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End Effector New Firmware: File + Folder setup, function stubs and SPI connection #21

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End Effector New Firmware: File + Folder setup, function stubs and SPI connection #21

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1 change: 1 addition & 0 deletions arduino_firmware/end_effector/CAN_FD_bridge.cpp
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#include <CAN_FD_bridge.h>
10 changes: 10 additions & 0 deletions arduino_firmware/end_effector/CAN_FD_bridge.h
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#ifndef CAN_FD_BRIDGE_H
#define CAN_FD_BRIDGE_H

// Reconstructs CAN FD frame from an SPI message
void SPI_to_CAN_FD();

// Sends a CAN FD frame via an SPI message
void CAN_FD_to_SPI();

#endif CAN_FD_BRIDGE_H
16 changes: 16 additions & 0 deletions arduino_firmware/end_effector/end_effector_actions.cpp
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#include <end_effector_actions.h>

// Interprets an SPI message and sends the corresponding action to the appropriate sensor
void handle_SPI_msg(uint8_t spi_peripheral_rx_buf[BUF_SIZE]) {
return void;
}

// Interprets a CAN FD message and sends the corresponding action over SPI if permissible
void handle_CAN_FD_message(uint8_t spi_controller_tx_buf[BUF_SIZE]) {
return void;
}

// Retrieves data from a requested sensor and sends it over SPI
void send_data_update_SPI_msg(uint8_t spi_peripheral_rx_buf[BUF_SIZE], uint8_t spi_peripheral_tx_buf[BUF_SIZE]) {
return void;
}
21 changes: 21 additions & 0 deletions arduino_firmware/end_effector/end_effector_actions.h
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#ifndef END_EFFECTOR_ACTIONS_H
#define END_EFFECTOR_ACTIONS_H

#include <end_effector_base.h>

/* SPI message struct
- destination sensor
- sensor request
- sensor value
*/

// Interprets an SPI message and sends the corresponding action to the appropriate sensor or as a message over CAN FD if permissible
void handle_SPI_msg(uint8_t spi_peripheral_rx_buf[BUF_SIZE]);

// Interprets a CAN FD message and sends the corresponding action over SPI if permissible
void handle_CAN_FD_message(uint8_t spi_controller_tx_buf[BUF_SIZE]);

// Retrieves data from a requested sensor and sends it over SPI
void send_data_update_SPI_msg(uint8_t spi_peripheral_rx_buf[BUF_SIZE], uint8_t spi_peripheral_tx_buf[BUF_SIZE]);

#endif END_EFFECTOR_ACTIONS_H
7 changes: 7 additions & 0 deletions arduino_firmware/end_effector/end_effector_base.h
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#ifndef END_EFFECTOR_BASE_H
#define END_EFFECTOR_BASE_H

// Standard data buffer size = 32 Bytes
static const uint16_t BUF_SIZE = 32;

#endif END_EFFECTOR_BASE_H
62 changes: 62 additions & 0 deletions arduino_firmware/end_effector/end_effector_big_gripper.ino
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#include <end_effector_base.h>
#include <ESP32SPISlave.h>

// This ESP is the peripheral, the bridge ESP is the controller
ESP32SPISlave peripheral;

// Sending data buffer
uint8_t spi_peripheral_tx_buf[BUF_SIZE] = {0};

// Receiving data buffer
uint8_t spi_peripheral_rx_buf[BUF_SIZE] = {0};

void setup() {

Serial.begin(115200);

// Pin assignments can be customized
// Default pins are: VSPI (MISO=19, MOSI=23, SCLK=18, SS=5)
peripheral.begin(); // Uses default VSPI pins

// Set up buffers
peripheral.set_buffers(spi_peripheral_tx_buf, spi_peripheral_rx_buf, BUF_SIZE);

Serial.println("Big Gripper: SPI Peripheral Initialized");

}

void loop() {

// While no message has been recieved from the controller
while (!peripheral.wait(portMAX_DELAY)) {
;
}

// Once a message has been received from the controller
// Get the message size
size_t msg_size = peripheral.get_received_trans_len();

// Print the number of bytes received
Serial.print("Big Gripper: Received ");
Serial.print(msg_size);
Serial.print(" bytes: ");

// Print the msg
for (uint16_t i = 0; i < msg_size; i++) {
Serial.print(spi_peripheral_rx_buf[i], HEX);
// Clear the buffer
spi_peripheral_rx_buf[i] = 0;
}
Serial.println();

// Interpret the message and perform appropriate action
handle_SPI_msg(spi_peripheral_rx_buf);

// Get updated sensor values and send to the bridge module
// The controller will only pick this message up on the next message that it delivers
send_data_update_SPI_msg(spi_peripheral_rx_buf, spi_peripheral_tx_buf);

// Clear message status
peripheral.pop();

}
67 changes: 67 additions & 0 deletions arduino_firmware/end_effector/end_effector_bridge.ino
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#include <CAN_FD_bridge.h>
#include <SPI.h>
#include <end_effector_base.h>

// Defines pin that peripheral ESP is connected to
#define SS_PIN 6

// Sending data buffer
uint8_t spi_controller_tx_buf[BUF_SIZE] = {0};

// Receiving data buffer
uint8_t spi_controller_rx_buf[BUF_SIZE] = {0};

void setup() {

Serial.begin(115200);

// Initialize SPI bus
SPI.begin();

// Set peripheral SS pin as inactive output (active-low)
pinMode(SS_PIN, OUTPUT);
digitalWrite(SS_PIN, HIGH);


Serial.println("Bridge ESP: SPI Controller Initialized");

}

void loop() {

// Translate CAN FD frame to SPI frame to send
handle_CAN_FD_message(spi_controller_tx_buf);

// Activate peripheral ESP connection for writing
digitalWrite(SS_PIN, LOW);

// Settings: 1MHz, Most significant bit first, data mode
SPI.beginTransaction(SPISettings(1000000, MSBFIRST, SPI_MODE0));

// Send all 32 bytes from buffer to the peripheral
for (int i = 0; i < BUF_SIZE; i++) {
// This sends a byte and receives a byte at the same time
spi_controller_rx_buf[i] = SPI.transfer(spi_controller_tx_buf[i]);
}

// Stop transmission
SPI.endTransaction();

// Deactivate peripheral connection
digitalWrite(SS_PIN, HIGH);

// Forward response message from peripheral onto CAN FD connection to Jetson
handle_SPI_msg(spi_controller_rx_buf);

// Print data received from peripheral
Serial.print("Bridge ESP: Received bytes: ");
for (int i = 0; i < BUF_SIZE; i++) {
Serial.print(spi_controller_rx_buf[i], HEX);
Serial.print(" ");
}
Serial.println();

// Delay before writing to peripheral again
delay(1000);

}
62 changes: 62 additions & 0 deletions arduino_firmware/end_effector/end_effector_core_xy.ino
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#include <end_effector_base.h>
#include <ESP32SPISlave.h>

// This ESP is the peripheral, the bridge ESP is the controller
ESP32SPISlave peripheral;

// Sending data buffer
uint8_t spi_peripheral_tx_buf[BUF_SIZE] = {0};

// Receiving data buffer
uint8_t spi_peripheral_rx_buf[BUF_SIZE] = {0};

void setup() {

Serial.begin(115200);

// Pin assignments can be customized
// Default pins are: VSPI (MISO=19, MOSI=23, SCLK=18, SS=5)
peripheral.begin(); // Uses default VSPI pins

// Set up buffers
peripheral.set_buffers(spi_peripheral_tx_buf, spi_peripheral_rx_buf, BUF_SIZE);

Serial.println("Core X-Y: SPI Peripheral Initialized");

}

void loop() {

// While no message has been recieved from the controller
while (!peripheral.wait(portMAX_DELAY)) {
;
}

// Once a message has been received from the controller
// Get the message size
size_t msg_size = peripheral.get_received_trans_len();

// Print the number of bytes received
Serial.print("Core X-Y: Received ");
Serial.print(msg_size);
Serial.print(" bytes: ");

// Print the msg
for (uint16_t i = 0; i < msg_size; i++) {
Serial.print(spi_peripheral_rx_buf[i], HEX);
// Clear the buffer
spi_peripheral_rx_buf[i] = 0;
}
Serial.println();

// Interpret the message and perform appropriate action
handle_SPI_msg(spi_peripheral_rx_buf);

// Get updated sensor values and send to the bridge module
// The controller will only pick this message up on the next message that it delivers
send_data_update_SPI_msg(spi_peripheral_rx_buf, spi_peripheral_tx_buf);

// Clear message status
peripheral.pop();

}
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