Diff: CAN/CAN_com.cpp

Revision:

65:cb3497b549e9

Parent:

62:d43fcdd2d48b

--- a/CAN/CAN_com.cpp	Tue Mar 22 15:02:43 2022 +0000
+++ b/CAN/CAN_com.cpp	Fri Aug 19 07:46:05 2022 +0000
@@ -26,7 +26,7 @@
 /// 2: [velocity[11-4]]
 /// 3: [velocity[3-0], current[11-8]]
 /// 4: [current[7-0]]
-void pack_reply(CANMessage *msg, float p, float v, float t, int version, int calibrate_finish, int state){
+void pack_reply(CANMessage *msg, float p, float v, float t, int version, int calibrate_finish, int state, float iq_ref){
     /*
     // ----- origin -----(p,v,t)
     int p_int = float_to_uint(p, P_MIN, P_MAX, 16);
@@ -45,6 +45,7 @@
     int p_int = float_to_uint(p, P_REPLY_MIN, P_REPLY_MAX, 16);
     int v_int = float_to_uint(v, V_MIN, V_MAX, 12);
     int t_int = float_to_uint(t, T_MIN, T_MAX, 12);
+    int iqref_int = float_to_uint(iq_ref, T_MIN, T_MAX, 12);
     
     msg->data[0] = CAN_ID;
     msg->data[1] = p_int>>8;
@@ -52,6 +53,9 @@
     msg->data[3] = v_int>>4;
     msg->data[4] = ((v_int&0xF)<<4) + (t_int>>8);
     msg->data[5] = t_int&0xFF;
+//    msg->data[6] = iqref_int >> 4;
+//    msg->data[7] = ((iqref_int&0xF)<<4) + version;
+    
     msg->data[6] = (version<<4) + (calibrate_finish&0xF);
     msg->data[7] = state;