Rev 721 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 721 | Rev 766 | ||
|---|---|---|---|
| Line 122... | Line 122... | ||
| 122 | { |
122 | { |
| 123 | u32 i; |
123 | u32 i; |
| 124 | index = 0; |
124 | index = 0; |
| 125 | CanTxMessage[CAN_ID_STATUS].D.Byte[0] = ErrorCode; |
125 | CanTxMessage[CAN_ID_STATUS].D.Byte[0] = ErrorCode; |
| Line 126... | Line 126... | ||
| 126 | 126 | ||
| 127 | CanTxMessage[CAN_ID_FS_LON].D.sLong = GPS_FailsafePosition.Longitude; |
127 | CanTxMessage[CAN_ID_FS_LON].D.sLong[0] = GPS_FailsafePosition.Longitude; |
| Line 128... | Line 128... | ||
| 128 | CanTxMessage[CAN_ID_FS_LAT].D.sLong = GPS_FailsafePosition.Latitude; |
128 | CanTxMessage[CAN_ID_FS_LAT].D.sLong[0] = GPS_FailsafePosition.Latitude; |
| 129 | 129 | ||
| 130 | CanTxMessage[CAN_ID_STATUS].D.Byte[0] = ErrorCode; |
130 | CanTxMessage[CAN_ID_STATUS].D.Byte[0] = ErrorCode; |
| 131 | CanTxMessage[CAN_ID_STATUS].D.Byte[1] = FC.StatusFlags; |
131 | CanTxMessage[CAN_ID_STATUS].D.Byte[1] = FC.StatusFlags; |
| Line 185... | Line 185... | ||
| 185 | { |
185 | { |
| 186 | // clear TX Buffer |
186 | // clear TX Buffer |
| 187 | CanTxMessage[i].IdType = CAN_STD_ID; |
187 | CanTxMessage[i].IdType = CAN_STD_ID; |
| 188 | CanTxMessage[i].Id = i + CAN_IdTx; |
188 | CanTxMessage[i].Id = i + CAN_IdTx; |
| 189 | CanTxMessage[i].Length = 8; |
189 | CanTxMessage[i].Length = 8; |
| 190 | CanTxMessage[i].D.Long = 0; |
190 | CanTxMessage[i].D.Long[0] = 0; |
| Line 191... | Line 191... | ||
| 191 | 191 | ||
| 192 | // clear receiving Buffer |
192 | // clear receiving Buffer |
| 193 | CanRxMessage[i].Id = 0; |
193 | CanRxMessage[i].Id = 0; |
| 194 | CanRxMessage[i].D.Long = 0; |
194 | CanRxMessage[i].D.Long[0] = 0; |
| Line 195... | Line 195... | ||
| 195 | } |
195 | } |
| 196 | 196 | ||
| 197 | CanTxMessage[CAN_ID_VERSION].D.Byte[0] = 0; |
197 | CanTxMessage[CAN_ID_VERSION].D.Byte[0] = 0; |
| 198 | CanTxMessage[CAN_ID_VERSION].D.Byte[1] = Parameter.ActiveSetting; |
198 | CanTxMessage[CAN_ID_VERSION].D.Byte[1] = Parameter.ActiveSetting; |
| 199 | CanTxMessage[CAN_ID_VERSION].D.Byte[2] = GPS_Version/1000; |
199 | CanTxMessage[CAN_ID_VERSION].D.Byte[2] = GPS_Version/1000; |
| 200 | CanTxMessage[CAN_ID_VERSION].D.Byte[3] = UART_VersionInfo.HWMajor; |
200 | CanTxMessage[CAN_ID_VERSION].D.Byte[3] = UART_VersionInfo.HWMajor; |
| 201 | CanTxMessage[CAN_ID_VERSION].D.Byte[4] = CAN_SLAVE_COMPATIBLE; |
201 | CanTxMessage[CAN_ID_VERSION].D.Byte[4] = CAN_SLAVE_COMPATIBLE; |
| 202 | CanTxMessage[CAN_ID_VERSION].D.Byte[5] = VERSION_PATCH; |
202 | CanTxMessage[CAN_ID_VERSION].D.Byte[5] = VERSION_PATCH; |
| Line 203... | Line 203... | ||
| 203 | CanTxMessage[CAN_ID_VERSION].D.Byte[6] = VERSION_MINOR; |
203 | CanTxMessage[CAN_ID_VERSION].D.Byte[6] = VERSION_MINOR; |
| 204 | CanTxMessage[CAN_ID_VERSION].D.Byte[7] = VERSION_MAJOR; |
204 | CanTxMessage[CAN_ID_VERSION].D.Byte[7] = VERSION_MAJOR; |
| Line 205... | Line 205... | ||
| 205 | 205 | ||
| Line 255... | Line 255... | ||
| 255 | 255 | ||
| Line 256... | Line 256... | ||
| 256 | CanTxMessage[CAN_ID_VERSION].D.Byte[1] = Parameter.ActiveSetting; |
256 | CanTxMessage[CAN_ID_VERSION].D.Byte[1] = Parameter.ActiveSetting; |
| 257 | 257 | ||
| 258 | if(IamMaster == SLAVE) |
258 | if(IamMaster == SLAVE) |
| 259 | { |
259 | { |
| 260 | GPS_FailsafePosition.Longitude = CanRxMessage[CAN_ID_FS_LON].D.sLong; |
260 | GPS_FailsafePosition.Longitude = CanRxMessage[CAN_ID_FS_LON].D.sLong[0]; |
| 261 | GPS_FailsafePosition.Latitude = CanRxMessage[CAN_ID_FS_LAT].D.sLong; |
261 | GPS_FailsafePosition.Latitude = CanRxMessage[CAN_ID_FS_LAT].D.sLong[0]; |
| 262 | } |
262 | } |