Implement can api#46
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main loop now uses can api to send joint data, timestamp also included in the frames for imu data.
…the main loop in general.
JuanR-Git
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Apr 5, 2026
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JuanR-Git
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Skimmed through and noticed a few things that need to be fixed:
- The api folder should not be moved into the joint-controller project and instead the specific header files needed should go into the Inc folder of the project and the .c files needed should go into the Src folder.
- Additionally, just to avoid merge conflicts I am going to push the multi-mcu-canbus. Please follow the ID notation we have set there.
Multi MCU Canbus
main loop now uses can api to send joint data, timestamp also included in the frames for imu data.
…troller branch Merge motor test branch into main IMU node firmware. The STM32 now handles full joint controller responsibilities: streaming IMU data to the Pi over CAN while receiving and executing torque commands from the Pi to the AK70-9 motor driver.
…eleton/exoskeleton-embedded into implement-can-api
Add missing CAN IRQ handlers, restore FIFO0/FIFO1 receive callbacks, tighten CAN filters for Pi commands and motor feedback, and improve CAN TX safety for IMU streaming and torque commands.
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Joint controller for CAN api: Replaced the IMU node placeholder in main.c with the actual motor control loop.
Should be more efficient and I took out the placeholder code which was there for a while