modified 0511
Dependencies: mbed-dev FastPWM3
Diff: CAN/CAN_com.cpp
- Revision:
- 65:cb3497b549e9
- Parent:
- 62:d43fcdd2d48b
diff -r fd695fb9865b -r cb3497b549e9 CAN/CAN_com.cpp --- 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;