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_MOTION_RESET to_mot(0x20) /* BOA->MOT */
31 #define CAN_MOTION_CMD to_mot(0x21) /* BOA->MOT */
32 #define CAN_MOTION_ODOMETRY_SIMPLE to_boa(0x22) /* MOT->BOA */
33 #define CAN_MOTION_STATUS to_boa(0x23) /* MOT->BOA */
35 //ids of laser navigation can messages
36 #define CAN_LAS1 to_boa(0x25) /* LAS->BOA */
37 #define CAN_LAS2 to_boa(0x26)
38 #define CAN_LAS3 to_boa(0x27)
39 #define CAN_LAS4 to_boa(0x28)
40 #define CAN_LAS_DATA to_boa(0x29) /* used to send only period and data */
41 #define CAN_LAS_CMD to_per(0x30) /* BOA->LAS */
43 // ids of can-peripherials
44 #define CAN_CHELAE to_per(0x32) /**< BOA->PER @copydetails set_chelae() */
45 #define CAN_ADC_1 to_boa(0x33) /* PER->BOA */
46 #define CAN_ADC_2 to_boa(0x34) /* PER->BOA */
47 #define CAN_IR to_boa(0x35) /* PER->BOA */
48 #define CAN_LED to_per(0x36) /* BOA->PER */
49 #define CAN_ADC_3 to_boa(0x37) /* PER->BOA */
51 #define CAN_BELTS to_per(0x38) /**< BOA->PER @copydetails set_belts()*/
54 #define CAN_PWR to_per(0x40) /* BOA->PER */
55 /* spodni 3 bity: zapnout. dalsi 3 b zapnout */
57 #define CAN_PWR_ADC1 to_boa(0x41) /* PER->BOA */
59 #define CAN_PWR_ADC2 to_boa(0x42) /* PER->BOA */
60 /* napeti na jednotlivych vetvich, 4B hodnoty */
62 //#define CAN_BRUSHES_STATUS to_boa(0x44) // FIXME: (F.J.) rename me, ...
64 #define CAN_CMU to_boa(0x46) /* PER->BOA */
65 #define CAN_HOKUYO_PITCH to_per(0x47) /* BOA->PER */
67 //#define CAN_ERROR to_boa(0x48) // FIXME: (F.J.) rename me, ...
69 #define CAN_LP_STATUS to_boa(0x49) // Lift + Pusher Status 2B pusher position + 2B lift position + 1B status
70 #define CAN_LIFT to_per(0x4A) /**< BOA->PER @copydetails set_lift()*/
71 #define CAN_HOLDER to_per(0x4B) /**< BOA->PER @copydetails set_holder()*/
72 #define CAN_PUSHER to_per(0x4C) /**< BOA->PER @copydetails set_pusher()*/