Updated for checksum
Diff: leg_message.h
- Revision:
- 10:42438194e82b
- Parent:
- 5:f1703165ca7e
- Child:
- 13:87e7ce883f6a
--- a/leg_message.h Fri Apr 09 20:41:24 2021 +0000 +++ b/leg_message.h Tue Apr 13 19:11:12 2021 +0000 @@ -3,8 +3,8 @@ #include <stdint.h> -// 88 bytes -// 44 16-bit words +// 124 bytes +// 62 16-bit words struct spi_data_t { float q_1s[3]; @@ -13,12 +13,14 @@ float qd_1s[3]; float qd_2s[3]; float qd_3s[3]; + float tau_1s[3]; + float tau_2s[3]; + float tau_3s[3]; int32_t flags[3]; int32_t checksum; }; // 196 bytes -// 98 16-bit words struct spi_command_t { float q_des_1s[3]; //first motor on each can bus 0-can1, 1-can2, 2-can3