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_ROBOT_CMD to_boa(0x10) /**< robot command (start, ..) */
27 #define CAN_ODO_RESET to_boa(0x14) /* ODO->BOA */
28 #define CAN_ODO_DATA to_boa(0x15) /* ODO->BOA */
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 #define CAN_ROBOT_SWITCHES to_boa(0x30)
36 #define CAN_ROBOT_BUMPERS to_boa(0x31)
38 // ids of can-peripherials
39 #define CAN_PWR to_per(0x40) /* BOA->PER */
40 /* spodni 3 bity: zapnout. dalsi 3 b zapnout */
42 #define CAN_PWR_ADC1 to_boa(0x41) /* PER->BOA */
43 #define CAN_PWR_ADC2 to_boa(0x42) /* PER->BOA */
44 /* napeti na jednotlivych vetvich, 4B hodnoty */
47 #define CAN_JAW_RIGHT_STATUS to_boa(0x50)
48 #define CAN_JAW_RIGHT_CMD to_per(0x51)
50 #define CAN_JAW_LEFT_STATUS to_boa(0x52)
51 #define CAN_JAW_LEFT_CMD to_per(0x53)
53 #define CAN_LIFT_STATUS to_boa(0x54)
54 #define CAN_LIFT_CMD to_per(0x55)
60 #define CAN_DB_LP to_boa(0x100) // debug messages