modified 0511
Dependencies: mbed-dev FastPWM3
Diff: CAN/CAN_com.cpp
- Revision:
- 62:d43fcdd2d48b
- Parent:
- 60:f009e39e913e
- Child:
- 65:cb3497b549e9
diff -r 29371056a3de -r d43fcdd2d48b CAN/CAN_com.cpp --- 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]);