Shao Rui / HKC_MiniCheetah

1

Dependencies:   mbed-dev-f303 FastPWM3

CAN/CAN_com.cpp@57:059bd1333ba4, 2020-10-16 (annotated)

Committer:
shaorui
Date:
Fri Oct 16 09:08:47 2020 +0000
Revision:
57:059bd1333ba4
Parent:
55:c4c9fec8539c 
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 42:738fa01b0346 1 #include "CAN_com.h"
benkatz 42:738fa01b0346 2
benkatz 42:738fa01b0346 3
benkatz 55:c4c9fec8539c 4 #define P_MIN -12.5f
benkatz 55:c4c9fec8539c 5 #define P_MAX 12.5f
shaorui 57:059bd1333ba4 6 /*shaorui modify matching to relative gear ration***/
shaorui 57:059bd1333ba4 7 //#define V_MIN -65.0f //GR=6
shaorui 57:059bd1333ba4 8 //#define V_MAX 65.0f //GR=6
shaorui 57:059bd1333ba4 9 #define V_MIN -45.0f
shaorui 57:059bd1333ba4 10 #define V_MAX 45.0f
shaorui 57:059bd1333ba4 11 /*shaorui modify matching to relative gear ration***/
benkatz 42:738fa01b0346 12 #define KP_MIN 0.0f
benkatz 42:738fa01b0346 13 #define KP_MAX 500.0f
benkatz 42:738fa01b0346 14 #define KD_MIN 0.0f
benkatz 42:738fa01b0346 15 #define KD_MAX 5.0f
benkatz 42:738fa01b0346 16 #define T_MIN -18.0f
benkatz 42:738fa01b0346 17 #define T_MAX 18.0f
benkatz 42:738fa01b0346 18
benkatz 42:738fa01b0346 19
benkatz 42:738fa01b0346 20 /// CAN Reply Packet Structure ///
benkatz 42:738fa01b0346 21 /// 16 bit position, between -4*pi and 4*pi
benkatz 42:738fa01b0346 22 /// 12 bit velocity, between -30 and + 30 rad/s
benkatz 42:738fa01b0346 23 /// 12 bit current, between -40 and 40;
benkatz 42:738fa01b0346 24 /// CAN Packet is 5 8-bit words
benkatz 42:738fa01b0346 25 /// Formatted as follows. For each quantity, bit 0 is LSB
benkatz 42:738fa01b0346 26 /// 0: [position[15-8]]
benkatz 42:738fa01b0346 27 /// 1: [position[7-0]]
benkatz 42:738fa01b0346 28 /// 2: [velocity[11-4]]
benkatz 42:738fa01b0346 29 /// 3: [velocity[3-0], current[11-8]]
benkatz 42:738fa01b0346 30 /// 4: [current[7-0]]
benkatz 42:738fa01b0346 31 void pack_reply(CANMessage *msg, float p, float v, float t){
benkatz 42:738fa01b0346 32 int p_int = float_to_uint(p, P_MIN, P_MAX, 16);
benkatz 42:738fa01b0346 33 int v_int = float_to_uint(v, V_MIN, V_MAX, 12);
benkatz 42:738fa01b0346 34 int t_int = float_to_uint(t, -T_MAX, T_MAX, 12);
benkatz 42:738fa01b0346 35 msg->data[0] = CAN_ID;
benkatz 42:738fa01b0346 36 msg->data[1] = p_int>>8;
benkatz 42:738fa01b0346 37 msg->data[2] = p_int&0xFF;
benkatz 42:738fa01b0346 38 msg->data[3] = v_int>>4;
benkatz 42:738fa01b0346 39 msg->data[4] = ((v_int&0xF)<<4) + (t_int>>8);
benkatz 42:738fa01b0346 40 msg->data[5] = t_int&0xFF;
benkatz 42:738fa01b0346 41 }
benkatz 42:738fa01b0346 42
benkatz 42:738fa01b0346 43 /// CAN Command Packet Structure ///
benkatz 42:738fa01b0346 44 /// 16 bit position command, between -4*pi and 4*pi
benkatz 42:738fa01b0346 45 /// 12 bit velocity command, between -30 and + 30 rad/s
benkatz 42:738fa01b0346 46 /// 12 bit kp, between 0 and 500 N-m/rad
benkatz 42:738fa01b0346 47 /// 12 bit kd, between 0 and 100 N-m*s/rad
benkatz 42:738fa01b0346 48 /// 12 bit feed forward torque, between -18 and 18 N-m
benkatz 42:738fa01b0346 49 /// CAN Packet is 8 8-bit words
benkatz 42:738fa01b0346 50 /// Formatted as follows. For each quantity, bit 0 is LSB
benkatz 42:738fa01b0346 51 /// 0: [position[15-8]]
benkatz 42:738fa01b0346 52 /// 1: [position[7-0]]
benkatz 42:738fa01b0346 53 /// 2: [velocity[11-4]]
benkatz 42:738fa01b0346 54 /// 3: [velocity[3-0], kp[11-8]]
benkatz 42:738fa01b0346 55 /// 4: [kp[7-0]]
benkatz 42:738fa01b0346 56 /// 5: [kd[11-4]]
benkatz 42:738fa01b0346 57 /// 6: [kd[3-0], torque[11-8]]
benkatz 42:738fa01b0346 58 /// 7: [torque[7-0]]
benkatz 42:738fa01b0346 59 void unpack_cmd(CANMessage msg, ControllerStruct * controller){
benkatz 42:738fa01b0346 60 int p_int = (msg.data[0]<<8)|msg.data[1];
benkatz 42:738fa01b0346 61 int v_int = (msg.data[2]<<4)|(msg.data[3]>>4);
benkatz 42:738fa01b0346 62 int kp_int = ((msg.data[3]&0xF)<<8)|msg.data[4];
benkatz 42:738fa01b0346 63 int kd_int = (msg.data[5]<<4)|(msg.data[6]>>4);
benkatz 42:738fa01b0346 64 int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];
benkatz 42:738fa01b0346 65
benkatz 42:738fa01b0346 66 controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16);
benkatz 42:738fa01b0346 67 controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12);
benkatz 42:738fa01b0346 68 controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);
benkatz 42:738fa01b0346 69 controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);
benkatz 42:738fa01b0346 70 controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
benkatz 42:738fa01b0346 71 //printf("Received ");
benkatz 42:738fa01b0346 72 //printf("%.3f %.3f %.3f %.3f %.3f %.3f", controller->p_des, controller->v_des, controller->kp, controller->kd, controller->t_ff, controller->i_q_ref);
benkatz 42:738fa01b0346 73 //printf("\n\r");
benkatz 42:738fa01b0346 74 }
benkatz 42:738fa01b0346 75