Spine 18 motor board for Biomimetic Robotics Lab
main.cpp
- Committer:
- adimmit
- Date:
- 2022-09-28
- Revision:
- 15:56a06363a698
- Parent:
- 14:6fec697f62ef
File content as of revision 15:56a06363a698:
//counter for misc purposes int counter3 = 0; //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 52 //CHECK THESE BUFFER LENGHTS #define TX_LEN 52 //CHECK THESE BUFFER LENGHTS // length of outgoing/incoming messages #define DATA_LEN 36 //CHECK THESE BUFFER LENGHTS #define CMD_LEN 52 //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 10.0f #define T_MIN -72.0f #define T_MAX 72.0f /// Joint Soft Stops /// #define A1_LIM_P 1.5f #define A1_LIM_N -1.5f #define A2_LIM_P 1.5f #define A2_LIM_N -1.5f #define A3_LIM_P 1.5f #define A3_LIM_N -1.5f #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_command_t tmp_crc_chk; // 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(PA_11, PA_12, 1000000); CAN can2(PA_8, PA_15, 1000000); CAN can3(PB_12, PB_13, 1000000); //corresponds to bus 1-3-6 (controller 1) or 2-4-5 (controller 2) IN THAT ORDER CANMessage rxMsg1, rxMsg2, rxMsg3; CANMessage txMsg1, txMsg2, txMsg3; CANMessage q11_can, q21_can; //q12_can, q13_can, q22_can, q23_can, q31_can, q32_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 g1_control, g2_control; // g3_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->a1.p = p; group->a1.v = v; group->a1.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 PackAll(){ //actuators on the CAN1 bus pack_cmd(&q11_can, g1_control.a1); //actuators on the CAN2 bus pack_cmd(&q21_can, g2_control.a1); } void WriteAll(){ //toggle = 1; //ID = 1 actuators can1.write(q11_can); wait(.00002); can2.write(q21_can); wait(.00002); } void sendCMD(){ counter ++; PackAll(); if(counter>100){ pc.printf("%.3f %.3f\n\r", g1_state.a1.p, g2_state.a1.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(); pc.printf("\n\r exiting motor mode \n\r"); //CAN BUS 1 ExitMotorMode(&q11_can); //CAN BUS 2 ExitMotorMode(&q21_can); //DISABLE FLAG enabled = 0; break; case('m'): pc.printf("\n\r entering motor mode \n\r"); //CAN BUS 1 EnterMotorMode(&q11_can); //CAN BUS 2 EnterMotorMode(&q21_can); //WAIT FOR ENABLE wait(.5); //ENABLE FLAG enabled = 1; //loop.attach(&sendCMD, .001); break; case('s'): pc.printf("\n\r standing \n\r"); counter2 = 0; is_standing = 1; //stand(); break; case('z'): pc.printf("\n\r zeroing \n\r"); //CAN BUS 1 Zero(&q11_can); //Zero(&q12_can); //Zero(&q13_can); //CAN BUS 2 Zero(&q21_can); //Zero(&q22_can); //Zero(&q23_can); //CAN BUS 3 //Zero(&q31_can); //Zero(&q32_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 print_SPI_command() { pc.printf("SPI MESSAGE RECIEVED:\n"); //CAN ID ONE pc.printf("MOTOR 1-1 Q: %f\n", spi_command.q_des_1s[0]); pc.printf("MOTOR 1-1 Qd: %f\n", spi_command.qd_des_1s[0]); pc.printf("MOTOR 1-1 Kp: %f\n", spi_command.kp_1s[0]); pc.printf("MOTOR 1-1 Kd: %f\n", spi_command.kd_1s[0]); pc.printf("MOTOR 1-1 T_FF: %f\n", spi_command.tau_1s_ff[0]); pc.printf("MOTOR 2-1 Q: %f\n", spi_command.q_des_1s[1]); pc.printf("MOTOR 2-1 Qd: %f\n", spi_command.qd_des_1s[1]); pc.printf("MOTOR 2-1 Kp: %f\n", spi_command.kp_1s[1]); pc.printf("MOTOR 2-1 Kd: %f\n", spi_command.kd_1s[1]); pc.printf("MOTOR 2-1_FF: %f\n", spi_command.tau_1s_ff[1]); } void print_SPI_data() { pc.printf("SPI MESSAGE SENT:\n"); //CAN ID ONES pc.printf("MOTOR 1-1 Q: %f\n", spi_data.q_1s[0]); pc.printf("MOTOR 1-1 Qd: %f\n", spi_data.qd_1s[0]); pc.printf("MOTOR 2-1 Q: %f\n", spi_data.q_1s[1]); pc.printf("MOTOR 2-1 Qd: %f\n", spi_data.qd_1s[1]); } void process() { //pc.printf("%f\n", spi_command.q_des_2s[0]); // update qs spi_data.q_1s[0] = spi_command.q_des_1s[0]+1.0; spi_data.q_1s[1] = spi_command.q_des_1s[1]+1.0; // update qds spi_data.qd_1s[0] = spi_command.qd_des_1s[0]+1.0; spi_data.qd_1s[1] = spi_command.qd_des_1s[1]+1.0; // update taus spi_data.tau_1s[0] = spi_command.tau_1s_ff[0]+1.0; spi_data.tau_1s[1] = spi_command.tau_1s_ff[1]+1.0; // UDPATE FLAGS spi_data.flags[0] = 0; spi_data.flags[1] = 0; // UPDATE CHECKSUM spi_data.checksum = xor_checksum((uint32_t*)&spi_data, 8); //DONT CRC THE CRC! for(int i = 0; i < DATA_LEN; i++){ tx_buff[i] = ((uint16_t*)(&spi_data))[i];} } void spi_isr(void) { //pc.printf("CS ACTIVE\n"); GPIOC->ODR |= (1 << 8); GPIOC->ODR &= ~(1 << 8); int bytecount = 0; SPI1->DR = tx_buff[0]; while(cs == 0) { if(SPI1->SR&0x1) { rx_buff[bytecount] = SPI1->DR; bytecount++; if(bytecount<TX_LEN) { SPI1->DR = tx_buff[bytecount]; } } } //pc.printf("RECIEVED: %d BYTES\n", bytecount); //update crc_chk from buffer for(int i = 0; i < RX_LEN; i++) {((uint16_t*)(&tmp_crc_chk))[i] = rx_buff[i];} // CHECK THE CHECKSUM uint32_t _crc = xor_checksum((uint32_t*)&tmp_crc_chk, 12); //DONT CRC THE CRC!!! // READ CHECKSUM uint32_t _rx_crc = tmp_crc_chk.checksum; if(_crc == _rx_crc) { //pc.printf("CHECKSUM PASSED..."); //update crc_chk from buffer spi_command = tmp_crc_chk; //do math on the input //process(); control(); PackAll(); WriteAll(); //new_command = 1; //print_SPI_command(); } else{pc.printf("bigger F in the chat...\n");} } 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); //BUS TWO EnterMotorMode(&q21_can); can2.write(q21_can); //pc.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); //BUS TWO ExitMotorMode(&q21_can); can2.write(q21_can); return; } //BUS 1 DATA spi_data.q_1s[0] = g1_state.a1.p; spi_data.qd_1s[0] = g1_state.a1.v; spi_data.tau_1s[0] = g1_state.a1.t; //BUS 2 DATA spi_data.q_1s[1] = g2_state.a1.p; spi_data.qd_1s[1] = g2_state.a1.v; spi_data.tau_1s[1] = g2_state.a1.t; if(estop==0){ printf("estopped!!!!\n\r"); memset(&g1_control, 0, sizeof(g1_control)); memset(&g2_control, 0, sizeof(g2_control)); //memset(&g3_control, 0, sizeof(g3_control)); spi_data.flags[0] = 0xdead; spi_data.flags[1] = 0xdead; //spi_data.flags[2] = 0xdead; led = 1; } else{ led = 0; memset(&g1_control, 0, sizeof(g1_control)); memset(&g2_control, 0, sizeof(g2_control)); //memset(&g3_control, 0, sizeof(g3_control)); //TRANSLATE SPI TO ACTUATOR COMMANNDS //CAN1 //CAN1 MOTOR1 g1_control.a1.p_des = spi_command.q_des_1s[0]; g1_control.a1.v_des = spi_command.qd_des_1s[0]; g1_control.a1.kp = spi_command.kp_1s[0]; g1_control.a1.kd = spi_command.kd_1s[0]; g1_control.a1.t_ff = spi_command.tau_1s_ff[0]; //CAN2 MOTOR1 g2_control.a1.p_des = spi_command.q_des_1s[1]; g2_control.a1.v_des = spi_command.qd_des_1s[1]; g2_control.a1.kp = spi_command.kp_1s[1]; g2_control.a1.kd = spi_command.kd_1s[1]; g2_control.a1.t_ff = spi_command.tau_1s_ff[1]; //SPI FLAGS RETURN //IMPLEMENTS THE JOINT SOFT STOP RIGHT HERE spi_data.flags[0] = 0; spi_data.flags[1] = 0; } spi_data.checksum = xor_checksum((uint32_t*)&spi_data, 8); 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.qd_1s[i] = spi_command.qd_des_1s[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,12); 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(500000); spi->reply(0x0); cs.fall(&spi_isr); pc.printf("done\n\r"); } int main() { wait(1); //led = 1; pc.baud(115200); //MAYBE CHANGE THIS IF NEEDED pc.attach(&serial_isr); estop.mode(PullUp); can1.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); //set up can filter can2.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); //CAN 1 BUS q11_can.len = 8; //transmit 8 bytes //CAN 2 BUS q21_can.len = 8; //transmit 8 bytes //RECIEVE rxMsg1.len = 6; //receive 6 bytes rxMsg2.len = 6; //CAN 1 BUS q11_can.id = 0x1; //CAN 2 BUS q21_can.id = 0x1; //actuators on the CAN1 bus pack_cmd(&q11_can, g1_control.a1); //actuators on the CAN2 bus pack_cmd(&q21_can, g2_control.a1); //WRITE THE INITIAL COMMAND WriteAll(); //just debugging things pc.printf("SETUP VARS ALL DONE\n"); // 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)){pc.printf("waiting for CS Pin\n"); wait_us(10);} init_spi(); spi_enabled = 1; pc.printf("SPI ENABLED AND READY\n"); } //spi_command=set the thing here... while(1) { //pc.printf("heartbeat...\n"); counter++; can2.read(rxMsg2); unpack_reply(rxMsg2, &g2_state); can1.read(rxMsg1); // read message into Rx message storage unpack_reply(rxMsg1, &g1_state); ///wait(0.01); } }