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Update the can data of bunker
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src/protocol_v2/agilex_msg_parser_v2.c

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -153,7 +153,7 @@ bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) {
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msg->type = AgxMsgActuatorHSState;
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ActuatorHSStateFrame *frame = (ActuatorHSStateFrame *)(rx_frame->data);
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msg->body.actuator_hs_state_msg.motor_id =
156-
rx_frame->can_id - CAN_MSG_ACTUATOR1_HS_STATE_ID;
156+
rx_frame->can_id - CAN_MSG_ACTUATOR2_HS_STATE_ID;
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msg->body.actuator_hs_state_msg.rpm =
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(int16_t)((uint16_t)(frame->rpm.low_byte) |
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(uint16_t)(frame->rpm.high_byte) << 8);
@@ -178,7 +178,7 @@ bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) {
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msg->type = AgxMsgActuatorLSState;
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ActuatorLSStateFrame *frame = (ActuatorLSStateFrame *)(rx_frame->data);
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msg->body.actuator_hs_state_msg.motor_id =
181-
rx_frame->can_id - CAN_MSG_ACTUATOR1_LS_STATE_ID;
181+
rx_frame->can_id - CAN_MSG_ACTUATOR2_LS_STATE_ID;
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msg->body.actuator_ls_state_msg.driver_voltage =
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((uint16_t)(frame->driver_voltage.low_byte) |
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(uint16_t)(frame->driver_voltage.high_byte) << 8) *

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