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| Rev 698 | Rev 710 | ||
|---|---|---|---|
| Line 112... | Line 112... | ||
| 112 | 112 | ||
| 113 | void CanSend(void) |
113 | void CanSend(void) |
| 114 | { |
114 | { |
| Line 115... | Line 115... | ||
| 115 | static u32 index = 1; |
115 | static u32 index = 1; |
| 116 | 116 | ||
| 117 | if(CAN_SendMessage(CAN_TX_MSGOBJ, &CanTxMessage[index]) == SUCCESS) |
117 | if(CAN_SendMessage(CAN_TX_MSGOBJ, (canmsg*) &CanTxMessage[index]) == SUCCESS) |
| 118 | { |
118 | { |
| 119 | if(++index >= MAX_CAN_MSG) |
119 | if(++index >= MAX_CAN_MSG) |
| 120 | { |
120 | { |
| Line 218... | Line 218... | ||
| 218 | 218 | ||
| 219 | if(AllMsgsReceived) |
219 | if(AllMsgsReceived) |
| 220 | { |
220 | { |
| 221 | u32 i; |
221 | u32 i; |
| 222 | AllMsgsReceived = 0; |
222 | AllMsgsReceived = 0; |
| 223 | DebugOut.Analog[16]++; |
223 | // DebugOut.Analog[16]++; |
| 224 | CanbusTimeOut = 1000; |
224 | CanbusTimeOut = 1000; |
| 225 | for(i=0; i<8;i++) |
225 | for(i=0; i<8;i++) |
| 226 | { |
226 | { |
| 227 | PartnerErrorMSG[i] = CanRxMessage[CAN_ID_TEXT1].D.Byte[i]; |
227 | PartnerErrorMSG[i] = CanRxMessage[CAN_ID_TEXT1].D.Byte[i]; |
| Line 236... | Line 236... | ||
| 236 | Partner.MagnetField = CanRxMessage[CAN_ID_STATUS].D.Byte[5]; |
236 | Partner.MagnetField = CanRxMessage[CAN_ID_STATUS].D.Byte[5]; |
| 237 | Partner.GyroCompassCorrected = CanRxMessage[CAN_ID_STATUS].D.Int[3]; |
237 | Partner.GyroCompassCorrected = CanRxMessage[CAN_ID_STATUS].D.Int[3]; |
| Line 238... | Line 238... | ||
| 238 | 238 | ||
| Line 239... | Line -... | ||
| 239 | CanTxMessage[CAN_ID_VERSION].D.Byte[1] = Parameter.ActiveSetting; |
- | |
| 240 | - | ||
| 241 | DebugOut.Analog[19] = Partner.GyroCompassCorrected; |
239 | CanTxMessage[CAN_ID_VERSION].D.Byte[1] = Parameter.ActiveSetting; |
| 242 | 240 | ||
| 243 | if(IamMaster == SLAVE) |
241 | if(IamMaster == SLAVE) |
| 244 | { |
242 | { |
| 245 | GPS_FailsafePosition.Longitude = CanRxMessage[CAN_ID_FS_LON].D.sLong; |
243 | GPS_FailsafePosition.Longitude = CanRxMessage[CAN_ID_FS_LON].D.sLong; |