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fixed current feedback bug in version 1

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zhoups
2021-08-25 16:36:30 +08:00
parent 95b89ef042
commit 7559ea0ce9
1 changed files with 1 additions and 1 deletions
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2
src/protocol_v1/agilex_msg_parser_v1.c
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@@ -79,7 +79,7 @@ bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessage *msg) {
rx_frame->can_id - CAN_MSG_ACTUATOR1_STATE_ID; rx_frame->can_id - CAN_MSG_ACTUATOR1_STATE_ID;
msg->body.v1_actuator_state_msg.current = msg->body.v1_actuator_state_msg.current =
((((uint16_t)rx_frame->data[0]) << 8) | (uint16_t)rx_frame->data[1]) / ((((uint16_t)rx_frame->data[0]) << 8) | (uint16_t)rx_frame->data[1]) /
0.1f; 10.0f;
msg->body.v1_actuator_state_msg.rpm = (int16_t)(( msg->body.v1_actuator_state_msg.rpm = (int16_t)((
(((uint16_t)rx_frame->data[2]) << 8) | (uint16_t)rx_frame->data[3])); (((uint16_t)rx_frame->data[2]) << 8) | (uint16_t)rx_frame->data[3]));
msg->body.v1_actuator_state_msg.driver_temp = rx_frame->data[4]; msg->body.v1_actuator_state_msg.driver_temp = rx_frame->data[4];