9 #define CAN_PWR_ALERT to_boa(0x05) /* alert power status */
11 #define CAN_ROBOT_CMD to_boa(0x10) /* robot command (start, ..) */
13 #define CAN_MOTION_RESET to_mot(0x20) /* BOA->MOT */
14 #define CAN_MOTION_CMD to_mot(0x21) /* BOA->MOT */
15 #define CAN_MOTION_ODOMETRY_SIMPLE to_boa(0x22) /* MOT->BOA */
16 #define CAN_MOTION_STATUS to_boa(0x23) /* MOT->BOA */
18 //ids of laser navigation can messages
19 #define CAN_LAS1 to_boa(0x25) /* LAS->BOA */
20 #define CAN_LAS2 to_boa(0x26)
21 #define CAN_LAS3 to_boa(0x27)
22 #define CAN_LAS4 to_boa(0x28)
23 #define CAN_LAS_DATA to_boa(0x29) /* used to send only period and data */
24 #define CAN_LAS_CMD to_per(0x30) /* BOA->LAS */
26 // ids of can-peripherials
27 #define CAN_SERVO to_per(0x32) /* BOA->PER */
28 #define CAN_ADC_1 to_boa(0x33) /* PER->BOA */
29 #define CAN_ADC_2 to_boa(0x34) /* PER->BOA */
30 #define CAN_IR to_boa(0x35) /* PER->BOA */
31 #define CAN_LED to_per(0x36) /* BOA->PER */
32 #define CAN_ADC_3 to_boa(0x37) /* PER->BOA */
34 #define CAN_DRIVES to_per(0x38) /* BOA->PER */
35 #define CAN_CAROUSEL to_boa(0x039) /* BOA->PER */
38 #define CAN_PWR to_per(0x40) /* BOA->PER */
39 /* spodni 3 bity: zapnout. dalsi 3 b zapnout */
41 #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 */
46 #define CAN_CAROUSEL_STATUS to_boa(0x43)
47 #define CAN_BRUSHES_STATUS to_boa(0x44)
48 #define CAN_BAGR_STATUS to_boa(0x45)
50 #define CAN_CMU to_boa(0x46) /* PER->BOA */
51 #define CAN_BUMPER to_boa(0x47) /* PER->BOA */
53 #define CAN_ERROR to_boa(0x48) // carousel error; byte[0]= 1 if couldn't read the position =2 if coudn't move the carousel to the right position