Add a poll CAN message.

comm_can.c

@@ -1774,6 +1774,14 @@ static void decode_msg(uint32_t eid, uint8_t *data8, int len, bool is_replaced)
 		}
 	} break;
 
+	case CAN_PACKET_POLL_ROTOR_POS: {
+		uint8_t buffer[4];
+		int32_t index = 0;
+		buffer_append_int32(buffer, (int32_t)(encoder_read_deg() * 100000.0), &index);
+		comm_can_transmit_eid_replace(data8[0] |
+			((uint32_t)CAN_PACKET_POLL_ROTOR_POS << 8), (uint8_t*)buffer, 4, true);
+	}
+
 	default:
 		break;
 	}

conf_general.h

@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			5
 #define FW_VERSION_MINOR			03
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		50
+#define FW_TEST_VERSION_NUMBER		51
 
 #include "datatypes.h"
 

datatypes.h

@@ -1105,7 +1105,8 @@ typedef enum {
 	CAN_PACKET_BMS_AH_WH_CHG_TOTAL,
 	CAN_PACKET_BMS_AH_WH_DIS_TOTAL,
 	CAN_PACKET_UPDATE_PID_POS_OFFSET,
-	CAN_PACKET_MAKE_ENUM_32_BITS = 0xFFFFFFFF
+	CAN_PACKET_POLL_ROTOR_POS,
+	CAN_PACKET_MAKE_ENUM_32_BITS = 0xFFFFFFFF,
 } CAN_PACKET_ID;
 
 // Logged fault data