From b7c830821e75bcbac3d80de71c8af1daffb48330 Mon Sep 17 00:00:00 2001 From: Du Ruixiang <50311081+rdu-weston@users.noreply.github.com> Date: Fri, 19 Apr 2024 10:12:59 +0800 Subject: [PATCH] Revert "Negative motor currents are not correctly converted, overflow to 65535" --- src/protocol_v1/agilex_msg_parser_v1.c | 5 +++-- src/protocol_v2/agilex_msg_parser_v2.c | 5 +++-- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/src/protocol_v1/agilex_msg_parser_v1.c b/src/protocol_v1/agilex_msg_parser_v1.c index bcf59561..c5fed8da 100644 --- a/src/protocol_v1/agilex_msg_parser_v1.c +++ b/src/protocol_v1/agilex_msg_parser_v1.c @@ -78,8 +78,9 @@ bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessage *msg) { msg->type = AgxMsgActuatorStateV1; msg->body.v1_actuator_state_msg.motor_id = rx_frame->can_id - CAN_MSG_ACTUATOR1_STATE_ID; - msg->body.v1_actuator_state_msg.current = (int16_t)(( - ((uint16_t)rx_frame->data[0]) << 8) | (uint16_t)rx_frame->data[1]) * 0.1; + msg->body.v1_actuator_state_msg.current = + ((((uint16_t)rx_frame->data[0]) << 8) | (uint16_t)rx_frame->data[1]) / + 10.0f; msg->body.v1_actuator_state_msg.rpm = (int16_t)(( (((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]; diff --git a/src/protocol_v2/agilex_msg_parser_v2.c b/src/protocol_v2/agilex_msg_parser_v2.c index 13ec1654..a9ae451d 100644 --- a/src/protocol_v2/agilex_msg_parser_v2.c +++ b/src/protocol_v2/agilex_msg_parser_v2.c @@ -158,8 +158,9 @@ bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) { (int16_t)((uint16_t)(frame->rpm.low_byte) | (uint16_t)(frame->rpm.high_byte) << 8); msg->body.actuator_hs_state_msg.current = - (int16_t)((uint16_t)(frame->current.low_byte) | - (uint16_t)(frame->current.high_byte) << 8) * 0.1; + ((uint16_t)(frame->current.low_byte) | + (uint16_t)(frame->current.high_byte) << 8) * + 0.1; msg->body.actuator_hs_state_msg.pulse_count = (int32_t)((uint32_t)(frame->pulse_count.lsb) | (uint32_t)(frame->pulse_count.low_byte) << 8 |