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Merge pull request #19 from bobbycar-graz/fix-can-phaadvmax

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Fix data type of a_phaAdvMax in CAN protocol
This commit is contained in:
CommanderRedYT
2022-10-02 16:49:36 +02:00
committed by GitHub
parent bf1b2f34bd fea59a5004
commit cae4a46d18
1 changed files with 3 additions and 2 deletions
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5
main.cpp
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@ -24,6 +24,7 @@
#include <algorithm>
#include <atomic>
#include <bit>
#include <cstdint>
#include <cstring>
#include "stm32f1xx_hal.h"
@ -1650,8 +1651,8 @@ void applyIncomingCanMessage()
case MotorController<isBackBoard, true> ::Command::NMotMax: right.rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, false>::Command::FieldWeakMax: left .rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
case MotorController<isBackBoard, true> ::Command::FieldWeakMax: right.rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::PhaseAdvMax: left .rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, true> ::Command::PhaseAdvMax: right.rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, false>::Command::PhaseAdvMax: left .rtP.a_phaAdvMax = ((uint16_t)*((uint8_t*)buf)) << 4; break;
case MotorController<isBackBoard, true> ::Command::PhaseAdvMax: right.rtP.a_phaAdvMax = ((uint16_t)*((uint8_t*)buf)) << 4; break;
case MotorController<isBackBoard, false>::Command::CruiseCtrlEna: left .rtP.b_cruiseCtrlEna = *((bool*)buf); break;
case MotorController<isBackBoard, true> ::Command::CruiseCtrlEna: right.rtP.b_cruiseCtrlEna = *((bool*)buf); break;
case MotorController<isBackBoard, false>::Command::CruiseMotTgt: left .rtP.n_cruiseMotTgt = *((int16_T*)buf); break;