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add some ranger protocol definition

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wangzheqie
2021-04-21 10:23:02 +08:00
committed by Du Ruixiang
parent 393bbb547a
commit 6304e93ac8
3 changed files with 17 additions and 5 deletions
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12
src/agx_protocol_v2.h
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@@ -53,11 +53,23 @@ extern "C" {
#define CAN_MSG_ACTUATOR2_HS_STATE_ID ((uint32_t)0x252)
#define CAN_MSG_ACTUATOR3_HS_STATE_ID ((uint32_t)0x253)
#define CAN_MSG_ACTUATOR4_HS_STATE_ID ((uint32_t)0x254)
#define CAN_MSG_ACTUATOR5_HS_STATE_ID ((uint32_t)0x255)
#define CAN_MSG_ACTUATOR6_HS_STATE_ID ((uint32_t)0x256)
#define CAN_MSG_ACTUATOR7_HS_STATE_ID ((uint32_t)0x257)
#define CAN_MSG_ACTUATOR8_HS_STATE_ID ((uint32_t)0x258)
#define CAN_MSG_ACTUATOR1_LS_STATE_ID ((uint32_t)0x261)
#define CAN_MSG_ACTUATOR2_LS_STATE_ID ((uint32_t)0x262)
#define CAN_MSG_ACTUATOR3_LS_STATE_ID ((uint32_t)0x263)
#define CAN_MSG_ACTUATOR4_LS_STATE_ID ((uint32_t)0x264)
#define CAN_MSG_ACTUATOR5_LS_STATE_ID ((uint32_t)0x265)
#define CAN_MSG_ACTUATOR6_LS_STATE_ID ((uint32_t)0x266)
#define CAN_MSG_ACTUATOR7_LS_STATE_ID ((uint32_t)0x267)
#define CAN_MSG_ACTUATOR8_LS_STATE_ID ((uint32_t)0x268)
#define CAN_MSG_MOTOR_ANGLE_INFO ((uint32_t)0x271)
#define CAN_MSG_MOTOR_SPEED_INFO ((uint32_t)0x281)
#define CAN_MSG_CURRENT_CTRL_MODE ((uint32_t)0x291)
// sensor data group: 0x3
#define CAN_MSG_ODOMETRY_ID ((uint32_t)0x311)