Merge pull request #56 from westonrobot/feature-decoding_set_motion_mode

protocol_v2: added CAN_MSG_SET_MOTION_MODE_ID decoding
westonrobot · Aug 1, 2024 · 3b29043 · 3b29043
2 parents 4b19dab + ea87331
commit 3b29043
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/src/protocol_v2/agilex_msg_parser_v2.c b/src/protocol_v2/agilex_msg_parser_v2.c
@@ -42,6 +42,12 @@ bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) {
           1000.0;
       break;
     }
+    case CAN_MSG_SET_MOTION_MODE_ID: {
+      msg->type = AgxMsgSetMotionModeCommand;
+      SetMotionModeFrame *frame = (SetMotionModeFrame *)(rx_frame->data);
+      msg->body.motion_mode_msg.motion_mode = frame->motion_mode;
+      break;
+    }
     case CAN_MSG_LIGHT_COMMAND_ID: {
       msg->type = AgxMsgLightCommand;
       // parse frame buffer to message