Aditya Mehrotra / SPIne_Plus_Dyno_v2

Updated for checksum

Dependencies:   mbed-dev

main.cpp@3:d5d603c7e5b6, 2021-03-30 (annotated)

Committer:
adimmit
Date:
Tue Mar 30 18:13:24 2021 +0000
Revision:
3:d5d603c7e5b6
Parent:
2:32f69175c78e
Child:
4:e8c1b3f8fc6c
removed print

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 0:76c761d3caf1 14 #define TX_LEN 98 //CHECK THESE BUFFER LENGHTS
adimmit 0:76c761d3caf1 15
adimmit 0:76c761d3caf1 16 // length of outgoing/incoming messages
adimmit 0:76c761d3caf1 17 #define DATA_LEN 44 //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 0:76c761d3caf1 32 #define KD_MAX 5.0f
adimmit 0:76c761d3caf1 33 #define T_MIN -18.0f
adimmit 0:76c761d3caf1 34 #define T_MAX 18.0f
adimmit 0:76c761d3caf1 35
adimmit 0:76c761d3caf1 36 /// Joint Soft Stops ///
adimmit 0:76c761d3caf1 37 #define A_LIM_P 1.5f
adimmit 0:76c761d3caf1 38 #define A_LIM_N -1.5f
adimmit 0:76c761d3caf1 39 #define H_LIM_P 5.0f
adimmit 0:76c761d3caf1 40 #define H_LIM_N -5.0f
adimmit 0:76c761d3caf1 41 #define K_LIM_P 0.2f
adimmit 0:76c761d3caf1 42 #define K_LIM_N 7.7f
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 0:76c761d3caf1 51
adimmit 0:76c761d3caf1 52 // spi buffers
adimmit 0:76c761d3caf1 53 uint16_t rx_buff[RX_LEN];
adimmit 0:76c761d3caf1 54 uint16_t tx_buff[TX_LEN];
adimmit 0:76c761d3caf1 55
adimmit 0:76c761d3caf1 56 DigitalOut led(PC_5);
adimmit 0:76c761d3caf1 57
adimmit 0:76c761d3caf1 58
adimmit 0:76c761d3caf1 59 Serial pc(PA_2, PA_3);
adimmit 0:76c761d3caf1 60 CAN can1(PB_12, PB_13, 1000000); // CAN Rx pin name, CAN Tx pin name
adimmit 0:76c761d3caf1 61 CAN can2(PA_11, PA_12, 1000000); // CAN Rx pin name, CAN Tx pin name
adimmit 0:76c761d3caf1 62 CAN can3(PA_8, PA_15, 1000000); // CAN Rx pin name, CAN Tx pin name //CAN4 on board
adimmit 0:76c761d3caf1 63
adimmit 0:76c761d3caf1 64 CANMessage rxMsg1, rxMsg2, rxMsg3;
adimmit 0:76c761d3caf1 65 CANMessage txMsg1, txMsg2, txMsg3;
adimmit 0:76c761d3caf1 66 CANMessage q11_can, q21_can, q31_can, q12_can, q22_can, q32_can, q13_can, q23_can, q33_can; //TX Messages
adimmit 0:76c761d3caf1 67 int ledState;
adimmit 0:76c761d3caf1 68 Ticker sendCAN;
adimmit 0:76c761d3caf1 69 int counter = 0;
adimmit 0:76c761d3caf1 70 volatile bool msgAvailable = false;
adimmit 0:76c761d3caf1 71 Ticker loop;
adimmit 0:76c761d3caf1 72
adimmit 0:76c761d3caf1 73 int spi_enabled = 0;
adimmit 0:76c761d3caf1 74 InterruptIn cs(PA_4);
adimmit 0:76c761d3caf1 75 DigitalIn estop(PB_15);
adimmit 0:76c761d3caf1 76 //SPISlave spi(PA_7, PA_6, PA_5, PA_4);
adimmit 0:76c761d3caf1 77
adimmit 0:76c761d3caf1 78
adimmit 0:76c761d3caf1 79 grouped_act_state g1_state, g2_state, g3_state;
adimmit 0:76c761d3caf1 80 grouped_act_control q1_control, q2_control, q3_control;
adimmit 0:76c761d3caf1 81
adimmit 0:76c761d3caf1 82 uint16_t x = 0;
adimmit 0:76c761d3caf1 83 uint16_t x2 = 0;
adimmit 0:76c761d3caf1 84 uint16_t count = 0;
adimmit 0:76c761d3caf1 85 uint16_t counter2 = 0; //SEE IF WE NEED TO UPDATE THESE TO ADD COUNTER3 AND X3
adimmit 0:76c761d3caf1 86
adimmit 0:76c761d3caf1 87 int control_mode = 1;
adimmit 0:76c761d3caf1 88 int is_standing = 0; //SEE IF WE STILL NEED THE STANDING THING
adimmit 0:76c761d3caf1 89 int enabled = 0;
adimmit 0:76c761d3caf1 90
adimmit 0:76c761d3caf1 91 // generates fake spi data from spi command
adimmit 0:76c761d3caf1 92 void test_control(); //MAY NEED TO GET RID OF THIS?
adimmit 0:76c761d3caf1 93 void control();
adimmit 0:76c761d3caf1 94
adimmit 0:76c761d3caf1 95
adimmit 0:76c761d3caf1 96 /// CAN Command Packet Structure ///
adimmit 0:76c761d3caf1 97 /// 16 bit position command, between -4*pi and 4*pi
adimmit 0:76c761d3caf1 98 /// 12 bit velocity command, between -30 and + 30 rad/s
adimmit 0:76c761d3caf1 99 /// 12 bit kp, between 0 and 500 N-m/rad
adimmit 0:76c761d3caf1 100 /// 12 bit kd, between 0 and 100 N-m*s/rad
adimmit 0:76c761d3caf1 101 /// 12 bit feed forward torque, between -18 and 18 N-m
adimmit 0:76c761d3caf1 102 /// CAN Packet is 8 8-bit words
adimmit 0:76c761d3caf1 103 /// Formatted as follows. For each quantity, bit 0 is LSB
adimmit 0:76c761d3caf1 104 /// 0: [position[15-8]]
adimmit 0:76c761d3caf1 105 /// 1: [position[7-0]]
adimmit 0:76c761d3caf1 106 /// 2: [velocity[11-4]]
adimmit 0:76c761d3caf1 107 /// 3: [velocity[3-0], kp[11-8]]
adimmit 0:76c761d3caf1 108 /// 4: [kp[7-0]]
adimmit 0:76c761d3caf1 109 /// 5: [kd[11-4]]
adimmit 0:76c761d3caf1 110 /// 6: [kd[3-0], torque[11-8]]
adimmit 0:76c761d3caf1 111 /// 7: [torque[7-0]]
adimmit 0:76c761d3caf1 112
adimmit 0:76c761d3caf1 113 void pack_cmd(CANMessage * msg, joint_control joint){
adimmit 0:76c761d3caf1 114
adimmit 0:76c761d3caf1 115 /// limit data to be within bounds ///
adimmit 0:76c761d3caf1 116 float p_des = fminf(fmaxf(P_MIN, joint.p_des), P_MAX);
adimmit 0:76c761d3caf1 117 float v_des = fminf(fmaxf(V_MIN, joint.v_des), V_MAX);
adimmit 0:76c761d3caf1 118 float kp = fminf(fmaxf(KP_MIN, joint.kp), KP_MAX);
adimmit 0:76c761d3caf1 119 float kd = fminf(fmaxf(KD_MIN, joint.kd), KD_MAX);
adimmit 0:76c761d3caf1 120 float t_ff = fminf(fmaxf(T_MIN, joint.t_ff), T_MAX);
adimmit 0:76c761d3caf1 121 /// convert floats to unsigned ints ///
adimmit 0:76c761d3caf1 122 uint16_t p_int = float_to_uint(p_des, P_MIN, P_MAX, 16);
adimmit 0:76c761d3caf1 123 uint16_t v_int = float_to_uint(v_des, V_MIN, V_MAX, 12);
adimmit 0:76c761d3caf1 124 uint16_t kp_int = float_to_uint(kp, KP_MIN, KP_MAX, 12);
adimmit 0:76c761d3caf1 125 uint16_t kd_int = float_to_uint(kd, KD_MIN, KD_MAX, 12);
adimmit 0:76c761d3caf1 126 uint16_t t_int = float_to_uint(t_ff, T_MIN, T_MAX, 12);
adimmit 0:76c761d3caf1 127 /// pack ints into the can buffer ///
adimmit 0:76c761d3caf1 128 msg->data[0] = p_int>>8;
adimmit 0:76c761d3caf1 129 msg->data[1] = p_int&0xFF;
adimmit 0:76c761d3caf1 130 msg->data[2] = v_int>>4;
adimmit 0:76c761d3caf1 131 msg->data[3] = ((v_int&0xF)<<4)|(kp_int>>8);
adimmit 0:76c761d3caf1 132 msg->data[4] = kp_int&0xFF;
adimmit 0:76c761d3caf1 133 msg->data[5] = kd_int>>4;
adimmit 0:76c761d3caf1 134 msg->data[6] = ((kd_int&0xF)<<4)|(t_int>>8);
adimmit 0:76c761d3caf1 135 msg->data[7] = t_int&0xff;
adimmit 0:76c761d3caf1 136 }
adimmit 0:76c761d3caf1 137
adimmit 0:76c761d3caf1 138 /// CAN Reply Packet Structure ///
adimmit 0:76c761d3caf1 139 /// 16 bit position, between -4*pi and 4*pi
adimmit 0:76c761d3caf1 140 /// 12 bit velocity, between -30 and + 30 rad/s
adimmit 0:76c761d3caf1 141 /// 12 bit current, between -40 and 40;
adimmit 0:76c761d3caf1 142 /// CAN Packet is 5 8-bit words
adimmit 0:76c761d3caf1 143 /// Formatted as follows. For each quantity, bit 0 is LSB
adimmit 0:76c761d3caf1 144 /// 0: [position[15-8]]
adimmit 0:76c761d3caf1 145 /// 1: [position[7-0]]
adimmit 0:76c761d3caf1 146 /// 2: [velocity[11-4]]
adimmit 0:76c761d3caf1 147 /// 3: [velocity[3-0], current[11-8]]
adimmit 0:76c761d3caf1 148 /// 4: [current[7-0]]
adimmit 0:76c761d3caf1 149
adimmit 0:76c761d3caf1 150 void unpack_reply(CANMessage msg, grouped_act_state * group){
adimmit 0:76c761d3caf1 151 /// unpack ints from can buffer ///
adimmit 0:76c761d3caf1 152 uint16_t id = msg.data[0];
adimmit 0:76c761d3caf1 153 uint16_t p_int = (msg.data[1]<<8)|msg.data[2];
adimmit 0:76c761d3caf1 154 uint16_t v_int = (msg.data[3]<<4)|(msg.data[4]>>4);
adimmit 0:76c761d3caf1 155 uint16_t i_int = ((msg.data[4]&0xF)<<8)|msg.data[5];
adimmit 0:76c761d3caf1 156 /// convert uints to floats ///
adimmit 0:76c761d3caf1 157 float p = uint_to_float(p_int, P_MIN, P_MAX, 16);
adimmit 0:76c761d3caf1 158 float v = uint_to_float(v_int, V_MIN, V_MAX, 12);
adimmit 0:76c761d3caf1 159 float t = uint_to_float(i_int, -T_MAX, T_MAX, 12);
adimmit 0:76c761d3caf1 160
adimmit 0:76c761d3caf1 161 if(id==1){
adimmit 0:76c761d3caf1 162 group->a.p = p;
adimmit 0:76c761d3caf1 163 group->a.v = v;
adimmit 0:76c761d3caf1 164 group->a.t = t;
adimmit 0:76c761d3caf1 165 }
adimmit 0:76c761d3caf1 166 else if(id==2){
adimmit 0:76c761d3caf1 167 group->h.p = p;
adimmit 0:76c761d3caf1 168 group->h.v = v;
adimmit 0:76c761d3caf1 169 group->h.t = t;
adimmit 0:76c761d3caf1 170 }
adimmit 0:76c761d3caf1 171 else if(id==3){
adimmit 0:76c761d3caf1 172 group->k.p = p;
adimmit 0:76c761d3caf1 173 group->k.v = v;
adimmit 0:76c761d3caf1 174 group->k.t = t;
adimmit 0:76c761d3caf1 175 }
adimmit 0:76c761d3caf1 176 }
adimmit 0:76c761d3caf1 177
adimmit 0:76c761d3caf1 178 void rxISR1() {
adimmit 0:76c761d3caf1 179 can1.read(rxMsg1); // read message into Rx message storage
adimmit 0:76c761d3caf1 180 unpack_reply(rxMsg1, &g1_state);
adimmit 0:76c761d3caf1 181 }
adimmit 0:76c761d3caf1 182 void rxISR2(){
adimmit 0:76c761d3caf1 183 can2.read(rxMsg2);
adimmit 0:76c761d3caf1 184 unpack_reply(rxMsg2, &g2_state);
adimmit 0:76c761d3caf1 185 }
adimmit 0:76c761d3caf1 186 void rxISR3(){
adimmit 0:76c761d3caf1 187 can3.read(rxMsg3);
adimmit 0:76c761d3caf1 188 unpack_reply(rxMsg3, &g3_state);
adimmit 0:76c761d3caf1 189 }
adimmit 0:76c761d3caf1 190
adimmit 0:76c761d3caf1 191 void PackAll(){
adimmit 0:76c761d3caf1 192 pack_cmd(&q11_can, q1_control.a);
adimmit 0:76c761d3caf1 193 pack_cmd(&q21_can, q1_control.h);
adimmit 0:76c761d3caf1 194 pack_cmd(&q31_can, q1_control.k);
adimmit 0:76c761d3caf1 195 pack_cmd(&q12_can, q2_control.a);
adimmit 1:aa253b5f5b65 196 pack_cmd(&q22_can, q2_control.h);
adimmit 1:aa253b5f5b65 197 pack_cmd(&q32_can, q2_control.k);
adimmit 0:76c761d3caf1 198 pack_cmd(&q13_can, q3_control.a);
adimmit 1:aa253b5f5b65 199 pack_cmd(&q23_can, q3_control.h);
adimmit 1:aa253b5f5b65 200 pack_cmd(&q33_can, q3_control.k);
adimmit 0:76c761d3caf1 201
adimmit 0:76c761d3caf1 202 }
adimmit 0:76c761d3caf1 203 void WriteAll(){
adimmit 0:76c761d3caf1 204 //toggle = 1;
adimmit 0:76c761d3caf1 205 can1.write(q11_can);
adimmit 0:76c761d3caf1 206 wait(.00002);
adimmit 0:76c761d3caf1 207 can2.write(q12_can);
adimmit 0:76c761d3caf1 208 wait(.00002);
adimmit 0:76c761d3caf1 209 can3.write(q13_can);
adimmit 0:76c761d3caf1 210 wait(.00002);
adimmit 0:76c761d3caf1 211 can1.write(q21_can);
adimmit 0:76c761d3caf1 212 wait(.00002);
adimmit 0:76c761d3caf1 213 can2.write(q22_can);
adimmit 0:76c761d3caf1 214 wait(.00002);
adimmit 0:76c761d3caf1 215 can3.write(q23_can);
adimmit 0:76c761d3caf1 216 wait(.00002);
adimmit 0:76c761d3caf1 217 can1.write(q31_can);
adimmit 0:76c761d3caf1 218 wait(.00002);
adimmit 0:76c761d3caf1 219 can2.write(q32_can);
adimmit 0:76c761d3caf1 220 wait(.00002);
adimmit 0:76c761d3caf1 221 can3.write(q33_can);
adimmit 0:76c761d3caf1 222 wait(.00002);
adimmit 0:76c761d3caf1 223 //toggle = 0;
adimmit 0:76c761d3caf1 224 }
adimmit 0:76c761d3caf1 225
adimmit 0:76c761d3caf1 226 void sendCMD(){
adimmit 0:76c761d3caf1 227 counter ++;
adimmit 0:76c761d3caf1 228
adimmit 0:76c761d3caf1 229 PackAll();
adimmit 0:76c761d3caf1 230
adimmit 0:76c761d3caf1 231 if(counter>100){
adimmit 1:aa253b5f5b65 232 pc.printf("%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n\r", g1_state.a.p, g1_state.h.p, g1_state.k.p, g2_state.a.p, g2_state.h.p, g2_state.k.p, g3_state.a.p, g3_state.h.p, g3_state.k.p);
adimmit 0:76c761d3caf1 233 counter = 0 ;
adimmit 0:76c761d3caf1 234 }
adimmit 0:76c761d3caf1 235
adimmit 0:76c761d3caf1 236 WriteAll();
adimmit 0:76c761d3caf1 237 }
adimmit 0:76c761d3caf1 238
adimmit 0:76c761d3caf1 239
adimmit 0:76c761d3caf1 240
adimmit 0:76c761d3caf1 241
adimmit 0:76c761d3caf1 242 void Zero(CANMessage * msg){
adimmit 0:76c761d3caf1 243 msg->data[0] = 0xFF;
adimmit 0:76c761d3caf1 244 msg->data[1] = 0xFF;
adimmit 0:76c761d3caf1 245 msg->data[2] = 0xFF;
adimmit 0:76c761d3caf1 246 msg->data[3] = 0xFF;
adimmit 0:76c761d3caf1 247 msg->data[4] = 0xFF;
adimmit 0:76c761d3caf1 248 msg->data[5] = 0xFF;
adimmit 0:76c761d3caf1 249 msg->data[6] = 0xFF;
adimmit 0:76c761d3caf1 250 msg->data[7] = 0xFE;
adimmit 0:76c761d3caf1 251 WriteAll();
adimmit 0:76c761d3caf1 252 }
adimmit 0:76c761d3caf1 253
adimmit 0:76c761d3caf1 254 void EnterMotorMode(CANMessage * msg){
adimmit 0:76c761d3caf1 255 msg->data[0] = 0xFF;
adimmit 0:76c761d3caf1 256 msg->data[1] = 0xFF;
adimmit 0:76c761d3caf1 257 msg->data[2] = 0xFF;
adimmit 0:76c761d3caf1 258 msg->data[3] = 0xFF;
adimmit 0:76c761d3caf1 259 msg->data[4] = 0xFF;
adimmit 0:76c761d3caf1 260 msg->data[5] = 0xFF;
adimmit 0:76c761d3caf1 261 msg->data[6] = 0xFF;
adimmit 0:76c761d3caf1 262 msg->data[7] = 0xFC;
adimmit 0:76c761d3caf1 263 //WriteAll();
adimmit 0:76c761d3caf1 264 }
adimmit 0:76c761d3caf1 265
adimmit 0:76c761d3caf1 266 void ExitMotorMode(CANMessage * msg){
adimmit 0:76c761d3caf1 267 msg->data[0] = 0xFF;
adimmit 0:76c761d3caf1 268 msg->data[1] = 0xFF;
adimmit 0:76c761d3caf1 269 msg->data[2] = 0xFF;
adimmit 0:76c761d3caf1 270 msg->data[3] = 0xFF;
adimmit 0:76c761d3caf1 271 msg->data[4] = 0xFF;
adimmit 0:76c761d3caf1 272 msg->data[5] = 0xFF;
adimmit 0:76c761d3caf1 273 msg->data[6] = 0xFF;
adimmit 0:76c761d3caf1 274 msg->data[7] = 0xFD;
adimmit 0:76c761d3caf1 275 //WriteAll();
adimmit 0:76c761d3caf1 276 }
adimmit 0:76c761d3caf1 277 void serial_isr(){
adimmit 0:76c761d3caf1 278 /// handle keyboard commands from the serial terminal ///
adimmit 0:76c761d3caf1 279 while(pc.readable()){
adimmit 0:76c761d3caf1 280 char c = pc.getc();
adimmit 0:76c761d3caf1 281 //led = !led;
adimmit 0:76c761d3caf1 282 switch(c){
adimmit 0:76c761d3caf1 283 case(27):
adimmit 0:76c761d3caf1 284 //loop.detach();
adimmit 1:aa253b5f5b65 285 pc.printf("\n\r exiting motor mode \n\r");
adimmit 0:76c761d3caf1 286 ExitMotorMode(&q11_can);
adimmit 0:76c761d3caf1 287 ExitMotorMode(&q21_can);
adimmit 0:76c761d3caf1 288 ExitMotorMode(&q31_can);
adimmit 0:76c761d3caf1 289 ExitMotorMode(&q12_can);
adimmit 0:76c761d3caf1 290 ExitMotorMode(&q22_can);
adimmit 0:76c761d3caf1 291 ExitMotorMode(&q32_can);
adimmit 0:76c761d3caf1 292 ExitMotorMode(&q13_can);
adimmit 0:76c761d3caf1 293 ExitMotorMode(&q23_can);
adimmit 0:76c761d3caf1 294 ExitMotorMode(&q33_can);
adimmit 0:76c761d3caf1 295 enabled = 0;
adimmit 0:76c761d3caf1 296 break;
adimmit 0:76c761d3caf1 297 case('m'):
adimmit 1:aa253b5f5b65 298 pc.printf("\n\r entering motor mode \n\r");
adimmit 0:76c761d3caf1 299 EnterMotorMode(&q11_can);
adimmit 0:76c761d3caf1 300 EnterMotorMode(&q21_can);
adimmit 0:76c761d3caf1 301 EnterMotorMode(&q31_can);
adimmit 0:76c761d3caf1 302 EnterMotorMode(&q12_can);
adimmit 0:76c761d3caf1 303 EnterMotorMode(&q22_can);
adimmit 0:76c761d3caf1 304 EnterMotorMode(&q32_can);
adimmit 0:76c761d3caf1 305 EnterMotorMode(&q13_can);
adimmit 0:76c761d3caf1 306 EnterMotorMode(&q23_can);
adimmit 0:76c761d3caf1 307 EnterMotorMode(&q33_can);
adimmit 0:76c761d3caf1 308 wait(.5);
adimmit 0:76c761d3caf1 309 enabled = 1;
adimmit 0:76c761d3caf1 310 //loop.attach(&sendCMD, .001);
adimmit 0:76c761d3caf1 311 break;
adimmit 0:76c761d3caf1 312 case('s'):
adimmit 1:aa253b5f5b65 313 pc.printf("\n\r standing \n\r");
adimmit 0:76c761d3caf1 314 counter2 = 0;
adimmit 0:76c761d3caf1 315 is_standing = 1;
adimmit 0:76c761d3caf1 316 //stand();
adimmit 0:76c761d3caf1 317 break;
adimmit 0:76c761d3caf1 318 case('z'):
adimmit 1:aa253b5f5b65 319 pc.printf("\n\r zeroing \n\r");
adimmit 0:76c761d3caf1 320 Zero(&q11_can);
adimmit 0:76c761d3caf1 321 Zero(&q21_can);
adimmit 0:76c761d3caf1 322 Zero(&q31_can);
adimmit 0:76c761d3caf1 323 Zero(&q12_can);
adimmit 0:76c761d3caf1 324 Zero(&q22_can);
adimmit 0:76c761d3caf1 325 Zero(&q32_can);
adimmit 0:76c761d3caf1 326 Zero(&q13_can);
adimmit 0:76c761d3caf1 327 Zero(&q23_can);
adimmit 0:76c761d3caf1 328 Zero(&q33_can);
adimmit 0:76c761d3caf1 329 break;
adimmit 0:76c761d3caf1 330 }
adimmit 0:76c761d3caf1 331 }
adimmit 0:76c761d3caf1 332 WriteAll();
adimmit 0:76c761d3caf1 333
adimmit 0:76c761d3caf1 334 }
adimmit 0:76c761d3caf1 335
adimmit 0:76c761d3caf1 336 uint32_t xor_checksum(uint32_t* data, size_t len)
adimmit 0:76c761d3caf1 337 {
adimmit 0:76c761d3caf1 338 uint32_t t = 0;
adimmit 0:76c761d3caf1 339 for(int i = 0; i < len; i++)
adimmit 0:76c761d3caf1 340 t = t ^ data[i];
adimmit 0:76c761d3caf1 341 return t;
adimmit 0:76c761d3caf1 342 }
adimmit 0:76c761d3caf1 343
adimmit 2:32f69175c78e 344
adimmit 2:32f69175c78e 345
adimmit 2:32f69175c78e 346 void print_SPI_command() {
adimmit 2:32f69175c78e 347 pc.printf("SPI MESSAGE RECIEVED:\n");
adimmit 2:32f69175c78e 348
adimmit 2:32f69175c78e 349 pc.printf("MOTOR 1 Q: %f\n", spi_command.q_des_1s[0]);
adimmit 2:32f69175c78e 350 pc.printf("MOTOR 1 Qd: %f\n", spi_command.qd_des_1s[0]);
adimmit 2:32f69175c78e 351 pc.printf("MOTOR 1 Kp: %f\n", spi_command.kp_1s[0]);
adimmit 2:32f69175c78e 352 pc.printf("MOTOR 1 Kd: %f\n", spi_command.kd_1s[0]);
adimmit 2:32f69175c78e 353 pc.printf("MOTOR 1 T_FF: %f\n", spi_command.tau_1s_ff[0]);
adimmit 2:32f69175c78e 354
adimmit 2:32f69175c78e 355 pc.printf("MOTOR 2 Q: %f\n", spi_command.q_des_2s[0]);
adimmit 2:32f69175c78e 356 pc.printf("MOTOR 2 Qd: %f\n", spi_command.qd_des_2s[0]);
adimmit 2:32f69175c78e 357 pc.printf("MOTOR 2 Kp: %f\n", spi_command.kp_2s[0]);
adimmit 2:32f69175c78e 358 pc.printf("MOTOR 2 Kd: %f\n", spi_command.kd_2s[0]);
adimmit 2:32f69175c78e 359 pc.printf("MOTOR 2 T_FF: %f\n", spi_command.tau_2s_ff[0]);
adimmit 2:32f69175c78e 360
adimmit 2:32f69175c78e 361 pc.printf("MOTOR 3 Q: %f\n", spi_command.q_des_3s[0]);
adimmit 2:32f69175c78e 362 pc.printf("MOTOR 3 Qd: %f\n", spi_command.qd_des_3s[0]);
adimmit 2:32f69175c78e 363 pc.printf("MOTOR 3 Kp: %f\n", spi_command.kp_3s[0]);
adimmit 2:32f69175c78e 364 pc.printf("MOTOR 3 Kd: %f\n", spi_command.kd_3s[0]);
adimmit 2:32f69175c78e 365 pc.printf("MOTOR 3 T_FF: %f\n", spi_command.tau_3s_ff[0]);
adimmit 2:32f69175c78e 366
adimmit 2:32f69175c78e 367 pc.printf("MOTOR 4 Q: %f\n", spi_command.q_des_1s[1]);
adimmit 2:32f69175c78e 368 pc.printf("MOTOR 4 Qd: %f\n", spi_command.qd_des_1s[1]);
adimmit 2:32f69175c78e 369 pc.printf("MOTOR 4 Kp: %f\n", spi_command.kp_1s[1]);
adimmit 2:32f69175c78e 370 pc.printf("MOTOR 4 Kd: %f\n", spi_command.kd_1s[1]);
adimmit 2:32f69175c78e 371 pc.printf("MOTOR 4 T_FF: %f\n", spi_command.tau_1s_ff[1]);
adimmit 2:32f69175c78e 372
adimmit 2:32f69175c78e 373 pc.printf("MOTOR 5 Q: %f\n", spi_command.q_des_2s[1]);
adimmit 2:32f69175c78e 374 pc.printf("MOTOR 5 Qd: %f\n", spi_command.qd_des_2s[1]);
adimmit 2:32f69175c78e 375 pc.printf("MOTOR 5 Kp: %f\n", spi_command.kp_2s[1]);
adimmit 2:32f69175c78e 376 pc.printf("MOTOR 5 Kd: %f\n", spi_command.kd_2s[1]);
adimmit 2:32f69175c78e 377 pc.printf("MOTOR 5 T_FF: %f\n", spi_command.tau_2s_ff[1]);
adimmit 2:32f69175c78e 378
adimmit 2:32f69175c78e 379 pc.printf("MOTOR 6 Q: %f\n", spi_command.q_des_3s[1]);
adimmit 2:32f69175c78e 380 pc.printf("MOTOR 6 Qd: %f\n", spi_command.qd_des_3s[1]);
adimmit 2:32f69175c78e 381 pc.printf("MOTOR 6 Kp: %f\n", spi_command.kp_3s[1]);
adimmit 2:32f69175c78e 382 pc.printf("MOTOR 6 Kd: %f\n", spi_command.kd_3s[1]);
adimmit 2:32f69175c78e 383 pc.printf("MOTOR 6 T_FF: %f\n", spi_command.tau_3s_ff[1]);
adimmit 2:32f69175c78e 384
adimmit 2:32f69175c78e 385 pc.printf("MOTOR 7 Q: %f\n", spi_command.q_des_1s[2]);
adimmit 2:32f69175c78e 386 pc.printf("MOTOR 7 Qd: %f\n", spi_command.qd_des_1s[2]);
adimmit 2:32f69175c78e 387 pc.printf("MOTOR 7 Kp: %f\n", spi_command.kp_1s[2]);
adimmit 2:32f69175c78e 388 pc.printf("MOTOR 7 Kd: %f\n", spi_command.kd_1s[2]);
adimmit 2:32f69175c78e 389 pc.printf("MOTOR 7 T_FF: %f\n", spi_command.tau_1s_ff[2]);
adimmit 2:32f69175c78e 390
adimmit 2:32f69175c78e 391 pc.printf("MOTOR 8 Q: %f\n", spi_command.q_des_2s[2]);
adimmit 2:32f69175c78e 392 pc.printf("MOTOR 8 Qd: %f\n", spi_command.qd_des_2s[2]);
adimmit 2:32f69175c78e 393 pc.printf("MOTOR 8 Kp: %f\n", spi_command.kp_2s[2]);
adimmit 2:32f69175c78e 394 pc.printf("MOTOR 8 Kd: %f\n", spi_command.kd_2s[2]);
adimmit 2:32f69175c78e 395 pc.printf("MOTOR 8 T_FF: %f\n", spi_command.tau_2s_ff[2]);
adimmit 2:32f69175c78e 396
adimmit 2:32f69175c78e 397 pc.printf("MOTOR 9 Q: %f\n", spi_command.q_des_3s[2]);
adimmit 2:32f69175c78e 398 pc.printf("MOTOR 9 Qd: %f\n", spi_command.qd_des_3s[2]);
adimmit 2:32f69175c78e 399 pc.printf("MOTOR 9 Kp: %f\n", spi_command.kp_3s[2]);
adimmit 2:32f69175c78e 400 pc.printf("MOTOR 9 Kd: %f\n", spi_command.kd_3s[2]);
adimmit 2:32f69175c78e 401 pc.printf("MOTOR 9 T_FF: %f\n", spi_command.tau_3s_ff[2]);
adimmit 2:32f69175c78e 402
adimmit 2:32f69175c78e 403 }
adimmit 2:32f69175c78e 404
adimmit 2:32f69175c78e 405
adimmit 2:32f69175c78e 406
adimmit 2:32f69175c78e 407
adimmit 2:32f69175c78e 408
adimmit 0:76c761d3caf1 409 void spi_isr(void)
adimmit 0:76c761d3caf1 410 {
adimmit 1:aa253b5f5b65 411 //pc.printf("CS ACTIVE\n");
adimmit 0:76c761d3caf1 412 GPIOC->ODR |= (1 << 8);
adimmit 0:76c761d3caf1 413 GPIOC->ODR &= ~(1 << 8);
adimmit 0:76c761d3caf1 414 int bytecount = 0;
adimmit 0:76c761d3caf1 415 SPI1->DR = tx_buff[0];
adimmit 0:76c761d3caf1 416 while(cs == 0) {
adimmit 0:76c761d3caf1 417 if(SPI1->SR&0x1) {
adimmit 1:aa253b5f5b65 418 rx_buff[bytecount] = SPI1->DR;
adimmit 0:76c761d3caf1 419 bytecount++;
adimmit 0:76c761d3caf1 420 if(bytecount<TX_LEN) {
adimmit 0:76c761d3caf1 421 SPI1->DR = tx_buff[bytecount];
adimmit 0:76c761d3caf1 422 }
adimmit 0:76c761d3caf1 423 }
adimmit 0:76c761d3caf1 424 }
adimmit 2:32f69175c78e 425 //pc.printf("RECIEVED: %d BYTES\n", bytecount);
adimmit 0:76c761d3caf1 426
adimmit 1:aa253b5f5b65 427 //pc.printf("HERE'S A SPI COMMAND:\n");
adimmit 0:76c761d3caf1 428 // after reading, save into spi_command
adimmit 0:76c761d3caf1 429 // should probably check checksum first!
adimmit 0:76c761d3caf1 430 uint32_t calc_checksum = xor_checksum((uint32_t*)rx_buff,32);
adimmit 0:76c761d3caf1 431 for(int i = 0; i < CMD_LEN; i++)
adimmit 0:76c761d3caf1 432 {
adimmit 0:76c761d3caf1 433 ((uint16_t*)(&spi_command))[i] = rx_buff[i];
adimmit 2:32f69175c78e 434 //pc.printf("WORD %d RECIEVED: %d\n", i, rx_buff[i]);
adimmit 0:76c761d3caf1 435 }
adimmit 3:d5d603c7e5b6 436 //print_SPI_command();
adimmit 0:76c761d3caf1 437
adimmit 0:76c761d3caf1 438 // run control, which fills in tx_buff for the next iteration
adimmit 2:32f69175c78e 439 /*
adimmit 0:76c761d3caf1 440 if(calc_checksum != spi_command.checksum){
adimmit 1:aa253b5f5b65 441 spi_data.flags[1] = 0xdead;
adimmit 2:32f69175c78e 442 pc.printf("FAILED CHECKSUM\n");
adimmit 2:32f69175c78e 443 pc.printf("ACTUAL: %d\n", calc_checksum);
adimmit 2:32f69175c78e 444 pc.printf("CURRENT: %d\n", spi_command.checksum);}
adimmit 2:32f69175c78e 445 */
adimmit 0:76c761d3caf1 446
adimmit 0:76c761d3caf1 447 //test_control();
adimmit 0:76c761d3caf1 448 //spi_data.q_abad[0] = 12.0f;
adimmit 0:76c761d3caf1 449 control();
adimmit 0:76c761d3caf1 450 PackAll();
adimmit 0:76c761d3caf1 451 WriteAll();
adimmit 0:76c761d3caf1 452
adimmit 0:76c761d3caf1 453
adimmit 0:76c761d3caf1 454 //for (int i = 0; i<TX_LEN; i++) {
adimmit 0:76c761d3caf1 455 // tx_buff[i] = 2*rx_buff[i];
adimmit 0:76c761d3caf1 456 //}
adimmit 0:76c761d3caf1 457 // for (int i=0; i<TX_LEN; i++) {
adimmit 0:76c761d3caf1 458 // //printf("%d ", rx_buff[i]);
adimmit 0:76c761d3caf1 459 // }
adimmit 0:76c761d3caf1 460 //printf("\n\r");
adimmit 0:76c761d3caf1 461 }
adimmit 0:76c761d3caf1 462
adimmit 0:76c761d3caf1 463 int softstop_joint(joint_state state, joint_control * control, float limit_p, float limit_n){
adimmit 0:76c761d3caf1 464 if((state.p)>=limit_p){
adimmit 0:76c761d3caf1 465 //control->p_des = limit_p;
adimmit 0:76c761d3caf1 466 control->v_des = 0.0f;
adimmit 0:76c761d3caf1 467 control->kp = 0;
adimmit 0:76c761d3caf1 468 control->kd = KD_SOFTSTOP;
adimmit 0:76c761d3caf1 469 control->t_ff += KP_SOFTSTOP*(limit_p - state.p);
adimmit 0:76c761d3caf1 470 return 1;
adimmit 0:76c761d3caf1 471 }
adimmit 0:76c761d3caf1 472 else if((state.p)<=limit_n){
adimmit 0:76c761d3caf1 473 //control->p_des = limit_n;
adimmit 0:76c761d3caf1 474 control->v_des = 0.0f;
adimmit 0:76c761d3caf1 475 control->kp = 0;
adimmit 0:76c761d3caf1 476 control->kd = KD_SOFTSTOP;
adimmit 0:76c761d3caf1 477 control->t_ff += KP_SOFTSTOP*(limit_n - state.p);
adimmit 0:76c761d3caf1 478 return 1;
adimmit 0:76c761d3caf1 479 }
adimmit 0:76c761d3caf1 480 return 0;
adimmit 0:76c761d3caf1 481
adimmit 0:76c761d3caf1 482 }
adimmit 0:76c761d3caf1 483
adimmit 0:76c761d3caf1 484
adimmit 0:76c761d3caf1 485 void control()
adimmit 0:76c761d3caf1 486 {
adimmit 0:76c761d3caf1 487
adimmit 0:76c761d3caf1 488 if(((spi_command.flags[0]&0x1)==1) && (enabled==0)){
adimmit 0:76c761d3caf1 489 enabled = 1;
adimmit 0:76c761d3caf1 490 //BUS ONE
adimmit 0:76c761d3caf1 491 EnterMotorMode(&q11_can);
adimmit 0:76c761d3caf1 492 can1.write(q11_can);
adimmit 0:76c761d3caf1 493 EnterMotorMode(&q21_can);
adimmit 0:76c761d3caf1 494 can1.write(q21_can);
adimmit 0:76c761d3caf1 495 EnterMotorMode(&q31_can);
adimmit 0:76c761d3caf1 496 can1.write(q31_can);
adimmit 0:76c761d3caf1 497 //BUS TWO
adimmit 0:76c761d3caf1 498 EnterMotorMode(&q12_can);
adimmit 0:76c761d3caf1 499 can2.write(q12_can);
adimmit 0:76c761d3caf1 500 EnterMotorMode(&q22_can);
adimmit 0:76c761d3caf1 501 can2.write(q22_can);
adimmit 1:aa253b5f5b65 502 EnterMotorMode(&q32_can);
adimmit 0:76c761d3caf1 503 can2.write(q32_can);
adimmit 0:76c761d3caf1 504 //BUS THREE
adimmit 0:76c761d3caf1 505 EnterMotorMode(&q13_can);
adimmit 0:76c761d3caf1 506 can3.write(q13_can);
adimmit 0:76c761d3caf1 507 EnterMotorMode(&q23_can);
adimmit 0:76c761d3caf1 508 can3.write(q23_can);
adimmit 0:76c761d3caf1 509 EnterMotorMode(&q33_can);
adimmit 0:76c761d3caf1 510 can3.write(q33_can);
adimmit 1:aa253b5f5b65 511 pc.printf("e\n\r");
adimmit 0:76c761d3caf1 512 return;
adimmit 0:76c761d3caf1 513 }
adimmit 0:76c761d3caf1 514 else if((((spi_command.flags[0]&0x1))==0) && (enabled==1)){
adimmit 0:76c761d3caf1 515 enabled = 0;
adimmit 0:76c761d3caf1 516 //BUS ONE
adimmit 0:76c761d3caf1 517 ExitMotorMode(&q11_can);
adimmit 0:76c761d3caf1 518 can1.write(q11_can);
adimmit 0:76c761d3caf1 519 ExitMotorMode(&q21_can);
adimmit 0:76c761d3caf1 520 can1.write(q21_can);
adimmit 0:76c761d3caf1 521 ExitMotorMode(&q31_can);
adimmit 0:76c761d3caf1 522 can1.write(q31_can);
adimmit 0:76c761d3caf1 523 //BUS TWO
adimmit 0:76c761d3caf1 524 ExitMotorMode(&q12_can);
adimmit 0:76c761d3caf1 525 can2.write(q12_can);
adimmit 0:76c761d3caf1 526 ExitMotorMode(&q22_can);
adimmit 0:76c761d3caf1 527 can2.write(q22_can);
adimmit 1:aa253b5f5b65 528 ExitMotorMode(&q32_can);
adimmit 0:76c761d3caf1 529 can2.write(q32_can);
adimmit 0:76c761d3caf1 530 //BUS THREE
adimmit 0:76c761d3caf1 531 ExitMotorMode(&q13_can);
adimmit 0:76c761d3caf1 532 can3.write(q13_can);
adimmit 0:76c761d3caf1 533 ExitMotorMode(&q23_can);
adimmit 0:76c761d3caf1 534 can3.write(q23_can);
adimmit 0:76c761d3caf1 535 ExitMotorMode(&q33_can);
adimmit 0:76c761d3caf1 536 can3.write(q33_can);
adimmit 1:aa253b5f5b65 537 pc.printf("x\n\r");
adimmit 0:76c761d3caf1 538 return;
adimmit 0:76c761d3caf1 539 }
adimmit 0:76c761d3caf1 540
adimmit 0:76c761d3caf1 541 spi_data.q_1s[0] = g1_state.a.p;
adimmit 0:76c761d3caf1 542 spi_data.q_2s[0] = g1_state.h.p;
adimmit 0:76c761d3caf1 543 spi_data.q_3s[0] = g1_state.k.p;
adimmit 0:76c761d3caf1 544 spi_data.qd_1s[0] = g1_state.a.v;
adimmit 0:76c761d3caf1 545 spi_data.qd_2s[0] = g1_state.h.v;
adimmit 0:76c761d3caf1 546 spi_data.qd_3s[0] = g1_state.k.v;
adimmit 0:76c761d3caf1 547
adimmit 0:76c761d3caf1 548 spi_data.q_1s[1] = g1_state.a.p;
adimmit 0:76c761d3caf1 549 spi_data.q_2s[1] = g1_state.h.p;
adimmit 0:76c761d3caf1 550 spi_data.q_3s[1] = g1_state.k.p;
adimmit 0:76c761d3caf1 551 spi_data.qd_1s[1] = g1_state.a.v;
adimmit 0:76c761d3caf1 552 spi_data.qd_2s[1] = g1_state.h.v;
adimmit 0:76c761d3caf1 553 spi_data.qd_3s[1] = g1_state.k.v;
adimmit 0:76c761d3caf1 554
adimmit 0:76c761d3caf1 555 spi_data.q_1s[2] = g1_state.a.p;
adimmit 0:76c761d3caf1 556 spi_data.q_2s[2] = g1_state.h.p;
adimmit 0:76c761d3caf1 557 spi_data.q_3s[2] = g1_state.k.p;
adimmit 0:76c761d3caf1 558 spi_data.qd_1s[2] = g1_state.a.v;
adimmit 0:76c761d3caf1 559 spi_data.qd_2s[2] = g1_state.h.v;
adimmit 0:76c761d3caf1 560 spi_data.qd_3s[2] = g1_state.k.v;
adimmit 0:76c761d3caf1 561
adimmit 0:76c761d3caf1 562
adimmit 0:76c761d3caf1 563
adimmit 0:76c761d3caf1 564 if(estop==0){
adimmit 0:76c761d3caf1 565 //printf("estopped!!!!\n\r");
adimmit 0:76c761d3caf1 566 memset(&q1_control, 0, sizeof(q1_control));
adimmit 0:76c761d3caf1 567 memset(&q2_control, 0, sizeof(q2_control));
adimmit 0:76c761d3caf1 568 memset(&q3_control, 0, sizeof(q3_control));
adimmit 0:76c761d3caf1 569 spi_data.flags[0] = 0xdead;
adimmit 0:76c761d3caf1 570 spi_data.flags[1] = 0xdead;
adimmit 0:76c761d3caf1 571 spi_data.flags[2] = 0xdead;
adimmit 0:76c761d3caf1 572 led = 1;
adimmit 0:76c761d3caf1 573 }
adimmit 0:76c761d3caf1 574
adimmit 0:76c761d3caf1 575 else{
adimmit 0:76c761d3caf1 576 led = 0;
adimmit 0:76c761d3caf1 577
adimmit 0:76c761d3caf1 578 memset(&q1_control, 0, sizeof(q1_control));
adimmit 0:76c761d3caf1 579 memset(&q2_control, 0, sizeof(q2_control));
adimmit 0:76c761d3caf1 580 memset(&q3_control, 0, sizeof(q3_control));
adimmit 0:76c761d3caf1 581
adimmit 0:76c761d3caf1 582
adimmit 0:76c761d3caf1 583 q1_control.a.p_des = spi_command.q_des_1s[0];
adimmit 0:76c761d3caf1 584 q1_control.a.v_des = spi_command.qd_des_1s[0];
adimmit 0:76c761d3caf1 585 q1_control.a.kp = spi_command.kp_1s[0];
adimmit 0:76c761d3caf1 586 q1_control.a.kd = spi_command.kd_1s[0];
adimmit 0:76c761d3caf1 587 q1_control.a.t_ff = spi_command.tau_1s_ff[0];
adimmit 0:76c761d3caf1 588
adimmit 0:76c761d3caf1 589 q1_control.h.p_des = spi_command.q_des_2s[0];
adimmit 0:76c761d3caf1 590 q1_control.h.v_des = spi_command.qd_des_2s[0];
adimmit 0:76c761d3caf1 591 q1_control.h.kp = spi_command.kp_2s[0];
adimmit 0:76c761d3caf1 592 q1_control.h.kd = spi_command.kd_2s[0];
adimmit 0:76c761d3caf1 593 q1_control.h.t_ff = spi_command.tau_2s_ff[0];
adimmit 0:76c761d3caf1 594
adimmit 0:76c761d3caf1 595 q1_control.k.p_des = spi_command.q_des_3s[0];
adimmit 0:76c761d3caf1 596 q1_control.k.v_des = spi_command.qd_des_3s[0];
adimmit 0:76c761d3caf1 597 q1_control.k.kp = spi_command.kp_3s[0];
adimmit 0:76c761d3caf1 598 q1_control.k.kd = spi_command.kd_3s[0];
adimmit 0:76c761d3caf1 599 q1_control.k.t_ff = spi_command.tau_3s_ff[0];
adimmit 0:76c761d3caf1 600
adimmit 0:76c761d3caf1 601 q2_control.a.p_des = spi_command.q_des_1s[1];
adimmit 0:76c761d3caf1 602 q2_control.a.v_des = spi_command.qd_des_1s[1];
adimmit 0:76c761d3caf1 603 q2_control.a.kp = spi_command.kp_1s[1];
adimmit 0:76c761d3caf1 604 q2_control.a.kd = spi_command.kd_1s[1];
adimmit 0:76c761d3caf1 605 q2_control.a.t_ff = spi_command.tau_1s_ff[1];
adimmit 0:76c761d3caf1 606
adimmit 0:76c761d3caf1 607 q2_control.h.p_des = spi_command.q_des_2s[1];
adimmit 0:76c761d3caf1 608 q2_control.h.v_des = spi_command.qd_des_2s[1];
adimmit 0:76c761d3caf1 609 q2_control.h.kp = spi_command.kp_2s[1];
adimmit 0:76c761d3caf1 610 q2_control.h.kd = spi_command.kd_2s[1];
adimmit 0:76c761d3caf1 611 q2_control.h.t_ff = spi_command.tau_2s_ff[1];
adimmit 0:76c761d3caf1 612
adimmit 0:76c761d3caf1 613 q2_control.k.p_des = spi_command.q_des_3s[1];
adimmit 0:76c761d3caf1 614 q2_control.k.v_des = spi_command.qd_des_3s[1];
adimmit 0:76c761d3caf1 615 q2_control.k.kp = spi_command.kp_3s[1];
adimmit 0:76c761d3caf1 616 q2_control.k.kd = spi_command.kd_3s[1];
adimmit 0:76c761d3caf1 617 q2_control.k.t_ff = spi_command.tau_3s_ff[1];
adimmit 0:76c761d3caf1 618
adimmit 0:76c761d3caf1 619 q3_control.a.p_des = spi_command.q_des_1s[2];
adimmit 0:76c761d3caf1 620 q3_control.a.v_des = spi_command.qd_des_1s[2];
adimmit 0:76c761d3caf1 621 q3_control.a.kp = spi_command.kp_1s[2];
adimmit 0:76c761d3caf1 622 q3_control.a.kd = spi_command.kd_1s[2];
adimmit 0:76c761d3caf1 623 q3_control.a.t_ff = spi_command.tau_1s_ff[2];
adimmit 0:76c761d3caf1 624
adimmit 0:76c761d3caf1 625 q3_control.h.p_des = spi_command.q_des_2s[2];
adimmit 0:76c761d3caf1 626 q3_control.h.v_des = spi_command.qd_des_2s[2];
adimmit 0:76c761d3caf1 627 q3_control.h.kp = spi_command.kp_2s[2];
adimmit 0:76c761d3caf1 628 q3_control.h.kd = spi_command.kd_2s[2];
adimmit 0:76c761d3caf1 629 q3_control.h.t_ff = spi_command.tau_2s_ff[2];
adimmit 0:76c761d3caf1 630
adimmit 0:76c761d3caf1 631 q3_control.k.p_des = spi_command.q_des_3s[2];
adimmit 0:76c761d3caf1 632 q3_control.k.v_des = spi_command.qd_des_3s[2];
adimmit 0:76c761d3caf1 633 q3_control.k.kp = spi_command.kp_3s[2];
adimmit 0:76c761d3caf1 634 q3_control.k.kd = spi_command.kd_3s[2];
adimmit 0:76c761d3caf1 635 q3_control.k.t_ff = spi_command.tau_3s_ff[2];
adimmit 0:76c761d3caf1 636
adimmit 0:76c761d3caf1 637
adimmit 0:76c761d3caf1 638 spi_data.flags[0] = 0;
adimmit 0:76c761d3caf1 639 spi_data.flags[1] = 0;
adimmit 0:76c761d3caf1 640 spi_data.flags[2] = 0;
adimmit 0:76c761d3caf1 641 spi_data.flags[0] |= softstop_joint(g1_state.a, &q1_control.a, A_LIM_P, A_LIM_N);
adimmit 0:76c761d3caf1 642 spi_data.flags[0] |= (softstop_joint(g1_state.h, &q1_control.h, H_LIM_P, H_LIM_N))<<1;
adimmit 0:76c761d3caf1 643 //spi_data.flags[0] |= (softstop_joint(g1_state.k, &q1_control.k, K_LIM_P, K_LIM_N))<<2;
adimmit 0:76c761d3caf1 644 spi_data.flags[1] |= softstop_joint(g2_state.a, &q2_control.a, A_LIM_P, A_LIM_N);
adimmit 0:76c761d3caf1 645 spi_data.flags[1] |= (softstop_joint(g2_state.h, &q2_control.h, H_LIM_P, H_LIM_N))<<1;
adimmit 0:76c761d3caf1 646 //spi_data.flags[1] |= (softstop_joint(g2_state.k, &q2_control.k, K_LIM_P, K_LIM_N))<<2;
adimmit 0:76c761d3caf1 647 spi_data.flags[2] |= softstop_joint(g3_state.a, &q3_control.a, A_LIM_P, A_LIM_N);
adimmit 0:76c761d3caf1 648 spi_data.flags[2] |= (softstop_joint(g3_state.h, &q3_control.h, H_LIM_P, H_LIM_N))<<1;
adimmit 0:76c761d3caf1 649 //spi_data.flags[2] |= (softstop_joint(g3_state.k, &q3_control.k, K_LIM_P, K_LIM_N))<<2;
adimmit 0:76c761d3caf1 650
adimmit 0:76c761d3caf1 651 //spi_data.flags[0] = 0xbeef;
adimmit 0:76c761d3caf1 652 //spi_data.flags[1] = 0xbeef;
adimmit 0:76c761d3caf1 653 //PackAll();
adimmit 0:76c761d3caf1 654 //WriteAll();
adimmit 0:76c761d3caf1 655 }
adimmit 0:76c761d3caf1 656 spi_data.checksum = xor_checksum((uint32_t*)&spi_data,14);
adimmit 0:76c761d3caf1 657 for(int i = 0; i < DATA_LEN; i++){
adimmit 0:76c761d3caf1 658 tx_buff[i] = ((uint16_t*)(&spi_data))[i];}
adimmit 0:76c761d3caf1 659
adimmit 0:76c761d3caf1 660 }
adimmit 0:76c761d3caf1 661
adimmit 0:76c761d3caf1 662
adimmit 0:76c761d3caf1 663 void test_control()
adimmit 0:76c761d3caf1 664 {
adimmit 0:76c761d3caf1 665 for(int i = 0; i < 3; i++)
adimmit 0:76c761d3caf1 666 {
adimmit 0:76c761d3caf1 667 spi_data.q_1s[i] = spi_command.q_des_1s[i] + 1.f;
adimmit 0:76c761d3caf1 668 spi_data.q_2s[i] = spi_command.q_des_2s[i] + 1.f;
adimmit 0:76c761d3caf1 669 spi_data.q_3s[i] = spi_command.q_des_3s[i] + 1.f;
adimmit 0:76c761d3caf1 670
adimmit 0:76c761d3caf1 671 spi_data.qd_1s[i] = spi_command.qd_des_1s[i] + 1.f;
adimmit 0:76c761d3caf1 672 spi_data.qd_2s[i] = spi_command.qd_des_2s[i] + 1.f;
adimmit 0:76c761d3caf1 673 spi_data.qd_3s[i] = spi_command.qd_des_3s[i] + 1.f;
adimmit 0:76c761d3caf1 674 }
adimmit 0:76c761d3caf1 675
adimmit 0:76c761d3caf1 676 spi_data.flags[0] = 0xdead;
adimmit 0:76c761d3caf1 677 //spi_data.flags[1] = 0xbeef;
adimmit 0:76c761d3caf1 678
adimmit 0:76c761d3caf1 679 // only do first 56 bytes of message.
adimmit 0:76c761d3caf1 680 spi_data.checksum = xor_checksum((uint32_t*)&spi_data,14);
adimmit 0:76c761d3caf1 681
adimmit 0:76c761d3caf1 682 for(int i = 0; i < DATA_LEN; i++)
adimmit 0:76c761d3caf1 683 tx_buff[i] = ((uint16_t*)(&spi_data))[i];
adimmit 0:76c761d3caf1 684 }
adimmit 0:76c761d3caf1 685
adimmit 0:76c761d3caf1 686 void init_spi(void){
adimmit 0:76c761d3caf1 687 SPISlave *spi = new SPISlave(PA_7, PA_6, PA_5, PA_4);
adimmit 0:76c761d3caf1 688 spi->format(16, 0);
adimmit 0:76c761d3caf1 689 spi->frequency(12000000);
adimmit 0:76c761d3caf1 690 spi->reply(0x0);
adimmit 0:76c761d3caf1 691 cs.fall(&spi_isr);
adimmit 1:aa253b5f5b65 692 pc.printf("done\n\r");
adimmit 0:76c761d3caf1 693 }
adimmit 0:76c761d3caf1 694
adimmit 0:76c761d3caf1 695 int main() {
adimmit 0:76c761d3caf1 696 wait(1);
adimmit 0:76c761d3caf1 697 //led = 1;
adimmit 1:aa253b5f5b65 698 pc.baud(115200); //MAYBE CHANGE THIS IF NEEDED
adimmit 0:76c761d3caf1 699 pc.attach(&serial_isr);
adimmit 0:76c761d3caf1 700 estop.mode(PullUp);
adimmit 0:76c761d3caf1 701 //spi.format(16, 0);
adimmit 0:76c761d3caf1 702 //spi.frequency(1000000);
adimmit 0:76c761d3caf1 703 //spi.reply(0x0);
adimmit 0:76c761d3caf1 704 //cs.fall(&spi_isr);
adimmit 0:76c761d3caf1 705
adimmit 0:76c761d3caf1 706 //can1.frequency(1000000); // set bit rate to 1Mbps
adimmit 0:76c761d3caf1 707 //can1.attach(&rxISR1); // attach 'CAN receive-complete' interrupt handler
adimmit 0:76c761d3caf1 708 can1.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
adimmit 0:76c761d3caf1 709 //can2.frequency(1000000); // set bit rate to 1Mbps
adimmit 0:76c761d3caf1 710 //can2.attach(&rxISR2); // attach 'CAN receive-complete' interrupt handler
adimmit 0:76c761d3caf1 711 can2.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
adimmit 0:76c761d3caf1 712 can3.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
adimmit 0:76c761d3caf1 713
adimmit 0:76c761d3caf1 714 memset(&tx_buff, 0, TX_LEN * sizeof(uint16_t));
adimmit 0:76c761d3caf1 715 memset(&spi_data, 0, sizeof(spi_data_t));
adimmit 0:76c761d3caf1 716 memset(&spi_command,0,sizeof(spi_command_t));
adimmit 0:76c761d3caf1 717
adimmit 0:76c761d3caf1 718
adimmit 0:76c761d3caf1 719 NVIC_SetPriority(TIM5_IRQn, 1);
adimmit 0:76c761d3caf1 720 //NVIC_SetPriority(CAN1_RX0_IRQn, 3);
adimmit 0:76c761d3caf1 721 //NVIC_SetPriority(CAN2_RX0_IRQn, 3);
adimmit 0:76c761d3caf1 722
adimmit 0:76c761d3caf1 723 pc.printf("\n\r SPIne\n\r");
adimmit 0:76c761d3caf1 724 //printf("%d\n\r", RX_ID << 18);
adimmit 0:76c761d3caf1 725
adimmit 0:76c761d3caf1 726 q11_can.len = 8; //transmit 8 bytes
adimmit 0:76c761d3caf1 727 q21_can.len = 8; //transmit 8 bytes
adimmit 0:76c761d3caf1 728 q31_can.len = 8;
adimmit 0:76c761d3caf1 729 q12_can.len = 8; //transmit 8 bytes
adimmit 0:76c761d3caf1 730 q22_can.len = 8; //transmit 8 bytes
adimmit 0:76c761d3caf1 731 q32_can.len = 8;
adimmit 0:76c761d3caf1 732 q13_can.len = 8; //transmit 8 bytes
adimmit 0:76c761d3caf1 733 q23_can.len = 8; //transmit 8 bytes
adimmit 0:76c761d3caf1 734 q33_can.len = 8;
adimmit 0:76c761d3caf1 735 rxMsg1.len = 6; //receive 6 bytes
adimmit 0:76c761d3caf1 736 rxMsg2.len = 6;
adimmit 0:76c761d3caf1 737 rxMsg3.len = 6;
adimmit 0:76c761d3caf1 738
adimmit 0:76c761d3caf1 739 q11_can.id = 0x1;
adimmit 0:76c761d3caf1 740 q21_can.id = 0x2;
adimmit 0:76c761d3caf1 741 q31_can.id = 0x3;
adimmit 0:76c761d3caf1 742 q12_can.id = 0x1;
adimmit 0:76c761d3caf1 743 q22_can.id = 0x2;
adimmit 0:76c761d3caf1 744 q32_can.id = 0x3;
adimmit 0:76c761d3caf1 745 q13_can.id = 0x1;
adimmit 0:76c761d3caf1 746 q23_can.id = 0x2;
adimmit 0:76c761d3caf1 747 q33_can.id = 0x3;
adimmit 0:76c761d3caf1 748
adimmit 0:76c761d3caf1 749 pack_cmd(&q11_can, q1_control.a);
adimmit 0:76c761d3caf1 750 pack_cmd(&q12_can, q2_control.a);
adimmit 0:76c761d3caf1 751 pack_cmd(&q13_can, q3_control.a);
adimmit 0:76c761d3caf1 752 pack_cmd(&q21_can, q1_control.h);
adimmit 0:76c761d3caf1 753 pack_cmd(&q22_can, q2_control.h);
adimmit 0:76c761d3caf1 754 pack_cmd(&q23_can, q3_control.h);
adimmit 0:76c761d3caf1 755 pack_cmd(&q31_can, q1_control.k);
adimmit 0:76c761d3caf1 756 pack_cmd(&q32_can, q2_control.k);
adimmit 0:76c761d3caf1 757 pack_cmd(&q33_can, q3_control.k);
adimmit 0:76c761d3caf1 758 WriteAll();
adimmit 1:aa253b5f5b65 759
adimmit 1:aa253b5f5b65 760 //just debugging things
adimmit 1:aa253b5f5b65 761 pc.printf("SETUP VARS ALL DONE\n");
adimmit 0:76c761d3caf1 762
adimmit 0:76c761d3caf1 763
adimmit 0:76c761d3caf1 764 // SPI doesn't work if enabled while the CS pin is pulled low
adimmit 0:76c761d3caf1 765 // Wait for CS to not be low, then enable SPI
adimmit 0:76c761d3caf1 766 if(!spi_enabled){
adimmit 1:aa253b5f5b65 767 while((spi_enabled==0) && (cs.read() ==0)){pc.printf("waiting for CS Pin\n"); wait_us(10);}
adimmit 0:76c761d3caf1 768 init_spi();
adimmit 0:76c761d3caf1 769 spi_enabled = 1;
adimmit 1:aa253b5f5b65 770 pc.printf("SPI ENABLED AND READY\n");
adimmit 0:76c761d3caf1 771 }
adimmit 0:76c761d3caf1 772
adimmit 0:76c761d3caf1 773 //spi_command=set the thing here...
adimmit 0:76c761d3caf1 774
adimmit 0:76c761d3caf1 775 while(1) {
adimmit 1:aa253b5f5b65 776 //pc.printf("test, of SPINE\r\n");
adimmit 0:76c761d3caf1 777 counter++;
adimmit 0:76c761d3caf1 778 can2.read(rxMsg2);
adimmit 0:76c761d3caf1 779 unpack_reply(rxMsg2, &g2_state);
adimmit 0:76c761d3caf1 780 can1.read(rxMsg1); // read message into Rx message storage
adimmit 0:76c761d3caf1 781 unpack_reply(rxMsg1, &g1_state);
adimmit 0:76c761d3caf1 782 can3.read(rxMsg3); // read message into Rx message storage
adimmit 0:76c761d3caf1 783 unpack_reply(rxMsg3, &g3_state);
adimmit 0:76c761d3caf1 784 wait_us(10);
adimmit 1:aa253b5f5b65 785
adimmit 1:aa253b5f5b65 786 //print heatbeat (always will print message 0)
adimmit 2:32f69175c78e 787 /*
adimmit 1:aa253b5f5b65 788 if (counter3 == 100000) { //for debugging purposes
adimmit 1:aa253b5f5b65 789 pc.printf("HEARTBEAT\n");
adimmit 1:aa253b5f5b65 790 counter3 = 0;
adimmit 1:aa253b5f5b65 791 }
adimmit 1:aa253b5f5b65 792 counter3++;
adimmit 2:32f69175c78e 793 */
adimmit 0:76c761d3caf1 794 }
adimmit 2:32f69175c78e 795
adimmit 0:76c761d3caf1 796 }