Diff: CAN/CAN_com.cpp

Revision:

62:d43fcdd2d48b

Parent:

60:f009e39e913e

Child:

65:cb3497b549e9

--- a/CAN/CAN_com.cpp	Wed Mar 02 10:01:40 2022 +0000
+++ b/CAN/CAN_com.cpp	Mon Mar 07 01:39:20 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 hall_input){
+void pack_reply(CANMessage *msg, float p, float v, float t, int version, int calibrate_finish, int state){
     /*
     // ----- origin -----(p,v,t)
     int p_int = float_to_uint(p, P_MIN, P_MAX, 16);
@@ -52,8 +52,8 @@
     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] = version;
-    msg->data[7] = hall_input;
+    msg->data[6] = (version<<4) + (calibrate_finish&0xF);
+    msg->data[7] = state;
     
     //printf("%x\n\r",msg->data[6]);