M3508Frames.hpp

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#ifndef M3508FRAMES_HPP
#define M3508FRAMES_HPP
#include <string>
 
#include "OneMotor/Can/CanDriver.hpp"
 
namespace OneMotor::Motor::DJI
{
    struct M3508RawStatusFrame
    {
        explicit operator Can::CanFrame() const;

        explicit M3508RawStatusFrame(Can::CanFrame frame);

        [[nodiscard]] std::string format() const;
 
        uint16_t canId; 
        uint16_t ecd; 
        int16_t rpm; 
        int16_t current; 
        uint8_t temperature; 
    };

    struct M3508Status
    {
        uint16_t last_ecd; 
        uint16_t ecd; 
        float angle_single_round; 
        float angular; 
        int16_t real_current; 
        uint8_t temperature; 
        float total_angle; 
        int32_t total_round; 
        int16_t output_current; 
        [[nodiscard]] std::string format() const;
    };
}
 
#endif //M3508FRAMES_HPP