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fixed hunter demo print issue

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This commit is contained in:
Ruixiang Du
2021-07-19 09:40:57 +08:00
parent 8f134c8822
commit 90d34480be
5 changed files with 33029 additions and 21 deletions
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19
src/utilities/protocol_detector.cpp
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@@ -43,13 +43,18 @@ ProtocolVersion ProtocolDectctor::DetectProtocolVersion(uint32_t timeout_sec) {
};
void ProtocolDectctor::ParseCANFrame(can_frame *rx_frame) {
// state feedback frame with id 0x151 is unique to V1 protocol
if (rx_frame->can_id == 0x151) {
msg_v1_detected_ = true;
}
// rc state frame with id 0x241 is unique to V2 protocol
else if (rx_frame->can_id == 0x241) {
msg_v2_detected_ = true;
switch (rx_frame->can_id) {
// state feedback frame with id 0x151 is unique to V1 protocol
case 0x151: {
msg_v1_detected_ = true;
break;
}
// rc state frame with id 0x241 is unique to V2 protocol
case 0x221:
case 0x241: {
msg_v2_detected_ = true;
break;
}
}
}
} // namespace westonrobot