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AP_ToshibaCAN: Using the maximum number of ESCs definition

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AP_ToshibaCAN: Using the maximum number of ESCs definition
This commit is contained in:
murata 2020-04-19 07:06:24 +09:00 committed by Randy Mackay
parent 0e6ae6c5b4
commit bd688ef412
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp
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@ -302,7 +302,7 @@ void AP_ToshibaCAN::loop()
uavcan::CanFrame recv_frame;
while (read_frame(recv_frame, timeout)) {
// decode rpm and voltage data
if ((recv_frame.id >= MOTOR_DATA1) && (recv_frame.id <= MOTOR_DATA1 + 12)) {
if ((recv_frame.id >= MOTOR_DATA1) && (recv_frame.id <= MOTOR_DATA1 + TOSHIBACAN_MAX_NUM_ESCS)) {
// copy contents to our structure
motor_reply_data1_t reply_data;
memcpy(reply_data.data, recv_frame.data, sizeof(reply_data.data));
@ -328,7 +328,7 @@ void AP_ToshibaCAN::loop()
}
// decode temperature data
if ((recv_frame.id >= MOTOR_DATA2) && (recv_frame.id <= MOTOR_DATA2 + 12)) {
if ((recv_frame.id >= MOTOR_DATA2) && (recv_frame.id <= MOTOR_DATA2 + TOSHIBACAN_MAX_NUM_ESCS)) {
// motor data2 data format is 8 bytes (64 bits)
// 10 bits: U temperature
// 10 bits: V temperature
@ -352,7 +352,7 @@ void AP_ToshibaCAN::loop()
}
// decode cumulative usage data
if ((recv_frame.id >= MOTOR_DATA3) && (recv_frame.id <= MOTOR_DATA3 + 12)) {
if ((recv_frame.id >= MOTOR_DATA3) && (recv_frame.id <= MOTOR_DATA3 + TOSHIBACAN_MAX_NUM_ESCS)) {
// motor data3 data format is 8 bytes (64 bits)
// 3 bytes: usage in seconds
// 2 bytes: number of times rotors started and stopped