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Can heartbeat flags #711

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Merged
Wetmelon merged 4 commits into from
Sep 22, 2022
Merged

Can heartbeat flags #711

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afe20e0
Update heartbeat flags
Malaphor Sep 6, 2022
e53e44e
Update Firmware/communication/can/can_simple.cpp
Malaphor Sep 22, 2022
d71b929
Update Firmware/communication/can/can_simple.cpp
Malaphor Sep 22, 2022
40d206e
Update Firmware/communication/can/can_simple.cpp
Malaphor Sep 22, 2022
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6 changes: 3 additions & 3 deletions Firmware/communication/can/can_simple.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -435,13 +435,13 @@ bool CANSimple::send_heartbeat(const Axis& axis) {
can_setSignal(txmsg, uint8_t(axis.current_state_), 32, 8, true);

// Motor flags
uint8_t motorFlags = 0; // reserved
uint8_t motorFlags = axis.motor_.error_ != 0;

// Encoder flags
uint8_t encoderFlags = 0; // reserved
uint8_t encoderFlags = axis.encoder_.error_ != 0;

// Controller flags
uint8_t controllerFlags = 0;
uint8_t controllerFlags =axis.controller_.error_ != 0;
uint8_t trajDone = uint8_t(axis.controller_.trajectory_done_) << 7;
controllerFlags |= trajDone;

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