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add some ranger protocol definition

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wangzheqie
2021-04-21 10:23:02 +08:00
parent 51c4357134
commit 158f62a7f4
3 changed files with 17 additions and 5 deletions
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8
src/agx_msg_parser.c
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@@ -77,19 +77,19 @@ bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg) {
case CAN_MSG_MOTION_STATE_ID: {
msg->type = AgxMsgMotionState;
MotionStateFrame *frame = (MotionStateFrame *)(rx_frame->data);
msg->body.motion_command_msg.linear_velocity =
msg->body.motion_state_msg.linear_velocity =
(int16_t)((uint16_t)(frame->linear_velocity.low_byte) |
(uint16_t)(frame->linear_velocity.high_byte) << 8) /
1000.0;
msg->body.motion_command_msg.angular_velocity =
msg->body.motion_state_msg.angular_velocity =
(int16_t)((uint16_t)(frame->angular_velocity.low_byte) |
(uint16_t)(frame->angular_velocity.high_byte) << 8) /
1000.0;
msg->body.motion_command_msg.lateral_velocity =
msg->body.motion_state_msg.lateral_velocity =
(int16_t)((uint16_t)(frame->lateral_velocity.low_byte) |
(uint16_t)(frame->lateral_velocity.high_byte) << 8) /
1000.0;
msg->body.motion_command_msg.steering_angle =
msg->body.motion_state_msg.steering_angle =
(int16_t)((uint16_t)(frame->steering_angle.low_byte) |
(uint16_t)(frame->steering_angle.high_byte) << 8) /
1000.0;