lyq/sweeper_whu
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix : 行走控制器CAN报文ID

Browse Source
This commit is contained in:
Alvin-lyq 2025-09-09 11:08:58 +08:00
parent 3d731f4470
commit 1c3c817bcd
2 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/mc/include/mc/can_struct.h
View File

@ -64,7 +64,7 @@ struct can_MCU_cmd
can_MCU_cmd_union data;
// 根据报文信息ID (0x0CF1011E，其中011E的01改为设备ID)
static constexpr uint32_t CMD_ID = 0x0CF1011E;
static constexpr uint32_t CMD_ID = 0x0CF1051E;
static constexpr bool EXT_FLAG = true;
static constexpr bool RTR_FLAG = false;

4
src/mqtt_report/src/mqtt_report.cpp
View File

@ -54,7 +54,7 @@ void Msg_Handler(const sweeperMsg::CanFrame::SharedPtr msg)
}
// MCU_Status_1 和 MCU_Fault（基础ID：0x0CF11E00，叠加设备ID）
case 0x0CF11E00:
case 0x0CF11E05:
{
// 解析电机实际转速（data[0]：低字节，data[1]：高字节）
uint16_t raw_speed = (static_cast<uint16_t>(msg->data[1]) << 8) | msg->data[0];
@ -93,7 +93,7 @@ void Msg_Handler(const sweeperMsg::CanFrame::SharedPtr msg)
}
// MCU_Status_2（基础ID：0x0CF11F00，叠加设备ID）
case 0x0CF11F00:
case 0x0CF11F05:
{
// 解析控制器温度（data[2]，偏移量40℃，1℃/bit）
int raw_ctrl_temp = static_cast<int>(msg->data[2]);