7e 594 EnterMotorMode(&q32_can);
adimmit 5:f1703165ca7e 595 can3.write(q32_can);
adimmit 0:76c761d3caf1 596 EnterMotorMode(&q33_can);
adimmit 0:76c761d3caf1 597 can3.write(q33_can);
adimmit 8:450fbccaf4f6 598 //WRITE THE COMMANDS
adimmit 8:450fbccaf4f6 599 //WriteAll();
adimmit 5:f1703165ca7e 600 //SERIAL TO USER
adimmit 8:450fbccaf4f6 601 //pc.printf("e\n\r");
adimmit 0:76c761d3caf1 602 return;
adimmit 0:76c761d3caf1 603 }
adimmit 0:76c761d3caf1 604 else if((((spi_command.flags[0]&0x1))==0) && (enabled==1)){
adimmit 0:76c761d3caf1 605 enabled = 0;
adimmit 0:76c761d3caf1 606 //BUS ONE
adimmit 0:76c761d3caf1 607 ExitMotorMode(&q11_can);
adimmit 0:76c761d3caf1 608 can1.write(q11_can);
adimmit 5:f1703165ca7e 609 ExitMotorMode(&q12_can);
adimmit 5:f1703165ca7e 610 can1.write(q12_can);
adimmit 5:f1703165ca7e 611 ExitMotorMode(&q13_can);
adimmit 5:f1703165ca7e 612 can1.write(q13_can);
adimmit 5:f1703165ca7e 613 //BUS TWO
adimmit 0:76c761d3caf1 614 ExitMotorMode(&q21_can);
adimmit 5:f1703165ca7e 615 can2.write(q21_can);
adimmit 0:76c761d3caf1 616 ExitMotorMode(&q22_can);
adimmit 0:76c761d3caf1 617 can2.write(q22_can);
adimmit 5:f1703165ca7e 618 ExitMotorMode(&q23_can);
adimmit 5:f1703165ca7e 619 can2.write(q23_can);
adimmit 0:76c761d3caf1 620 //BUS THREE
adimmit 5:f1703165ca7e 621 ExitMotorMode(&q31_can);
adimmit 5:f1703165ca7e 622 can3.write(q31_can);
adimmit 5:f1703165ca7e 623 ExitMotorMode(&q32_can);
adimmit 5:f1703165ca7e 624 can3.write(q32_can);
adimmit 0:76c761d3caf1 625 ExitMotorMode(&q33_can);
adimmit 0:76c761d3caf1 626 can3.write(q33_can);
adimmit 8:450fbccaf4f6 627 //WRITE THE COMMANDS
adimmit 8:450fbccaf4f6 628 //WriteAll();
adimmit 5:f1703165ca7e 629 //SERIAL TO USER
adimmit 8:450fbccaf4f6 630 //pc.printf("x\n\r");
adimmit 0:76c761d3caf1 631 return;
adimmit 0:76c761d3caf1 632 }
adimmit 0:76c761d3caf1 633
adimmit 5:f1703165ca7e 634 //BUS 1 DATA
adimmit 5:f1703165ca7e 635 spi_data.q_1s[0] = g1_state.a1.p;
adimmit 5:f1703165ca7e 636 spi_data.q_2s[0] = g1_state.a2.p;
adimmit 5:f1703165ca7e 637 spi_data.q_3s[0] = g1_state.a3.p;
adimmit 5:f1703165ca7e 638 spi_data.qd_1s[0] = g1_state.a1.v;
adimmit 5:f1703165ca7e 639 spi_data.qd_2s[0] = g1_state.a2.v;
adimmit 5:f1703165ca7e 640 spi_data.qd_3s[0] = g1_state.a3.v;
adimmit 10:42438194e82b 641 spi_data.tau_1s[0] = g1_state.a1.t;
adimmit 10:42438194e82b 642 spi_data.tau_2s[0] = g1_state.a2.t;
adimmit 10:42438194e82b 643 spi_data.tau_3s[0] = g1_state.a3.t;
adimmit 5:f1703165ca7e 644 //BUS 2 DATA
adimmit 9:16a550d36425 645 spi_data.q_1s[1] = g2_state.a1.p;
adimmit 9:16a550d36425 646 spi_data.q_2s[1] = g2_state.a2.p;
adimmit 9:16a550d36425 647 spi_data.q_3s[1] = g2_state.a3.p;
adimmit 9:16a550d36425 648 spi_data.qd_1s[1] = g2_state.a1.v;
adimmit 9:16a550d36425 649 spi_data.qd_2s[1] = g2_state.a2.v;
adimmit 9:16a550d36425 650 spi_data.qd_3s[1] = g2_state.a3.v;
adimmit 10:42438194e82b 651 spi_data.tau_1s[1] = g2_state.a1.t;
adimmit 10:42438194e82b 652 spi_data.tau_2s[1] = g2_state.a2.t;
adimmit 10:42438194e82b 653 spi_data.tau_3s[1] = g2_state.a3.t;
adimmit 5:f1703165ca7e 654 //BUS 3 DATA
adimmit 9:16a550d36425 655 spi_data.q_1s[2] = g3_state.a1.p;
adimmit 9:16a550d36425 656 spi_data.q_2s[2] = g3_state.a2.p;
adimmit 9:16a550d36425 657 spi_data.q_3s[2] = g3_state.a3.p;
adimmit 9:16a550d36425 658 spi_data.qd_1s[2] = g3_state.a1.v;
adimmit 9:16a550d36425 659 spi_data.qd_2s[2] = g3_state.a2.v;
adimmit 9:16a550d36425 660 spi_data.qd_3s[2] = g3_state.a3.v;
adimmit 10:42438194e82b 661 spi_data.tau_1s[2] = g3_state.a1.t;
adimmit 10:42438194e82b 662 spi_data.tau_2s[2] = g3_state.a2.t;
adimmit 10:42438194e82b 663 spi_data.tau_3s[2] = g3_state.a3.t;
adimmit 0:76c761d3caf1 664
adimmit 0:76c761d3caf1 665 if(estop==0){
adimmit 5:f1703165ca7e 666 printf("estopped!!!!\n\r");
adimmit 6:077e37d5c2da 667 memset(&g1_control, 0, sizeof(g1_control));
adimmit 6:077e37d5c2da 668 memset(&g2_control, 0, sizeof(g2_control));
adimmit 6:077e37d5c2da 669 memset(&g3_control, 0, sizeof(g3_control));
adimmit 0:76c761d3caf1 670 spi_data.flags[0] = 0xdead;
adimmit 0:76c761d3caf1 671 spi_data.flags[1] = 0xdead;
adimmit 0:76c761d3caf1 672 spi_data.flags[2] = 0xdead;
adimmit 0:76c761d3caf1 673 led = 1;
adimmit 0:76c761d3caf1 674 }
adimmit 0:76c761d3caf1 675
adimmit 0:76c761d3caf1 676 else{
adimmit 0:76c761d3caf1 677 led = 0;
adimmit 6:077e37d5c2da 678 memset(&g1_control, 0, sizeof(g1_control));
adimmit 6:077e37d5c2da 679 memset(&g2_control, 0, sizeof(g2_control));
adimmit 6:077e37d5c2da 680 memset(&g3_control, 0, sizeof(g3_control));
adimmit 0:76c761d3caf1 681
adimmit 5:f1703165ca7e 682 //TRANSLATE SPI TO ACTUATOR COMMANNDS
adimmit 5:f1703165ca7e 683 //CAN1
adimmit 5:f1703165ca7e 684 //CAN1 MOTOR1
adimmit 5:f1703165ca7e 685 g1_control.a1.p_des = spi_command.q_des_1s[0];
adimmit 5:f1703165ca7e 686 g1_control.a1.v_des = spi_command.qd_des_1s[0];
adimmit 5:f1703165ca7e 687 g1_control.a1.kp = spi_command.kp_1s[0];
adimmit 5:f1703165ca7e 688 g1_control.a1.kd = spi_command.kd_1s[0];
adimmit 5:f1703165ca7e 689 g1_control.a1.t_ff = spi_command.tau_1s_ff[0];
adimmit 5:f1703165ca7e 690 //CAN1 MOTOR 2
adimmit 5:f1703165ca7e 691 g1_control.a2.p_des = spi_command.q_des_2s[0];
adimmit 5:f1703165ca7e 692 g1_control.a2.v_des = spi_command.qd_des_2s[0];
adimmit 5:f1703165ca7e 693 g1_control.a2.kp = spi_command.kp_2s[0];
adimmit 5:f1703165ca7e 694 g1_control.a2.kd = spi_command.kd_2s[0];
adimmit 5:f1703165ca7e 695 g1_control.a2.t_ff = spi_command.tau_2s_ff[0];
adimmit 5:f1703165ca7e 696 //CAN1 MOTOR 3
adimmit 5:f1703165ca7e 697 g1_control.a3.p_des = spi_command.q_des_3s[0];
adimmit 5:f1703165ca7e 698 g1_control.a3.v_des = spi_command.qd_des_3s[0];
adimmit 5:f1703165ca7e 699 g1_control.a3.kp = spi_command.kp_3s[0];
adimmit 5:f1703165ca7e 700 g1_control.a3.kd = spi_command.kd_3s[0];
adimmit 5:f1703165ca7e 701 g1_control.a3.t_ff = spi_command.tau_3s_ff[0];
adimmit 5:f1703165ca7e 702 //CAN2
adimmit 5:f1703165ca7e 703 //CAN2 MOTOR1
adimmit 5:f1703165ca7e 704 g2_control.a1.p_des = spi_command.q_des_1s[1];
adimmit 5:f1703165ca7e 705 g2_control.a1.v_des = spi_command.qd_des_1s[1];
adimmit 5:f1703165ca7e 706 g2_control.a1.kp = spi_command.kp_1s[1];
adimmit 5:f1703165ca7e 707 g2_control.a1.kd = spi_command.kd_1s[1];
adimmit 5:f1703165ca7e 708 g2_control.a1.t_ff = spi_command.tau_1s_ff[1];
adimmit 5:f1703165ca7e 709 //CAN2 MOTOR 2
adimmit 5:f1703165ca7e 710 g2_control.a2.p_des = spi_command.q_des_2s[1];
adimmit 5:f1703165ca7e 711 g2_control.a2.v_des = spi_command.qd_des_2s[1];
adimmit 5:f1703165ca7e 712 g2_control.a2.kp = spi_command.kp_2s[1];
adimmit 5:f1703165ca7e 713 g2_control.a2.kd = spi_command.kd_2s[1];
adimmit 5:f1703165ca7e 714 g2_control.a2.t_ff = spi_command.tau_2s_ff[1];
adimmit 5:f1703165ca7e 715 //CAN2 MOTOR 3
adimmit 5:f1703165ca7e 716 g2_control.a3.p_des = spi_command.q_des_3s[1];
adimmit 5:f1703165ca7e 717 g2_control.a3.v_des = spi_command.qd_des_3s[1];
adimmit 5:f1703165ca7e 718 g2_control.a3.kp = spi_command.kp_3s[1];
adimmit 5:f1703165ca7e 719 g2_control.a3.kd = spi_command.kd_3s[1];
adimmit 5:f1703165ca7e 720 g2_control.a3.t_ff = spi_command.tau_3s_ff[1];
adimmit 5:f1703165ca7e 721 //CAN3
adimmit 5:f1703165ca7e 722 //CAN3 MOTOR1
adimmit 5:f1703165ca7e 723 g3_control.a1.p_des = spi_command.q_des_1s[2];
adimmit 5:f1703165ca7e 724 g3_control.a1.v_des = spi_command.qd_des_1s[2];
adimmit 5:f1703165ca7e 725 g3_control.a1.kp = spi_command.kp_1s[2];
adimmit 5:f1703165ca7e 726 g3_control.a1.kd = spi_command.kd_1s[2];
adimmit 5:f1703165ca7e 727 g3_control.a1.t_ff = spi_command.tau_1s_ff[2];
adimmit 5:f1703165ca7e 728 //CAN3 MOTOR 2
adimmit 5:f1703165ca7e 729 g3_control.a2.p_des = spi_command.q_des_2s[2];
adimmit 5:f1703165ca7e 730 g3_control.a2.v_des = spi_command.qd_des_2s[2];
adimmit 5:f1703165ca7e 731 g3_control.a2.kp = spi_command.kp_2s[2];
adimmit 5:f1703165ca7e 732 g3_control.a2.kd = spi_command.kd_2s[2];
adimmit 5:f1703165ca7e 733 g3_control.a2.t_ff = spi_command.tau_2s_ff[2];
adimmit 5:f1703165ca7e 734 //CAN3 MOTOR 3
adimmit 5:f1703165ca7e 735 g3_control.a3.p_des = spi_command.q_des_3s[2];
adimmit 5:f1703165ca7e 736 g3_control.a3.v_des = spi_command.qd_des_3s[2];
adimmit 5:f1703165ca7e 737 g3_control.a3.kp = spi_command.kp_3s[2];
adimmit 5:f1703165ca7e 738 g3_control.a3.kd = spi_command.kd_3s[2];
adimmit 5:f1703165ca7e 739 g3_control.a3.t_ff = spi_command.tau_3s_ff[2];
adimmit 0:76c761d3caf1 740
adimmit 7:2f785cb39f11 741 //SPI FLAGS RETURN //IMPLEMENTS THE JOINT SOFT STOP RIGHT HERE
adimmit 0:76c761d3caf1 742 spi_data.flags[0] = 0;
adimmit 0:76c761d3caf1 743 spi_data.flags[1] = 0;
adimmit 0:76c761d3caf1 744 spi_data.flags[2] = 0;
adimmit 9:16a550d36425 745 //spi_data.flags[0] |= softstop_joint(g1_state.a1, &g1_control.a1, A1_LIM_P, A1_LIM_N);
adimmit 9:16a550d36425 746 //spi_data.flags[0] |= (softstop_joint(g1_state.a2, &g1_control.a2, A2_LIM_P, A2_LIM_N))<<1;
adimmit 9:16a550d36425 747 //spi_data.flags[0] |= (softstop_joint(g1_state.a3, &g1_control.a3, A3_LIM_P, A3_LIM_N))<<2;
adimmit 9:16a550d36425 748 //spi_data.flags[1] |= softstop_joint(g2_state.a1, &g2_control.a1, A1_LIM_P, A1_LIM_N);
adimmit 9:16a550d36425 749 //spi_data.flags[1] |= (softstop_joint(g2_state.a2, &g2_control.a2, A2_LIM_P, A2_LIM_N))<<1;
adimmit 9:16a550d36425 750 //spi_data.flags[1] |= (softstop_joint(g2_state.a3, &g2_control.a3, A3_LIM_P, A3_LIM_N))<<2;
adimmit 9:16a550d36425 751 //spi_data.flags[2] |= softstop_joint(g3_state.a1, &g3_control.a1, A1_LIM_P, A1_LIM_N);
adimmit 9:16a550d36425 752 //spi_data.flags[2] |= (softstop_joint(g3_state.a2, &g3_control.a2, A2_LIM_P, A2_LIM_N))<<1;
adimmit 9:16a550d36425 753 //spi_data.flags[2] |= (softstop_joint(g3_state.a3, &g3_control.a3, A3_LIM_P, A3_LIM_N))<<2;
adimmit 0:76c761d3caf1 754
adimmit 0:76c761d3caf1 755 //spi_data.flags[0] = 0xbeef;
adimmit 0:76c761d3caf1 756 //spi_data.flags[1] = 0xbeef;
adimmit 0:76c761d3caf1 757 //PackAll();
adimmit 0:76c761d3caf1 758 //WriteAll();
adimmit 0:76c761d3caf1 759 }
adimmit 11:40d5d9b5d2ba 760 spi_data.checksum = xor_checksum((uint32_t*)&spi_data,14); //OK THIS LINE ISN'T SETTING THE CHECKSUM B/C SETTINNG IT TO 10 DID NOTHIGN
adimmit 0:76c761d3caf1 761 for(int i = 0; i < DATA_LEN; i++){
adimmit 0:76c761d3caf1 762 tx_buff[i] = ((uint16_t*)(&spi_data))[i];}
adimmit 0:76c761d3caf1 763
adimmit 0:76c761d3caf1 764 }
adimmit 0:76c761d3caf1 765
adimmit 0:76c761d3caf1 766
adimmit 0:76c761d3caf1 767 void test_control()
adimmit 0:76c761d3caf1 768 {
adimmit 0:76c761d3caf1 769 for(int i = 0; i < 3; i++)
adimmit 0:76c761d3caf1 770 {
adimmit 0:76c761d3caf1 771 spi_data.q_1s[i] = spi_command.q_des_1s[i] + 1.f;
adimmit 0:76c761d3caf1 772 spi_data.q_2s[i] = spi_command.q_des_2s[i] + 1.f;
adimmit 0:76c761d3caf1 773 spi_data.q_3s[i] = spi_command.q_des_3s[i] + 1.f;
adimmit 0:76c761d3caf1 774
adimmit 0:76c761d3caf1 775 spi_data.qd_1s[i] = spi_command.qd_des_1s[i] + 1.f;
adimmit 0:76c761d3caf1 776 spi_data.qd_2s[i] = spi_command.qd_des_2s[i] + 1.f;
adimmit 0:76c761d3caf1 777 spi_data.qd_3s[i] = spi_command.qd_des_3s[i] + 1.f;
adimmit 0:76c761d3caf1 778 }
adimmit 0:76c761d3caf1 779
adimmit 0:76c761d3caf1 780 spi_data.flags[0] = 0xdead;
adimmit 0:76c761d3caf1 781 //spi_data.flags[1] = 0xbeef;
adimmit 0:76c761d3caf1 782
adimmit 0:76c761d3caf1 783 // only do first 56 bytes of message.
adimmit 0:76c761d3caf1 784 spi_data.checksum = xor_checksum((uint32_t*)&spi_data,14);
adimmit 0:76c761d3caf1 785
adimmit 0:76c761d3caf1 786 for(int i = 0; i < DATA_LEN; i++)
adimmit 0:76c761d3caf1 787 tx_buff[i] = ((uint16_t*)(&spi_data))[i];
adimmit 0:76c761d3caf1 788 }
adimmit 0:76c761d3caf1 789
adimmit 0:76c761d3caf1 790 void init_spi(void){
adimmit 0:76c761d3caf1 791 SPISlave *spi = new SPISlave(PA_7, PA_6, PA_5, PA_4);
adimmit 0:76c761d3caf1 792 spi->format(16, 0);
adimmit 5:f1703165ca7e 793 spi->frequency(6000000);
adimmit 0:76c761d3caf1 794 spi->reply(0x0);
adimmit 0:76c761d3caf1 795 cs.fall(&spi_isr);
adimmit 1:aa253b5f5b65 796 pc.printf("done\n\r");
adimmit 0:76c761d3caf1 797 }
adimmit 0:76c761d3caf1 798
adimmit 0:76c761d3caf1 799 int main() {
adimmit 0:76c761d3caf1 800 wait(1);
adimmit 0:76c761d3caf1 801 //led = 1;
adimmit 1:aa253b5f5b65 802 pc.baud(115200); //MAYBE CHANGE THIS IF NEEDED
adimmit 0:76c761d3caf1 803 pc.attach(&serial_isr);
adimmit 0:76c761d3caf1 804 estop.mode(PullUp);
adimmit 0:76c761d3caf1 805 //spi.format(16, 0);
adimmit 0:76c761d3caf1 806 //spi.frequency(1000000);
adimmit 0:76c761d3caf1 807 //spi.reply(0x0);
adimmit 0:76c761d3caf1 808 //cs.fall(&spi_isr);
adimmit 0:76c761d3caf1 809
adimmit 0:76c761d3caf1 810 //can1.frequency(1000000); // set bit rate to 1Mbps
adimmit 0:76c761d3caf1 811 //can1.attach(&rxISR1); // attach 'CAN receive-complete' interrupt handler
adimmit 0:76c761d3caf1 812 can1.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
adimmit 0:76c761d3caf1 813 //can2.frequency(1000000); // set bit rate to 1Mbps
adimmit 0:76c761d3caf1 814 //can2.attach(&rxISR2); // attach 'CAN receive-complete' interrupt handler
adimmit 0:76c761d3caf1 815 can2.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
adimmit 0:76c761d3caf1 816 can3.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
adimmit 0:76c761d3caf1 817
adimmit 0:76c761d3caf1 818 memset(&tx_buff, 0, TX_LEN * sizeof(uint16_t));
adimmit 0:76c761d3caf1 819 memset(&spi_data, 0, sizeof(spi_data_t));
adimmit 0:76c761d3caf1 820 memset(&spi_command,0,sizeof(spi_command_t));
adimmit 0:76c761d3caf1 821
adimmit 0:76c761d3caf1 822
adimmit 0:76c761d3caf1 823 NVIC_SetPriority(TIM5_IRQn, 1);
adimmit 0:76c761d3caf1 824 //NVIC_SetPriority(CAN1_RX0_IRQn, 3);
adimmit 0:76c761d3caf1 825 //NVIC_SetPriority(CAN2_RX0_IRQn, 3);
adimmit 0:76c761d3caf1 826
adimmit 0:76c761d3caf1 827 pc.printf("\n\r SPIne\n\r");
adimmit 0:76c761d3caf1 828 //printf("%d\n\r", RX_ID << 18);
adimmit 0:76c761d3caf1 829
adimmit 5:f1703165ca7e 830 //CAN 1 BUS
adimmit 0:76c761d3caf1 831 q11_can.len = 8; //transmit 8 bytes
adimmit 5:f1703165ca7e 832 q12_can.len = 8; //transmit 8 bytes
adimmit 5:f1703165ca7e 833 q13_can.len = 8;
adimmit 5:f1703165ca7e 834 //CAN 2 BUS
adimmit 0:76c761d3caf1 835 q21_can.len = 8; //transmit 8 bytes
adimmit 0:76c761d3caf1 836 q22_can.len = 8; //transmit 8 bytes
adimmit 5:f1703165ca7e 837 q23_can.len = 8;
adimmit 5:f1703165ca7e 838 //CAN 3 BUS
adimmit 5:f1703165ca7e 839 q31_can.len = 8; //transmit 8 bytes
adimmit 5:f1703165ca7e 840 q32_can.len = 8; //transmit 8 bytes
adimmit 0:76c761d3caf1 841 q33_can.len = 8;
adimmit 5:f1703165ca7e 842 //RECIEVE
adimmit 0:76c761d3caf1 843 rxMsg1.len = 6; //receive 6 bytes
adimmit 0:76c761d3caf1 844 rxMsg2.len = 6;
adimmit 0:76c761d3caf1 845 rxMsg3.len = 6;
adimmit 5:f1703165ca7e 846
adimmit 5:f1703165ca7e 847 //CAN 1 BUS
adimmit 0:76c761d3caf1 848 q11_can.id = 0x1;
adimmit 5:f1703165ca7e 849 q12_can.id = 0x2;
adimmit 5:f1703165ca7e 850 q13_can.id = 0x3;
adimmit 5:f1703165ca7e 851 //CAN 2 BUS
adimmit 5:f1703165ca7e 852 q21_can.id = 0x1;
adimmit 0:76c761d3caf1 853 q22_can.id = 0x2;
adimmit 5:f1703165ca7e 854 q23_can.id = 0x3;
adimmit 5:f1703165ca7e 855 //CAN 3 BUS
adimmit 5:f1703165ca7e 856 q31_can.id = 0x1;
adimmit 5:f1703165ca7e 857 q32_can.id = 0x2;
adimmit 5:f1703165ca7e 858 q33_can.id = 0x3;
adimmit 0:76c761d3caf1 859
adimmit 5:f1703165ca7e 860 //actuators on the CAN1 bus
adimmit 6:077e37d5c2da 861 pack_cmd(&q11_can, g1_control.a1);
adimmit 6:077e37d5c2da 862 pack_cmd(&q12_can, g1_control.a2);
adimmit 6:077e37d5c2da 863 pack_cmd(&q13_can, g1_control.a3);
adimmit 5:f1703165ca7e 864 //actuators on the CAN2 bus
adimmit 6:077e37d5c2da 865 pack_cmd(&q21_can, g2_control.a1);
adimmit 6:077e37d5c2da 866 pack_cmd(&q22_can, g2_control.a2);
adimmit 6:077e37d5c2da 867 pack_cmd(&q23_can, g2_control.a3);
adimmit 5:f1703165ca7e 868 //actuators on the CAN3 bus
adimmit 6:077e37d5c2da 869 pack_cmd(&q31_can, g3_control.a1);
adimmit 6:077e37d5c2da 870 pack_cmd(&q32_can, g3_control.a2);
adimmit 6:077e37d5c2da 871 pack_cmd(&q33_can, g3_control.a3);
adimmit 5:f1703165ca7e 872 //WRITE THE INITIAL COMMAND
adimmit 0:76c761d3caf1 873 WriteAll();
adimmit 1:aa253b5f5b65 874
adimmit 1:aa253b5f5b65 875 //just debugging things
adimmit 1:aa253b5f5b65 876 pc.printf("SETUP VARS ALL DONE\n");
adimmit 0:76c761d3caf1 877
adimmit 0:76c761d3caf1 878
adimmit 0:76c761d3caf1 879 // SPI doesn't work if enabled while the CS pin is pulled low
adimmit 0:76c761d3caf1 880 // Wait for CS to not be low, then enable SPI
adimmit 0:76c761d3caf1 881 if(!spi_enabled){
adimmit 1:aa253b5f5b65 882 while((spi_enabled==0) && (cs.read() ==0)){pc.printf("waiting for CS Pin\n"); wait_us(10);}
adimmit 0:76c761d3caf1 883 init_spi();
adimmit 0:76c761d3caf1 884 spi_enabled = 1;
adimmit 1:aa253b5f5b65 885 pc.printf("SPI ENABLED AND READY\n");
adimmit 0:76c761d3caf1 886 }
adimmit 0:76c761d3caf1 887
adimmit 0:76c761d3caf1 888 //spi_command=set the thing here...
adimmit 0:76c761d3caf1 889
adimmit 0:76c761d3caf1 890 while(1) {
adimmit 1:aa253b5f5b65 891 //pc.printf("test, of SPINE\r\n");
adimmit 0:76c761d3caf1 892 counter++;
adimmit 13:87e7ce883f6a 893 can2.read(rxMsg2);
adimmit 13:87e7ce883f6a 894 unpack_reply(rxMsg2, &g2_state);
adimmit 13:87e7ce883f6a 895 can1.read(rxMsg1); // read message into Rx message storage
adimmit 13:87e7ce883f6a 896 unpack_reply(rxMsg1, &g1_state);
adimmit 13:87e7ce883f6a 897 can3.read(rxMsg3); // read message into Rx message storage
adimmit 13:87e7ce883f6a 898 unpack_reply(rxMsg3, &g3_state);
adimmit 0:76c761d3caf1 899 wait_us(10);
adimmit 1:aa253b5f5b65 900
adimmit 1:aa253b5f5b65 901 //print heatbeat (always will print message 0)
adimmit 2:32f69175c78e 902 /*
adimmit 1:aa253b5f5b65 903 if (counter3 == 100000) { //for debugging purposes
adimmit 1:aa253b5f5b65 904 pc.printf("HEARTBEAT\n");
adimmit 1:aa253b5f5b65 905 counter3 = 0;
adimmit 1:aa253b5f5b65 906 }
adimmit 1:aa253b5f5b65 907 counter3++;
adimmit 2:32f69175c78e 908 */
adimmit 0:76c761d3caf1 909 }
adimmit 2:32f69175c78e 910
adimmit 0:76c761d3caf1 911 }