Aditya Mehrotra
Updated for checksum
Diff: main.cpp
- Revision:
- 0:76c761d3caf1
- Child:
- 1:aa253b5f5b65
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Mar 20 18:38:51 2021 +0000
@@ -0,0 +1,708 @@
+
+ //GO THROUGH AND RE-CHECK ALL THE VARIABLES, STRUCT NAMES, SIZES, BUFFERS + ETC!!!
+ //ALSO GO THROUGH THE COMMENTS TO SEE IF THEY NEED CHANGING
+
+#include "mbed.h"
+#include "math_ops.h"
+#include <cstring>
+#include "leg_message.h"
+
+// length of receive/transmit buffers
+#define RX_LEN 98 //CHECK THESE BUFFER LENGHTS
+#define TX_LEN 98 //CHECK THESE BUFFER LENGHTS
+
+// length of outgoing/incoming messages
+#define DATA_LEN 44 //CHECK THESE BUFFER LENGHTS
+#define CMD_LEN 98 //CHECK THESE BUFFER LENGHTS
+
+// Master CAN ID ///
+#define CAN_ID 0x0
+
+
+/// Value Limits ///
+ #define P_MIN -12.5f
+ #define P_MAX 12.5f
+ #define V_MIN -65.0f
+ #define V_MAX 65.0f
+ #define KP_MIN 0.0f
+ #define KP_MAX 500.0f
+ #define KD_MIN 0.0f
+ #define KD_MAX 5.0f
+ #define T_MIN -18.0f
+ #define T_MAX 18.0f
+
+ /// Joint Soft Stops ///
+ #define A_LIM_P 1.5f
+ #define A_LIM_N -1.5f
+ #define H_LIM_P 5.0f
+ #define H_LIM_N -5.0f
+ #define K_LIM_P 0.2f
+ #define K_LIM_N 7.7f
+ #define KP_SOFTSTOP 100.0f
+ #define KD_SOFTSTOP 0.4f;
+
+#define ENABLE_CMD 0xFFFF
+#define DISABLE_CMD 0x1F1F
+
+spi_data_t spi_data; // data from spine to up
+spi_command_t spi_command; // data from up to spine
+
+// spi buffers
+uint16_t rx_buff[RX_LEN];
+uint16_t tx_buff[TX_LEN];
+
+DigitalOut led(PC_5);
+
+
+Serial pc(PA_2, PA_3);
+CAN can1(PB_12, PB_13, 1000000); // CAN Rx pin name, CAN Tx pin name
+CAN can2(PA_11, PA_12, 1000000); // CAN Rx pin name, CAN Tx pin name
+CAN can3(PA_8, PA_15, 1000000); // CAN Rx pin name, CAN Tx pin name //CAN4 on board
+
+CANMessage rxMsg1, rxMsg2, rxMsg3;
+CANMessage txMsg1, txMsg2, txMsg3;
+CANMessage q11_can, q21_can, q31_can, q12_can, q22_can, q32_can, q13_can, q23_can, q33_can; //TX Messages
+int ledState;
+Ticker sendCAN;
+int counter = 0;
+volatile bool msgAvailable = false;
+Ticker loop;
+
+int spi_enabled = 0;
+InterruptIn cs(PA_4);
+DigitalIn estop(PB_15);
+//SPISlave spi(PA_7, PA_6, PA_5, PA_4);
+
+
+grouped_act_state g1_state, g2_state, g3_state;
+grouped_act_control q1_control, q2_control, q3_control;
+
+uint16_t x = 0;
+uint16_t x2 = 0;
+uint16_t count = 0;
+uint16_t counter2 = 0; //SEE IF WE NEED TO UPDATE THESE TO ADD COUNTER3 AND X3
+
+int control_mode = 1;
+int is_standing = 0; //SEE IF WE STILL NEED THE STANDING THING
+int enabled = 0;
+
+// generates fake spi data from spi command
+void test_control(); //MAY NEED TO GET RID OF THIS?
+void control();
+
+
+/// CAN Command Packet Structure ///
+/// 16 bit position command, between -4*pi and 4*pi
+/// 12 bit velocity command, between -30 and + 30 rad/s
+/// 12 bit kp, between 0 and 500 N-m/rad
+/// 12 bit kd, between 0 and 100 N-m*s/rad
+/// 12 bit feed forward torque, between -18 and 18 N-m
+/// CAN Packet is 8 8-bit words
+/// Formatted as follows. For each quantity, bit 0 is LSB
+/// 0: [position[15-8]]
+/// 1: [position[7-0]]
+/// 2: [velocity[11-4]]
+/// 3: [velocity[3-0], kp[11-8]]
+/// 4: [kp[7-0]]
+/// 5: [kd[11-4]]
+/// 6: [kd[3-0], torque[11-8]]
+/// 7: [torque[7-0]]
+
+void pack_cmd(CANMessage * msg, joint_control joint){
+
+ /// limit data to be within bounds ///
+ float p_des = fminf(fmaxf(P_MIN, joint.p_des), P_MAX);
+ float v_des = fminf(fmaxf(V_MIN, joint.v_des), V_MAX);
+ float kp = fminf(fmaxf(KP_MIN, joint.kp), KP_MAX);
+ float kd = fminf(fmaxf(KD_MIN, joint.kd), KD_MAX);
+ float t_ff = fminf(fmaxf(T_MIN, joint.t_ff), T_MAX);
+ /// convert floats to unsigned ints ///
+ uint16_t p_int = float_to_uint(p_des, P_MIN, P_MAX, 16);
+ uint16_t v_int = float_to_uint(v_des, V_MIN, V_MAX, 12);
+ uint16_t kp_int = float_to_uint(kp, KP_MIN, KP_MAX, 12);
+ uint16_t kd_int = float_to_uint(kd, KD_MIN, KD_MAX, 12);
+ uint16_t t_int = float_to_uint(t_ff, T_MIN, T_MAX, 12);
+ /// pack ints into the can buffer ///
+ msg->data[0] = p_int>>8;
+ msg->data[1] = p_int&0xFF;
+ msg->data[2] = v_int>>4;
+ msg->data[3] = ((v_int&0xF)<<4)|(kp_int>>8);
+ msg->data[4] = kp_int&0xFF;
+ msg->data[5] = kd_int>>4;
+ msg->data[6] = ((kd_int&0xF)<<4)|(t_int>>8);
+ msg->data[7] = t_int&0xff;
+ }
+
+/// CAN Reply Packet Structure ///
+/// 16 bit position, between -4*pi and 4*pi
+/// 12 bit velocity, between -30 and + 30 rad/s
+/// 12 bit current, between -40 and 40;
+/// CAN Packet is 5 8-bit words
+/// Formatted as follows. For each quantity, bit 0 is LSB
+/// 0: [position[15-8]]
+/// 1: [position[7-0]]
+/// 2: [velocity[11-4]]
+/// 3: [velocity[3-0], current[11-8]]
+/// 4: [current[7-0]]
+
+void unpack_reply(CANMessage msg, grouped_act_state * group){
+ /// unpack ints from can buffer ///
+ uint16_t id = msg.data[0];
+ uint16_t p_int = (msg.data[1]<<8)|msg.data[2];
+ uint16_t v_int = (msg.data[3]<<4)|(msg.data[4]>>4);
+ uint16_t i_int = ((msg.data[4]&0xF)<<8)|msg.data[5];
+ /// convert uints to floats ///
+ float p = uint_to_float(p_int, P_MIN, P_MAX, 16);
+ float v = uint_to_float(v_int, V_MIN, V_MAX, 12);
+ float t = uint_to_float(i_int, -T_MAX, T_MAX, 12);
+
+ if(id==1){
+ group->a.p = p;
+ group->a.v = v;
+ group->a.t = t;
+ }
+ else if(id==2){
+ group->h.p = p;
+ group->h.v = v;
+ group->h.t = t;
+ }
+ else if(id==3){
+ group->k.p = p;
+ group->k.v = v;
+ group->k.t = t;
+ }
+ }
+
+ void rxISR1() {
+ can1.read(rxMsg1); // read message into Rx message storage
+ unpack_reply(rxMsg1, &g1_state);
+}
+void rxISR2(){
+ can2.read(rxMsg2);
+ unpack_reply(rxMsg2, &g2_state);
+ }
+void rxISR3(){
+ can3.read(rxMsg3);
+ unpack_reply(rxMsg3, &g3_state);
+ }
+
+void PackAll(){
+ pack_cmd(&q11_can, q1_control.a);
+ pack_cmd(&q21_can, q1_control.h);
+ pack_cmd(&q31_can, q1_control.k);
+ pack_cmd(&q12_can, q2_control.a);
+ pack_cmd(&k22_can, q2_control.h);
+ pack_cmd(&k32_can, q2_control.k);
+ pack_cmd(&q13_can, q3_control.a);
+ pack_cmd(&k23_can, q3_control.h);
+ pack_cmd(&k33_can, q3_control.k);
+
+ }
+void WriteAll(){
+ //toggle = 1;
+ can1.write(q11_can);
+ wait(.00002);
+ can2.write(q12_can);
+ wait(.00002);
+ can3.write(q13_can);
+ wait(.00002);
+ can1.write(q21_can);
+ wait(.00002);
+ can2.write(q22_can);
+ wait(.00002);
+ can3.write(q23_can);
+ wait(.00002);
+ can1.write(q31_can);
+ wait(.00002);
+ can2.write(q32_can);
+ wait(.00002);
+ can3.write(q33_can);
+ wait(.00002);
+ //toggle = 0;
+ }
+
+void sendCMD(){
+ counter ++;
+
+ PackAll();
+
+ if(counter>100){
+ printf("%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n\r", q1_state.a.p, q1_state.h.p, q1_state.k.p, q2_state.a.p, q2_state.h.p, q_state.k.p, q3_state.a.p, q3_state.h.p, q3_state.k.p);
+ counter = 0 ;
+ }
+
+ WriteAll();
+ }
+
+
+
+
+void Zero(CANMessage * msg){
+ msg->data[0] = 0xFF;
+ msg->data[1] = 0xFF;
+ msg->data[2] = 0xFF;
+ msg->data[3] = 0xFF;
+ msg->data[4] = 0xFF;
+ msg->data[5] = 0xFF;
+ msg->data[6] = 0xFF;
+ msg->data[7] = 0xFE;
+ WriteAll();
+ }
+
+void EnterMotorMode(CANMessage * msg){
+ msg->data[0] = 0xFF;
+ msg->data[1] = 0xFF;
+ msg->data[2] = 0xFF;
+ msg->data[3] = 0xFF;
+ msg->data[4] = 0xFF;
+ msg->data[5] = 0xFF;
+ msg->data[6] = 0xFF;
+ msg->data[7] = 0xFC;
+ //WriteAll();
+ }
+
+void ExitMotorMode(CANMessage * msg){
+ msg->data[0] = 0xFF;
+ msg->data[1] = 0xFF;
+ msg->data[2] = 0xFF;
+ msg->data[3] = 0xFF;
+ msg->data[4] = 0xFF;
+ msg->data[5] = 0xFF;
+ msg->data[6] = 0xFF;
+ msg->data[7] = 0xFD;
+ //WriteAll();
+ }
+void serial_isr(){
+ /// handle keyboard commands from the serial terminal ///
+ while(pc.readable()){
+ char c = pc.getc();
+ //led = !led;
+ switch(c){
+ case(27):
+ //loop.detach();
+ printf("\n\r exiting motor mode \n\r");
+ ExitMotorMode(&q11_can);
+ ExitMotorMode(&q21_can);
+ ExitMotorMode(&q31_can);
+ ExitMotorMode(&q12_can);
+ ExitMotorMode(&q22_can);
+ ExitMotorMode(&q32_can);
+ ExitMotorMode(&q13_can);
+ ExitMotorMode(&q23_can);
+ ExitMotorMode(&q33_can);
+ enabled = 0;
+ break;
+ case('m'):
+ printf("\n\r entering motor mode \n\r");
+ EnterMotorMode(&q11_can);
+ EnterMotorMode(&q21_can);
+ EnterMotorMode(&q31_can);
+ EnterMotorMode(&q12_can);
+ EnterMotorMode(&q22_can);
+ EnterMotorMode(&q32_can);
+ EnterMotorMode(&q13_can);
+ EnterMotorMode(&q23_can);
+ EnterMotorMode(&q33_can);
+ wait(.5);
+ enabled = 1;
+ //loop.attach(&sendCMD, .001);
+ break;
+ case('s'):
+ printf("\n\r standing \n\r");
+ counter2 = 0;
+ is_standing = 1;
+ //stand();
+ break;
+ case('z'):
+ printf("\n\r zeroing \n\r");
+ Zero(&q11_can);
+ Zero(&q21_can);
+ Zero(&q31_can);
+ Zero(&q12_can);
+ Zero(&q22_can);
+ Zero(&q32_can);
+ Zero(&q13_can);
+ Zero(&q23_can);
+ Zero(&q33_can);
+ break;
+ }
+ }
+ WriteAll();
+
+ }
+
+uint32_t xor_checksum(uint32_t* data, size_t len)
+{
+ uint32_t t = 0;
+ for(int i = 0; i < len; i++)
+ t = t ^ data[i];
+ return t;
+}
+
+void spi_isr(void)
+{
+ GPIOC->ODR |= (1 << 8);
+ GPIOC->ODR &= ~(1 << 8);
+ int bytecount = 0;
+ SPI1->DR = tx_buff[0];
+ while(cs == 0) {
+ if(SPI1->SR&0x1) {
+ [bytecount] = SPI1->DR;
+ bytecount++;
+ if(bytecount<TX_LEN) {
+ SPI1->DR = tx_buff[bytecount];
+ }
+ }
+
+ }
+
+ // after reading, save into spi_command
+ // should probably check checksum first!
+ uint32_t calc_checksum = xor_checksum((uint32_t*)rx_buff,32);
+ for(int i = 0; i < CMD_LEN; i++)
+ {
+ ((uint16_t*)(&spi_command))[i] = rx_buff[i];
+ }
+
+ // run control, which fills in tx_buff for the next iteration
+ if(calc_checksum != spi_command.checksum){
+ spi_data.flags[1] = 0xdead;}
+
+ //test_control();
+ //spi_data.q_abad[0] = 12.0f;
+ control();
+ PackAll();
+ WriteAll();
+
+
+ //for (int i = 0; i<TX_LEN; i++) {
+ // tx_buff[i] = 2*rx_buff[i];
+ //}
+// for (int i=0; i<TX_LEN; i++) {
+// //printf("%d ", rx_buff[i]);
+// }
+ //printf("\n\r");
+}
+
+int softstop_joint(joint_state state, joint_control * control, float limit_p, float limit_n){
+ if((state.p)>=limit_p){
+ //control->p_des = limit_p;
+ control->v_des = 0.0f;
+ control->kp = 0;
+ control->kd = KD_SOFTSTOP;
+ control->t_ff += KP_SOFTSTOP*(limit_p - state.p);
+ return 1;
+ }
+ else if((state.p)<=limit_n){
+ //control->p_des = limit_n;
+ control->v_des = 0.0f;
+ control->kp = 0;
+ control->kd = KD_SOFTSTOP;
+ control->t_ff += KP_SOFTSTOP*(limit_n - state.p);
+ return 1;
+ }
+ return 0;
+
+ }
+
+
+void control()
+{
+
+ if(((spi_command.flags[0]&0x1)==1) && (enabled==0)){
+ enabled = 1;
+ //BUS ONE
+ EnterMotorMode(&q11_can);
+ can1.write(q11_can);
+ EnterMotorMode(&q21_can);
+ can1.write(q21_can);
+ EnterMotorMode(&q31_can);
+ can1.write(q31_can);
+ //BUS TWO
+ EnterMotorMode(&q12_can);
+ can2.write(q12_can);
+ EnterMotorMode(&q22_can);
+ can2.write(q22_can);
+ EnterMotorMode(&q31_can);
+ can2.write(q32_can);
+ //BUS THREE
+ EnterMotorMode(&q13_can);
+ can3.write(q13_can);
+ EnterMotorMode(&q23_can);
+ can3.write(q23_can);
+ EnterMotorMode(&q33_can);
+ can3.write(q33_can);
+ printf("e\n\r");
+ return;
+ }
+ else if((((spi_command.flags[0]&0x1))==0) && (enabled==1)){
+ enabled = 0;
+ //BUS ONE
+ ExitMotorMode(&q11_can);
+ can1.write(q11_can);
+ ExitMotorMode(&q21_can);
+ can1.write(q21_can);
+ ExitMotorMode(&q31_can);
+ can1.write(q31_can);
+ //BUS TWO
+ ExitMotorMode(&q12_can);
+ can2.write(q12_can);
+ ExitMotorMode(&q22_can);
+ can2.write(q22_can);
+ ExitMotorMode(&q31_can);
+ can2.write(q32_can);
+ //BUS THREE
+ ExitMotorMode(&q13_can);
+ can3.write(q13_can);
+ ExitMotorMode(&q23_can);
+ can3.write(q23_can);
+ ExitMotorMode(&q33_can);
+ can3.write(q33_can);
+ printf("x\n\r");
+ return;
+ }
+
+ spi_data.q_1s[0] = g1_state.a.p;
+ spi_data.q_2s[0] = g1_state.h.p;
+ spi_data.q_3s[0] = g1_state.k.p;
+ spi_data.qd_1s[0] = g1_state.a.v;
+ spi_data.qd_2s[0] = g1_state.h.v;
+ spi_data.qd_3s[0] = g1_state.k.v;
+
+ spi_data.q_1s[1] = g1_state.a.p;
+ spi_data.q_2s[1] = g1_state.h.p;
+ spi_data.q_3s[1] = g1_state.k.p;
+ spi_data.qd_1s[1] = g1_state.a.v;
+ spi_data.qd_2s[1] = g1_state.h.v;
+ spi_data.qd_3s[1] = g1_state.k.v;
+
+ spi_data.q_1s[2] = g1_state.a.p;
+ spi_data.q_2s[2] = g1_state.h.p;
+ spi_data.q_3s[2] = g1_state.k.p;
+ spi_data.qd_1s[2] = g1_state.a.v;
+ spi_data.qd_2s[2] = g1_state.h.v;
+ spi_data.qd_3s[2] = g1_state.k.v;
+
+
+
+ if(estop==0){
+ //printf("estopped!!!!\n\r");
+ memset(&q1_control, 0, sizeof(q1_control));
+ memset(&q2_control, 0, sizeof(q2_control));
+ memset(&q3_control, 0, sizeof(q3_control));
+ spi_data.flags[0] = 0xdead;
+ spi_data.flags[1] = 0xdead;
+ spi_data.flags[2] = 0xdead;
+ led = 1;
+ }
+
+ else{
+ led = 0;
+
+ memset(&q1_control, 0, sizeof(q1_control));
+ memset(&q2_control, 0, sizeof(q2_control));
+ memset(&q3_control, 0, sizeof(q3_control));
+
+
+ q1_control.a.p_des = spi_command.q_des_1s[0];
+ q1_control.a.v_des = spi_command.qd_des_1s[0];
+ q1_control.a.kp = spi_command.kp_1s[0];
+ q1_control.a.kd = spi_command.kd_1s[0];
+ q1_control.a.t_ff = spi_command.tau_1s_ff[0];
+
+ q1_control.h.p_des = spi_command.q_des_2s[0];
+ q1_control.h.v_des = spi_command.qd_des_2s[0];
+ q1_control.h.kp = spi_command.kp_2s[0];
+ q1_control.h.kd = spi_command.kd_2s[0];
+ q1_control.h.t_ff = spi_command.tau_2s_ff[0];
+
+ q1_control.k.p_des = spi_command.q_des_3s[0];
+ q1_control.k.v_des = spi_command.qd_des_3s[0];
+ q1_control.k.kp = spi_command.kp_3s[0];
+ q1_control.k.kd = spi_command.kd_3s[0];
+ q1_control.k.t_ff = spi_command.tau_3s_ff[0];
+
+ q2_control.a.p_des = spi_command.q_des_1s[1];
+ q2_control.a.v_des = spi_command.qd_des_1s[1];
+ q2_control.a.kp = spi_command.kp_1s[1];
+ q2_control.a.kd = spi_command.kd_1s[1];
+ q2_control.a.t_ff = spi_command.tau_1s_ff[1];
+
+ q2_control.h.p_des = spi_command.q_des_2s[1];
+ q2_control.h.v_des = spi_command.qd_des_2s[1];
+ q2_control.h.kp = spi_command.kp_2s[1];
+ q2_control.h.kd = spi_command.kd_2s[1];
+ q2_control.h.t_ff = spi_command.tau_2s_ff[1];
+
+ q2_control.k.p_des = spi_command.q_des_3s[1];
+ q2_control.k.v_des = spi_command.qd_des_3s[1];
+ q2_control.k.kp = spi_command.kp_3s[1];
+ q2_control.k.kd = spi_command.kd_3s[1];
+ q2_control.k.t_ff = spi_command.tau_3s_ff[1];
+
+ q3_control.a.p_des = spi_command.q_des_1s[2];
+ q3_control.a.v_des = spi_command.qd_des_1s[2];
+ q3_control.a.kp = spi_command.kp_1s[2];
+ q3_control.a.kd = spi_command.kd_1s[2];
+ q3_control.a.t_ff = spi_command.tau_1s_ff[2];
+
+ q3_control.h.p_des = spi_command.q_des_2s[2];
+ q3_control.h.v_des = spi_command.qd_des_2s[2];
+ q3_control.h.kp = spi_command.kp_2s[2];
+ q3_control.h.kd = spi_command.kd_2s[2];
+ q3_control.h.t_ff = spi_command.tau_2s_ff[2];
+
+ q3_control.k.p_des = spi_command.q_des_3s[2];
+ q3_control.k.v_des = spi_command.qd_des_3s[2];
+ q3_control.k.kp = spi_command.kp_3s[2];
+ q3_control.k.kd = spi_command.kd_3s[2];
+ q3_control.k.t_ff = spi_command.tau_3s_ff[2];
+
+
+ spi_data.flags[0] = 0;
+ spi_data.flags[1] = 0;
+ spi_data.flags[2] = 0;
+ spi_data.flags[0] |= softstop_joint(g1_state.a, &q1_control.a, A_LIM_P, A_LIM_N);
+ spi_data.flags[0] |= (softstop_joint(g1_state.h, &q1_control.h, H_LIM_P, H_LIM_N))<<1;
+ //spi_data.flags[0] |= (softstop_joint(g1_state.k, &q1_control.k, K_LIM_P, K_LIM_N))<<2;
+ spi_data.flags[1] |= softstop_joint(g2_state.a, &q2_control.a, A_LIM_P, A_LIM_N);
+ spi_data.flags[1] |= (softstop_joint(g2_state.h, &q2_control.h, H_LIM_P, H_LIM_N))<<1;
+ //spi_data.flags[1] |= (softstop_joint(g2_state.k, &q2_control.k, K_LIM_P, K_LIM_N))<<2;
+ spi_data.flags[2] |= softstop_joint(g3_state.a, &q3_control.a, A_LIM_P, A_LIM_N);
+ spi_data.flags[2] |= (softstop_joint(g3_state.h, &q3_control.h, H_LIM_P, H_LIM_N))<<1;
+ //spi_data.flags[2] |= (softstop_joint(g3_state.k, &q3_control.k, K_LIM_P, K_LIM_N))<<2;
+
+ //spi_data.flags[0] = 0xbeef;
+ //spi_data.flags[1] = 0xbeef;
+ //PackAll();
+ //WriteAll();
+ }
+ spi_data.checksum = xor_checksum((uint32_t*)&spi_data,14);
+ for(int i = 0; i < DATA_LEN; i++){
+ tx_buff[i] = ((uint16_t*)(&spi_data))[i];}
+
+}
+
+
+void test_control()
+{
+ for(int i = 0; i < 3; i++)
+ {
+ spi_data.q_1s[i] = spi_command.q_des_1s[i] + 1.f;
+ spi_data.q_2s[i] = spi_command.q_des_2s[i] + 1.f;
+ spi_data.q_3s[i] = spi_command.q_des_3s[i] + 1.f;
+
+ spi_data.qd_1s[i] = spi_command.qd_des_1s[i] + 1.f;
+ spi_data.qd_2s[i] = spi_command.qd_des_2s[i] + 1.f;
+ spi_data.qd_3s[i] = spi_command.qd_des_3s[i] + 1.f;
+ }
+
+ spi_data.flags[0] = 0xdead;
+ //spi_data.flags[1] = 0xbeef;
+
+ // only do first 56 bytes of message.
+ spi_data.checksum = xor_checksum((uint32_t*)&spi_data,14);
+
+ for(int i = 0; i < DATA_LEN; i++)
+ tx_buff[i] = ((uint16_t*)(&spi_data))[i];
+}
+
+void init_spi(void){
+ SPISlave *spi = new SPISlave(PA_7, PA_6, PA_5, PA_4);
+ spi->format(16, 0);
+ spi->frequency(12000000);
+ spi->reply(0x0);
+ cs.fall(&spi_isr);
+ printf("done\n\r");
+}
+
+
+int main() {
+ wait(1);
+ //led = 1;
+ pc.baud(921600);
+ pc.attach(&serial_isr);
+ estop.mode(PullUp);
+ //spi.format(16, 0);
+ //spi.frequency(1000000);
+ //spi.reply(0x0);
+ //cs.fall(&spi_isr);
+
+ //can1.frequency(1000000); // set bit rate to 1Mbps
+ //can1.attach(&rxISR1); // attach 'CAN receive-complete' interrupt handler
+ can1.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
+ //can2.frequency(1000000); // set bit rate to 1Mbps
+ //can2.attach(&rxISR2); // attach 'CAN receive-complete' interrupt handler
+ can2.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
+ can3.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter
+
+ memset(&tx_buff, 0, TX_LEN * sizeof(uint16_t));
+ memset(&spi_data, 0, sizeof(spi_data_t));
+ memset(&spi_command,0,sizeof(spi_command_t));
+
+
+ NVIC_SetPriority(TIM5_IRQn, 1);
+ //NVIC_SetPriority(CAN1_RX0_IRQn, 3);
+ //NVIC_SetPriority(CAN2_RX0_IRQn, 3);
+
+ pc.printf("\n\r SPIne\n\r");
+ //printf("%d\n\r", RX_ID << 18);
+
+ q11_can.len = 8; //transmit 8 bytes
+ q21_can.len = 8; //transmit 8 bytes
+ q31_can.len = 8;
+ q12_can.len = 8; //transmit 8 bytes
+ q22_can.len = 8; //transmit 8 bytes
+ q32_can.len = 8;
+ q13_can.len = 8; //transmit 8 bytes
+ q23_can.len = 8; //transmit 8 bytes
+ q33_can.len = 8;
+ rxMsg1.len = 6; //receive 6 bytes
+ rxMsg2.len = 6;
+ rxMsg3.len = 6;
+
+ q11_can.id = 0x1;
+ q21_can.id = 0x2;
+ q31_can.id = 0x3;
+ q12_can.id = 0x1;
+ q22_can.id = 0x2;
+ q32_can.id = 0x3;
+ q13_can.id = 0x1;
+ q23_can.id = 0x2;
+ q33_can.id = 0x3;
+
+ pack_cmd(&q11_can, q1_control.a);
+ pack_cmd(&q12_can, q2_control.a);
+ pack_cmd(&q13_can, q3_control.a);
+ pack_cmd(&q21_can, q1_control.h);
+ pack_cmd(&q22_can, q2_control.h);
+ pack_cmd(&q23_can, q3_control.h);
+ pack_cmd(&q31_can, q1_control.k);
+ pack_cmd(&q32_can, q2_control.k);
+ pack_cmd(&q33_can, q3_control.k);
+ WriteAll();
+
+
+ // SPI doesn't work if enabled while the CS pin is pulled low
+ // Wait for CS to not be low, then enable SPI
+ if(!spi_enabled){
+ while((spi_enabled==0) && (cs.read() ==0)){wait_us(10);}
+ init_spi();
+ spi_enabled = 1;
+ }
+
+ //spi_command=set the thing here...
+
+ 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);
+ wait_us(10);
+
+ }
+}
\ No newline at end of file