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#include <string.h>
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#include "91x_lib.h"
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#include "91x_lib.h"
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#include "91x_can.h"
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#include "91x_can.h"
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#include "timer1.h"
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#include "timer1.h"
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#include "led.h"
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#include "led.h"
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#include "canbus.h"
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#include "canbus.h"
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#include "main.h"
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#include "main.h"
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#include "uart1.h"
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#include "uart1.h"
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#include "GPS.h"
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canmsg CanMsg;
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canmsg CanMsg;
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canmsg RxCanMsg;
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canmsg RxCanMsg;
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volatile u32 frame_received_flag;
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volatile u32 AllMsgsReceived;
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    Priority_2,
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    Priority_2,
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    Priority_3
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    Priority_3
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  }VIC_Priority;
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  }VIC_Priority;
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 25 
 
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  /* buffer for receive messages */
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  /* buffer for receive messages */
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  canmsg RxCanMsg;
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  canmsg RxCanTxMsg;
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  /* used message object numbers */
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  /* used message object numbers */
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  enum {
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  enum {
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        CAN_TX_MSGOBJ = 0,
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        CAN_TX_MSGOBJ = 0,
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        CAN_RX_MSGOBJ = 1
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  };
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        CAN_RX_MSGOBJ = 1
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  };
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#define CAN_MSG_ADR     0x100
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  /* array of pre-defined transmit messages */
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#define CAN_ID_VERSION  0
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  canmsg TxCanMsg[3] = {
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#define CAN_ID_STATUS   1
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#define CAN_ID_FS_LON   2
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#define CAN_ID_FS_LAT   3
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        { CAN_STD_ID,      0x123, 4, { 0x01, 0x02, 0x04, 0x08 } },
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#define CAN_ID_FS_ALT   4
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#define MAX_CAN_MSG     10
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        { CAN_STD_ID,      0x321, 2, { 0xAA, 0x55, 0xAA, 0x55 } },
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        { CAN_EXT_ID, 0x12345678, 8, { 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17 } }
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CanMessage_t CanTxMessage[MAX_CAN_MSG];
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  };
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CanMessage_t CanRxMessage[MAX_CAN_MSG];
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                CAN_ReleaseTxMessage(msgobj);
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                CAN_ReleaseTxMessage(msgobj);
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        break;
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        break;
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      case 1 /* CAN_RX_MSGOBJ */:
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      case 1 /* CAN_RX_MSGOBJ */:
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        CAN_ReceiveMessage(msgobj, FALSE, &RxCanMsg);
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        CAN_ReceiveMessage(msgobj, FALSE, &RxCanMsg);
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                CAN_ReleaseRxMessage(msgobj);
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                if(RxCanMsg.Id >= CAN_MSG_ADR && RxCanMsg.Id < CAN_MSG_ADR + MAX_CAN_MSG)
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                 {
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                        memcpy(&CanRxMessage[RxCanMsg.Id - CAN_MSG_ADR], &RxCanMsg,sizeof(RxCanMsg));
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                 }
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                if(RxCanMsg.Id == CAN_MSG_ADR + MAX_CAN_MSG - 1)
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        CAN_ReleaseRxMessage(msgobj);
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                 {
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                  AllMsgsReceived = 1;
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        frame_received_flag = 1;
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                 }
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DebugOut.Analog[19]++; 
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                DebugOut.Analog[16] = RxCanMsg.Id;
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  break;
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  break;
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      default:
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      default:
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}
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}
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void CanSend(void)
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void CanSend(void)
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{
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{
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//  CAN_SetUnusedAllMsgObj();
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static u32 index = 1;
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//  CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID, DISABLE);
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CanTxMessage[4].D.sLong = DebugOut.Analog[24];
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//  CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[1]);
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//  CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE);
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  if(CAN_SendMessage(CAN_TX_MSGOBJ, &CanTxMessage[index]) == SUCCESS)
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   {
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    if(++index >= MAX_CAN_MSG)
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//CAN_UpdateMsgObj(CAN_TX_MSGOBJ, &TxCanMsg[1]);
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         {
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  TxCanMsg[1].Data[0] = DebugOut.Analog[24] / 256;
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                index = 0;
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                CanTxMessage[CAN_ID_FS_LON].D.sLong = GPS_FailsafePosition.Longitude;
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                CanTxMessage[CAN_ID_FS_LAT].D.sLong = GPS_FailsafePosition.Latitude;
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  TxCanMsg[1].Data[1] = DebugOut.Analog[24] % 256;
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         }
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  CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[1]);
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   }
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}
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}
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 CAN_SetUnusedAllMsgObj();
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 CAN_SetUnusedAllMsgObj();
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 CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID, DISABLE);
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 CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID, DISABLE);
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 CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE);
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u32 i;
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for(i=0; i< MAX_CAN_MSG;i++)
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 {
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        CanTxMessage[i].IdType = CAN_STD_ID;
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        CanTxMessage[i].Id = i + CAN_MSG_ADR;
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        CanTxMessage[i].Length = 8;
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        CanTxMessage[i].D.Long = i;
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 160 
 }
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 161 
 
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CanTxMessage[CAN_ID_VERSION].D.Byte[0]  = CAN_SLAVE_COMPATIBLE;
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CanTxMessage[CAN_ID_VERSION].D.Byte[1]  = VERSION_PATCH;
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CanTxMessage[CAN_ID_VERSION].D.Byte[2]  = VERSION_MINOR;
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 CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE);
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CanTxMessage[CAN_ID_VERSION].D.Byte[3]  = VERSION_MAJOR;
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 UART1_PutString("ok");
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 UART1_PutString("ok");
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}
 168 
}
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 CanReceive();
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 CanReceive();
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if(CAN_GetTransmitErrorCounter() > 200) CanbusInit();
 175 
if(CAN_GetTransmitErrorCounter() > 200) CanbusInit();
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 176 
 
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//DebugOut.Analog[16] = CAN->SR ;
 177 
//DebugOut.Analog[16] = CAN->SR ;
143 
 
 178 
 
144 
if(frame_received_flag)
 179 
if(AllMsgsReceived)
145 
 {
 180 
 {
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 181 
  AllMsgsReceived = 0;
146 
  frame_received_flag = 0;
 182 
  DebugOut.Analog[17] = CanRxMessage[4].D.sLong;
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 183 
  DebugOut.Analog[19]++;       
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DebugOut.Analog[17] = CanRxMessage[CAN_ID_FS_LON].D.sLong / 100000;
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DebugOut.Analog[18] = CanRxMessage[CAN_ID_FS_LAT].D.sLong / 100000;
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 187 
 
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 188 
if(DebugOut.Analog[31] == 0)
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 189 
  {
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 190 
                GPS_FailsafePosition.Longitude = CanRxMessage[CAN_ID_FS_LON].D.sLong;
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  DebugOut.Analog[16] = RxCanMsg.Data[0] * 256 + RxCanMsg.Data[1];
 191 
                GPS_FailsafePosition.Latitude = CanRxMessage[CAN_ID_FS_LAT].D.sLong;