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updated can id for hunter

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This commit is contained in:
Ruixiang Du
2020-11-06 10:58:32 +08:00
parent a08f32f601
commit 65c1002798
1 changed files with 17 additions and 13 deletions
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30
ugv_sdk/include/ugv_sdk/proto/agx_protocol_v2.h
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@@ -27,6 +27,7 @@ extern "C" {
#define CAN_MSG_MOTION_COMMAND_ID ((uint32_t)0x111) #define CAN_MSG_MOTION_COMMAND_ID ((uint32_t)0x111)
#define CAN_MSG_LIGHT_COMMAND_ID ((uint32_t)0x121) #define CAN_MSG_LIGHT_COMMAND_ID ((uint32_t)0x121)
#define CAN_MSG_PARK_COMMAND_ID ((uint32_t)0x131)
#define CAN_MSG_SYSTEM_STATE_ID ((uint32_t)0x211) #define CAN_MSG_SYSTEM_STATE_ID ((uint32_t)0x211)
#define CAN_MSG_MOTION_STATE_ID ((uint32_t)0x221) #define CAN_MSG_MOTION_STATE_ID ((uint32_t)0x221)
@@ -49,11 +50,13 @@ extern "C" {
#define CAN_MSG_PLATFORM_VERSION_ID ((uint32_t)0x41a) #define CAN_MSG_PLATFORM_VERSION_ID ((uint32_t)0x41a)
#define CAN_MSG_CTRL_MODE_SELECT_ID ((uint32_t)0x421) #define CAN_MSG_CTRL_MODE_SELECT_ID ((uint32_t)0x421)
#define CAN_MSG_STEER_NEUTRAL_RESET_ID ((uint32_t)0x431)
#define CAN_MSG_STEER_NEUTRAL_RESET_ACK_ID ((uint32_t)0x43a)
#define CAN_MSG_STATE_RESET_ID ((uint32_t)0x441) #define CAN_MSG_STATE_RESET_ID ((uint32_t)0x441)
/*--------------------- Control/State Constants ------------------------*/ /*--------------------- Control/State Constants ------------------------*/
// System State // Control
#define VEHICLE_STATE_NORMAL ((uint8_t)0x00) #define VEHICLE_STATE_NORMAL ((uint8_t)0x00)
#define VEHICLE_STATE_ESTOP ((uint8_t)0x01) #define VEHICLE_STATE_ESTOP ((uint8_t)0x01)
#define VEHICLE_STATE_EXCEPTION ((uint8_t)0x02) #define VEHICLE_STATE_EXCEPTION ((uint8_t)0x02)
@@ -68,23 +71,13 @@ extern "C" {
#define FAULT_CLR_MOTOR3_COMM ((uint8_t)0x03) #define FAULT_CLR_MOTOR3_COMM ((uint8_t)0x03)
#define FAULT_CLR_MOTOR4_COMM ((uint8_t)0x04) #define FAULT_CLR_MOTOR4_COMM ((uint8_t)0x04)
#define QUERY_PLATFORM_VERSION_REQUEST ((uint8_t)0x01)
// Motion Control
#define CTRL_MODE_RC ((uint8_t)0x00) #define CTRL_MODE_RC ((uint8_t)0x00)
#define CTRL_MODE_CMD_CAN ((uint8_t)0x01) #define CTRL_MODE_CMD_CAN ((uint8_t)0x01)
#define CTRL_MODE_CMD_UART ((uint8_t)0x02) #define CTRL_MODE_CMD_UART ((uint8_t)0x02)
// Light Control #define QUERY_PLATFORM_VERSION_REQUEST ((uint8_t)0x01)
#define LIGHT_CTRL_DISABLE ((uint8_t)0x00)
#define LIGHT_CTRL_ENABLE ((uint8_t)0x01)
#define LIGHT_MODE_CONST_OFF ((uint8_t)0x00) // Actuator
#define LIGHT_MODE_CONST_ON ((uint8_t)0x01)
#define LIGHT_MODE_BREATH ((uint8_t)0x02)
#define LIGHT_MODE_CUSTOM ((uint8_t)0x03)
// Actuator State
#define BATTERY_VOLTAGE_LOW ((uint8_t)0x01) #define BATTERY_VOLTAGE_LOW ((uint8_t)0x01)
#define MOTOR_OVERHEAT ((uint8_t)0x02) #define MOTOR_OVERHEAT ((uint8_t)0x02)
#define MOTOR_DRIVER_OVERLOAD ((uint8_t)0x04) #define MOTOR_DRIVER_OVERLOAD ((uint8_t)0x04)
@@ -94,6 +87,17 @@ extern "C" {
#define MOTOR_DRIVER_ENABLED ((uint8_t)0x40) #define MOTOR_DRIVER_ENABLED ((uint8_t)0x40)
#define MOTOR_DRIVER_RESERVED0 ((uint8_t)0x80) #define MOTOR_DRIVER_RESERVED0 ((uint8_t)0x80)
#define STEER_NEUTRAL_RESET_ACK ((uint8_t)0xee)
// Light
#define LIGHT_CTRL_DISABLE ((uint8_t)0x00)
#define LIGHT_CTRL_ENABLE ((uint8_t)0x01)
#define LIGHT_MODE_CONST_OFF ((uint8_t)0x00)
#define LIGHT_MODE_CONST_ON ((uint8_t)0x01)
#define LIGHT_MODE_BREATH ((uint8_t)0x02)
#define LIGHT_MODE_CUSTOM ((uint8_t)0x03)
/*-------------------- Control/Feedback Messages -----------------------*/ /*-------------------- Control/Feedback Messages -----------------------*/
/* No padding in the struct */ /* No padding in the struct */