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Add missing flags to heartbeat message

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This commit is contained in:
Paul Guenette
2021-09-23 00:16:15 -04:00
parent e0aaa04bdf
commit b92677db32
2 changed files with 10 additions and 3 deletions
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tools/create_can_dbc.py
+6 -2
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@@ -4,9 +4,13 @@ import cantools
# 0x001 - Heartbeat
axisError = cantools.database.can.Signal("Axis_Error", 0, 32)
axisState = cantools.database.can.Signal("Axis_State", 32, 32)
axisState = cantools.database.can.Signal("Axis_State", 32, 8)
motorFlags = cantools.database.can.Signal("Motor_Flags", 40, 8)
encoderFlags = cantools.database.can.Signal("Encoder_Flags", 48, 8)
controllerFlags = cantools.database.can.Signal("Controller_Flags", 56, 8)
heartbeatMsg = cantools.database.can.Message(
0x001, "Heartbeat", 8, [axisError, axisState]
0x001, "Heartbeat", 8, [axisError, axisState, motorFlags, encoderFlags, controllerFlags]
)
# 0x002 - E-Stop Message
tools/odrive-cansimple.dbc
+4 -1
View File
@@ -37,7 +37,10 @@ BU_:
BO_ 1 Heartbeat: 8 Vector__XXX
SG_ Axis_State : 32|32@1+ (1,0) [0|0] "" Vector__XXX
SG_ Controller_Flags : 56|8@1+ (1,0) [0|0] "" Vector__XXX
SG_ Encoder_Flags : 48|8@1+ (1,0) [0|0] "" Vector__XXX
SG_ Motor_Flags : 40|8@1+ (1,0) [0|0] "" Vector__XXX
SG_ Axis_State : 32|8@1+ (1,0) [0|0] "" Vector__XXX
SG_ Axis_Error : 0|32@1+ (1,0) [0|0] "" Vector__XXX
BO_ 2 Estop: 0 Vector__XXX