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Fix cansimple for 64 bit motor error

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PAJohnson
2021-05-25 20:19:31 -04:00
parent 92e704ad7d
commit 640c411cd3
2 changed files with 2 additions and 2 deletions
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Firmware/communication/can/can_simple.cpp
+1 -1
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@@ -161,7 +161,7 @@ bool CANSimple::get_motor_error_callback(const Axis& axis) {
txmsg.isExt = axis.config_.can.is_extended;
txmsg.len = 8;
can_setSignal(txmsg, axis.motor_.error_, 0, 32, true);
can_setSignal(txmsg, axis.motor_.error_, 0, 64, true);
return canbus_->send_message(txmsg);
}
docs/can-protocol.md
+1 -1
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@@ -38,7 +38,7 @@ CMD ID | Name | Sender | Signals | Start byte | Signal Type | Bits | Factor | Of
0x000 | CANOpen NMT Message\*\* | Master | - | - | - | - | - | - | -
0x001 | ODrive Heartbeat Message | Axis | Axis Error<br>Axis Current State | 0<br>4 | Unsigned Int<br>Unsigned Int | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel
0x002 | ODrive Estop Message | Master | - | - | - | - | - | - | -
0x003 | Get Motor Error\* | Axis | Motor Error | 0 | Unsigned Int | 32 | 1 | 0 | Intel
0x003 | Get Motor Error\* | Axis | Motor Error | 0 | Unsigned Int | 64 | 1 | 0 | Intel
0x004 | Get Encoder Error\* | Axis | Encoder Error | 0 | Unsigned Int | 32 | 1 | 0 | Intel
0x005 | Get Sensorless Error\* | Axis | Sensorless Error | 0 | Unsigned Int | 32 | 1 | 0 | Intel
0x006 | Set Axis Node ID | Master | Axis CAN Node ID | 0 | Unsigned Int | 32 | 1 | 0 | Intel