File content as of revision 5:2503c88a564f:

#include "CAN.h"
#include "used_leg_message.h"
#include "CAN3.h"
#include "mcp2515.h"



//定义设备
CAN pf_can(PB_8, PB_9);                                                         // CAN Rx pin name, CAN Tx pin name
CAN df_can(PB_12, PB_13);                                                       // CAN Rx pin name, CAN Tx pin name
// 定义CAN消息
CANMessage pf_rxMsg, df_rxMsg;                                                  // 主控收到的CAN消息
CANMessage pf_txMsg, df_txMsg;                                                    //主控发送的CAN消息

SPI spi(PA_7,PA_6,PA_5);// mosi, miso, scl                           //SPI转can
CAN3 df1_can(spi,PA_4); //spi, ncs, itr

CANMessage df1_txMsg;                                                  // 主控收到的CAN消息
CANMessage df1_rxMsg;                                                  // 主控发送的CAN消息

//=================================函数=======================================//

/// 将控制参数打包入CAN消息中
/// 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;
}


// 多个控制器联合打包准备发送
void PackAll(){
    pack_cmd(&pf_txMsg, a_control.pf); 
    pack_cmd(&df_txMsg, a_control.df); 
    pack_cmd(&df1_txMsg, a_control.df1); 
}


// 写联合打包的数据
void WriteAll(){
    pf_can.write(pf_txMsg);
    wait(.00002);
    df_can.write(df_txMsg);
    wait(.00002);
    df1_can.write(&df1_txMsg);
    wait(.00002);
    
}


/// 提取信息并存入状态结构体
/// 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, ankle_state * ankle){
    /// 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==0x01){
        ankle->pf.p = p;
        ankle->pf.v = v;
        ankle->pf.t = t;
        }
    else if(id==0x02){
        ankle->df.p = p;
        ankle->df.v = v;
        ankle->df.t = t;
        }
    else if(id==0x03){
        ankle->df1.p = p;
        ankle->df1.v = v;
        ankle->df1.t = t;
        }
}