[Krobot-commits] [SCM] krobot branch, master, updated. f3fa4458fe1d51ceed1a08dcc53d0a00e27135a0

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit f3fa4458fe1d51ceed1a08dcc53d0a00e27135a0
Author: Xavier Lagorce <Xav...@cr...>
Date:   Wed Mar 23 23:28:15 2011 +0100

    [Controller_Motor_STM32] can_monitor : Boulet Time.
    
    Fixed a bug where estimated speed and position were not readable in CAN messages

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
index f853175..dca6596 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/can_monitor.c
@@ -28,7 +28,7 @@ typedef union {
   uint32_t data32[2];
 } encoder_can_msg_t;
 
-typedef struct {
+typedef union {
   motor_msg_t data;
   uint32_t data32[2];
 } motor_can_msg_t;
@@ -95,8 +95,8 @@ static void NORETURN canMonitor_process(void) {
     msg_mot.data.position = mc_getPosition(MOTOR4);
     msg_mot.data.speed = mc_getSpeed(MOTOR4);
 
-    txm.data32[0] = (int32_t)mc_getPosition(MOTOR4);//msg_mot.data32[0];
-    txm.data32[1] = (int32_t)mc_getSpeed(MOTOR4);//msg_mot.data32[1];
+    txm.data32[0] = msg_mot.data32[0];
+    txm.data32[1] = msg_mot.data32[1];
     txm.eid = 102;
     can_transmit(CAND1, &txm, ms_to_ticks(10));
 


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