Updated for checksum
Diff: main.cpp
- Revision:
- 12:5f97bcab6c50
- Parent:
- 11:40d5d9b5d2ba
- Child:
- 13:87e7ce883f6a
--- a/main.cpp Wed May 26 18:14:09 2021 +0000 +++ b/main.cpp Thu Feb 03 19:10:54 2022 +0000 @@ -459,6 +459,48 @@ +void process() +{ + // update qs + spi_data.q_1s[0] = spi_command.q_des_1s[0]+1.0; + spi_data.q_2s[0] = spi_command.q_des_2s[0]+1.0; + spi_data.q_3s[0] = spi_command.q_des_3s[0]+1.0; + spi_data.q_1s[1] = spi_command.q_des_1s[1]+1.0; + spi_data.q_2s[1] = spi_command.q_des_2s[1]+1.0; + spi_data.q_3s[1] = spi_command.q_des_3s[1]+1.0; + spi_data.q_1s[2] = spi_command.q_des_1s[2]+1.0; + spi_data.q_2s[2] = spi_command.q_des_2s[2]+1.0; + spi_data.q_3s[2] = spi_command.q_des_3s[2]+1.0; + // update qds + spi_data.qd_1s[0] = spi_command.qd_des_1s[0]+1.0; + spi_data.qd_2s[0] = spi_command.qd_des_2s[0]+1.0; + spi_data.qd_3s[0] = spi_command.qd_des_3s[0]+1.0; + spi_data.qd_1s[1] = spi_command.qd_des_1s[1]+1.0; + spi_data.qd_2s[1] = spi_command.qd_des_2s[1]+1.0; + spi_data.qd_3s[1] = spi_command.qd_des_3s[1]+1.0; + spi_data.qd_1s[2] = spi_command.qd_des_1s[2]+1.0; + spi_data.qd_2s[2] = spi_command.qd_des_2s[2]+1.0; + spi_data.qd_3s[2] = spi_command.qd_des_3s[2]+1.0; + // update taus + spi_data.tau_1s[0] = spi_command.tau_1s_ff[0]+1.0; + spi_data.tau_2s[0] = spi_command.tau_2s_ff[0]+1.0; + spi_data.tau_3s[0] = spi_command.tau_3s_ff[0]+1.0; + spi_data.tau_1s[1] = spi_command.tau_1s_ff[1]+1.0; + spi_data.tau_2s[1] = spi_command.tau_2s_ff[1]+1.0; + spi_data.tau_3s[1] = spi_command.tau_3s_ff[1]+1.0; + spi_data.tau_1s[2] = spi_command.tau_1s_ff[2]+1.0; + spi_data.tau_2s[2] = spi_command.tau_2s_ff[2]+1.0; + spi_data.tau_3s[2] = spi_command.tau_3s_ff[2]+1.0; + // UDPATE FLAGS + spi_data.flags[0] = 0; + spi_data.flags[1] = 0; + spi_data.flags[2] = 0; + // UPDATE CHECKSUM + spi_data.checksum = xor_checksum((uint32_t*)&spi_data, 30); //NOTE, CHECK THIS WE WANT TO DO IT ON THE FIRST 16 SPI BYTES + for(int i = 0; i < DATA_LEN; i++){ + tx_buff[i] = ((uint16_t*)(&spi_data))[i];} +} + void spi_isr(void) @@ -482,7 +524,7 @@ //pc.printf("HERE'S A SPI COMMAND:\n"); // after reading, save into spi_command // should probably check checksum first! - uint32_t calc_checksum = xor_checksum((uint32_t*)rx_buff,32); + uint32_t calc_checksum = xor_checksum((uint32_t*)rx_buff,48); for(int i = 0; i < CMD_LEN; i++) { ((uint16_t*)(&spi_command))[i] = rx_buff[i]; @@ -501,9 +543,10 @@ */ //print_SPI_data(); - control(); - PackAll(); - WriteAll(); + process(); + //control(); + //PackAll(); + //WriteAll(); //for (int i = 0; i<TX_LEN; i++) { @@ -860,12 +903,12 @@ while(1) { //pc.printf("test, of SPINE\r\n"); counter++; - can2.read(rxMsg2); - unpack_reply(rxMsg2, &g2_state); - can1.read(rxMsg1); // read message into Rx message storage - unpack_reply(rxMsg1, &g1_state); - can3.read(rxMsg3); // read message into Rx message storage - unpack_reply(rxMsg3, &g3_state); + //can2.read(rxMsg2); + //unpack_reply(rxMsg2, &g2_state); + //can1.read(rxMsg1); // read message into Rx message storage + //unpack_reply(rxMsg1, &g1_state); + //can3.read(rxMsg3); // read message into Rx message storage + //unpack_reply(rxMsg3, &g3_state); wait_us(10); //print heatbeat (always will print message 0)