Add missing flags to heartbeat message

pluggee · Sep 23, 2021 · b92677d · b92677d
1 parent e0aaa04
commit b92677d
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Showing 2 changed files with 10 additions and 3 deletions.
diff --git a/tools/create_can_dbc.py b/tools/create_can_dbc.py
@@ -4,9 +4,13 @@
 
 # 0x001 - Heartbeat
 axisError = cantools.database.can.Signal("Axis_Error", 0, 32)
-axisState = cantools.database.can.Signal("Axis_State", 32, 32)
+axisState = cantools.database.can.Signal("Axis_State", 32, 8)
+motorFlags = cantools.database.can.Signal("Motor_Flags", 40, 8)
+encoderFlags = cantools.database.can.Signal("Encoder_Flags", 48, 8)
+controllerFlags = cantools.database.can.Signal("Controller_Flags", 56, 8)
+
 heartbeatMsg = cantools.database.can.Message(
-    0x001, "Heartbeat", 8, [axisError, axisState]
+    0x001, "Heartbeat", 8, [axisError, axisState, motorFlags, encoderFlags, controllerFlags]
 )
 
 # 0x002 - E-Stop Message

diff --git a/tools/odrive-cansimple.dbc b/tools/odrive-cansimple.dbc
@@ -37,7 +37,10 @@ BU_:
 
 
 BO_ 1 Heartbeat: 8 Vector__XXX
- SG_ Axis_State : 32|32@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Controller_Flags : 56|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Encoder_Flags : 48|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Motor_Flags : 40|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Axis_State : 32|8@1+ (1,0) [0|0] "" Vector__XXX
  SG_ Axis_Error : 0|32@1+ (1,0) [0|0] "" Vector__XXX
 
 BO_ 2 Estop: 0 Vector__XXX