3 * @author Michal Sojka <sojkam1@fel.cvut.cz>
4 * @date Wed Feb 25 14:28:26 2009
6 * @brief IDs of CAN bus messages
23 #define CAN_PWR_ALERT to_boa(0x05) /**< alert power status */
25 #define CAN_CORR_TRIG to_boa(0x008) /* ULoPoS: correlation started */
26 #define CAN_CORR_DIST to_boa(0x009) /* ULoPoS: measured distances */
28 #define CAN_ROBOT_CMD to_boa(0x10) /**< robot command (start, ..) */
30 #define CAN_ODO_RESET to_boa(0x14) /* ODO->BOA */
31 #define CAN_ODO_DATA to_boa(0x15) /* ODO->BOA */
33 #define CAN_MOTION_RESET to_mot(0x20) /* BOA->MOT */
34 #define CAN_MOTION_CMD to_mot(0x21) /* BOA->MOT */
35 #define CAN_MOTION_ODOMETRY_SIMPLE to_boa(0x22) /* MOT->BOA */
36 #define CAN_MOTION_STATUS to_boa(0x23) /* MOT->BOA */
40 #define CAN_ROBOT_SWITCHES to_boa(0x30)
42 // ids of can-peripherials
43 #define CAN_CHELAE to_per(0x32) /**< BOA->PER @copydetails set_chelae() front view 1st B left, 2nd B right */
44 #define CAN_ADC_1 to_boa(0x33) /* PER->BOA */
45 #define CAN_ADC_2 to_boa(0x34) /* PER->BOA */
46 #define CAN_IR to_boa(0x35) /* PER->BOA */
47 #define CAN_LED to_per(0x36) /* BOA->PER */
48 #define CAN_ADC_3 to_boa(0x37) /* PER->BOA */
50 #define CAN_BELTS to_per(0x38) /**< BOA->PER @copydetails set_belts()*/
53 #define CAN_PWR to_per(0x40) /* BOA->PER */
54 /* spodni 3 bity: zapnout. dalsi 3 b zapnout */
56 #define CAN_PWR_ADC1 to_boa(0x41) /* PER->BOA */
57 #define CAN_PWR_ADC2 to_boa(0x42) /* PER->BOA */
58 /* napeti na jednotlivych vetvich, 4B hodnoty */
60 //#define CAN_BRUSHES_STATUS to_boa(0x44) // FIXME: (F.J.) rename me, ...
62 #define CAN_PUCK to_boa(0x43)
65 #define CAN_CMU to_boa(0x46) /* PER->BOA */
66 #define CAN_HOKUYO_PITCH to_per(0x47) /* BOA->PER */
68 //#define CAN_ERROR to_boa(0x48) // FIXME: (F.J.) rename me, ...
71 #define CAN_VIDLE_STATUS to_boa(0x48)
72 #define CAN_VIDLE_CMD to_per(0x49)
79 #define CAN_DB_LP to_boa(0x100) // debug messages