Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-08-18 09:29:03 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

added trajectory_done flag to heartbeat

Browse Source
This commit is contained in:
Jascha Wilcox
2021-07-29 09:20:44 -07:00
parent 2c18fbaef4
commit 28293fd87a
1 changed files with 20 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/communication/can/can_simple.cpp
+20 -2
View File
@@ -307,7 +307,7 @@ bool CANSimple::get_iq_callback(const Axis& axis) {
if (!Idq_setpoint.has_value()) {
Idq_setpoint = {0.0f, 0.0f};
}
static_assert(sizeof(float) == sizeof(Idq_setpoint->first));
static_assert(sizeof(float) == sizeof(Idq_setpoint->second));
can_setSignal<float>(txmsg, Idq_setpoint->first, 0, 32, true);
@@ -383,7 +383,25 @@ bool CANSimple::send_heartbeat(const Axis& axis) {
txmsg.len = 8;
can_setSignal(txmsg, axis.error_, 0, 32, true);
can_setSignal(txmsg, axis.current_state_, 32, 32, true);
can_setSignal(txmsg, uint8_t(axis.current_state_), 32, 8, true);
// Motor flags
// bit 0 = pre_calibrated
uint8_t motorFlags = 0;
// Encoder flags
uint8_t encoderFlags = 0;
// Controller flags
// bit 7 = traj_done flag
uint8_t controllerFlags = 0;
uint8_t trajDone = uint8_t(axis.controller_.trajectory_done_) << 7;
controllerFlags |= trajDone;
can_setSignal(txmsg, motorFlags, 40, 8, true);
can_setSignal(txmsg, encoderFlags, 48, 8, true);
can_setSignal(txmsg, controllerFlags, 56, 8, true);
// can_setSignal(txmsg, axis.current_state_, 32, 32, true);
return canbus_->send_message(txmsg);
}