Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-08-18 01:18:52 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Can heartbeat flags (#711)

Browse Source 
* Update heartbeat flags

Update heartbeat message to set/send motor, encoder and controller flags if there are errors

* Update Firmware/communication/can/can_simple.cpp

Co-authored-by: Paul Guenette <Wetmelon@users.noreply.github.com>

* Update Firmware/communication/can/can_simple.cpp

Co-authored-by: Paul Guenette <Wetmelon@users.noreply.github.com>

* Update Firmware/communication/can/can_simple.cpp

Co-authored-by: Paul Guenette <Wetmelon@users.noreply.github.com>

Co-authored-by: Paul Guenette <Wetmelon@users.noreply.github.com>
This commit is contained in:
Diablo
2022-09-21 19:49:55 -07:00
committed by GitHub
co-authored by Paul Guenette
parent 989307b75f
commit e9d1b3310a
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/communication/can/can_simple.cpp
+3 -3
View File
@@ -436,13 +436,13 @@ bool CANSimple::send_heartbeat(const Axis& axis) {
can_setSignal(txmsg, uint8_t(axis.current_state_), 32, 8, true);
// Motor flags
uint8_t motorFlags = 0; // reserved
uint8_t motorFlags = axis.motor_.error_ != 0;
// Encoder flags
uint8_t encoderFlags = 0; // reserved
uint8_t encoderFlags = axis.encoder_.error_ != 0;
// Controller flags
uint8_t controllerFlags = 0;
uint8_t controllerFlags =axis.controller_.error_ != 0;
uint8_t trajDone = uint8_t(axis.controller_.trajectory_done_) << 7;
controllerFlags |= trajDone;