Rev 32 | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | SVN | RSS feed
| Rev 32 | Rev 33 | ||
|---|---|---|---|
| Line 144... | Line 144... | ||
| 144 | uartPutc((BYTE)(cm.ident>>8)); |
144 | uartPutc((BYTE)(cm.ident>>8)); |
| 145 | uartPutc((BYTE)(cm.ident>>16)); |
145 | uartPutc((BYTE)(cm.ident>>16)); |
| 146 | uartPutc((BYTE)(cm.ident>>24)); |
146 | uartPutc((BYTE)(cm.ident>>24)); |
| 147 | uartPutc(cm.extended); |
147 | uartPutc(cm.extended); |
| 148 | uartPutc(cm.data_length); |
148 | uartPutc(cm.data_length); |
| 149 | for(i=0;i<8;i++) uartPutc(cm.data[ |
149 | for(i=0;i<8;i++) uartPutc(cm.data[i]); |
| 150 | uartPutc(UART_END_BYTE); |
150 | uartPutc(UART_END_BYTE); |
| 151 | 151 | ||
| 152 | } |
152 | } |
| 153 | #endif |
153 | #endif |
| 154 | 154 | ||
| Line 167... | Line 167... | ||
| 167 | { |
167 | { |
| 168 | BYTE i; |
168 | BYTE i; |
| 169 | unsigned int wait = 0; |
169 | unsigned int wait = 0; |
| 170 | CAN_MESSAGE cm; |
170 | CAN_MESSAGE cm; |
| 171 | static BOOL waitingMessage = FALSE; |
171 | static BOOL waitingMessage = FALSE; |
| 172 | static TICK timeout; |
172 | static TICK timeout=0; |
| 173 | static BYTE count; |
173 | static BYTE count=0; |
| 174 | 174 | ||
| 175 | if (waitingMessage==TRUE && (tickGet()-timeout)>TICK_SECOND/20) |
175 | if (waitingMessage==TRUE && (tickGet()-timeout)>TICK_SECOND/20) |
| 176 | { |
176 | { |
| 177 | waitingMessage=FALSE; |
177 | waitingMessage=FALSE; |
| 178 | } |
178 | } |
| Line 233... | Line 233... | ||
| 233 | timeout=tickGet(); |
233 | timeout=tickGet(); |
| 234 | count=0; |
234 | count=0; |
| 235 | cm.ident=0; |
235 | cm.ident=0; |
| 236 | return; |
236 | return; |
| 237 | } |
237 | } |
| 238 | - | ||
| 239 | - | ||
| 240 | - | ||
| 241 | /* |
- | |
| 242 | for(i=0;i<4;i++) |
- | |
| 243 | { |
- | |
| 244 | wait = 0; |
- | |
| 245 | while(!uartDataRedy()) |
- | |
| 246 | { |
- | |
| 247 | if(wait < UART_READ_TIMEOUT) wait++; |
- | |
| 248 | else return; |
- | |
| 249 | } |
- | |
| 250 | cm.ident += uartGet()<<(i*8); |
- | |
| 251 | } |
- | |
| 252 | - | ||
| 253 | - | ||
| 254 | wait = 0; |
- | |
| 255 | while(!uartDataRedy()) |
- | |
| 256 | { |
- | |
| 257 | if(wait < UART_READ_TIMEOUT) wait++ ; |
- | |
| 258 | else return; |
- | |
| 259 | } |
- | |
| 260 | cm.extended= uartGet(); |
- | |
| 261 | - | ||
| 262 | - | ||
| 263 | - | ||
| 264 | wait = 0; |
- | |
| 265 | while(!uartDataRedy()) |
- | |
| 266 | { |
- | |
| 267 | if(wait < UART_READ_TIMEOUT) wait++ ; |
- | |
| 268 | else return; |
- | |
| 269 | } |
- | |
| 270 | cm.data_length= uartGet(); |
- | |
| 271 | - | ||
| 272 | for(i=0;i<4;i++) |
- | |
| 273 | { |
- | |
| 274 | wait = 0; |
- | |
| 275 | while(!uartDataRedy()) |
- | |
| 276 | { |
- | |
| 277 | if(wait < UART_READ_TIMEOUT) wait++ ; |
- | |
| 278 | else return; |
- | |
| 279 | } |
- | |
| 280 | cm.data[i]=uartGet(); |
- | |
| 281 | } |
- | |
| 282 | - | ||
| 283 | wait = 0; |
- | |
| 284 | while(!uartDataRedy()) |
- | |
| 285 | { |
- | |
| 286 | if(wait < UART_READ_TIMEOUT) wait++ ; |
- | |
| 287 | else return; |
- | |
| 288 | } |
- | |
| 289 | if (uartGet()!=UART_END_BYTE) return; |
- | |
| 290 | */ |
- | |
| 291 | /* |
- | |
| 292 | if (uartGets(&cm.ident,4,UART_READ_TIMEOUT)) return; |
- | |
| 293 | if (uartGets(&cm.extended,1,UART_READ_TIMEOUT)) return; |
- | |
| 294 | if (uartGets(&cm.data_length,1,UART_READ_TIMEOUT)) return; |
- | |
| 295 | if (uartGets(cm.data,8,UART_READ_TIMEOUT)) return; |
- | |
| 296 | if (uartGets(&i,1,UART_READ_TIMEOUT)) return; |
- | |
| 297 | if (i!=UART_END_BYTE) return; |
- | |
| 298 | */ |
- | |
| 299 | // while(!canSendMessage(cm)); |
- | |
| 300 | // } |
- | |
| 301 | - | ||
| 302 | 238 | ||
| 303 | 239 | ||
| 304 | if(c=='1' && waitingMessage==FALSE) |
240 | if(c=='1' && waitingMessage==FALSE) |
| 305 | { |
241 | { |
| 306 | cm.ident=0x00000123; |
242 | cm.ident=0x00000123; |
| 307 | cm.extended=FALSE; |
243 | cm.extended=FALSE; |
| 308 | cm.data_length=4; |
244 | cm.data_length=4; |
| - | 245 | cm.data[3]='H'; |
|
| 309 | cm.data[ |
246 | cm.data[2]='e'; |
| 310 | cm.data[1]='j'; |
247 | cm.data[1]='j'; |
| 311 | cm.data[2]='e'; |
- | |
| 312 | cm.data[ |
248 | cm.data[0]='!'; |
| 313 | 249 | ||
| 314 | while(!canSendMessage(cm)); |
250 | while(!canSendMessage(cm)); |
| 315 | } |
251 | } |
| 316 | 252 | ||
| 317 | if(c=='2' && waitingMessage==FALSE) |
253 | if(c=='2' && waitingMessage==FALSE) |
| 318 | { |
254 | { |
| 319 | cm.ident=0x0ABCDEF0; |
255 | cm.ident=0x0ABCDEF0; |
| 320 | cm.extended=TRUE; |
256 | cm.extended=TRUE; |
| 321 | cm.data_length=8; |
257 | cm.data_length=8; |
| - | 258 | cm.data[7]='G'; |
|
| - | 259 | cm.data[6]='o'; |
|
| - | 260 | cm.data[5]='d'; |
|
| - | 261 | cm.data[4]=' '; |
|
| - | 262 | cm.data[3]='d'; |
|
| - | 263 | cm.data[2]='a'; |
|
| - | 264 | cm.data[1]='g'; |
|
| 322 | cm.data[0]='!'; |
265 | cm.data[0]='!'; |
| 323 | cm.data[1]='g'; |
- | |
| 324 | cm.data[2]='a'; |
- | |
| 325 | cm.data[3]='d'; |
- | |
| 326 | cm.data[4]=' '; |
- | |
| 327 | cm.data[5]='d'; |
- | |
| 328 | cm.data[6]='o'; |
- | |
| 329 | cm.data[7]='G'; |
- | |
| 330 | 266 | ||
| 331 | while(!canSendMessage(cm)); |
267 | while(!canSendMessage(cm)); |
| 332 | } |
268 | } |
| 333 | 269 | ||
| 334 | if(c=='3' && waitingMessage==FALSE) |
270 | if(c=='3' && waitingMessage==FALSE) |
| 335 | { |
271 | { |
| 336 | cm.ident=0x00000010; |
272 | cm.ident=0x00000010; |
| 337 | cm.extended=FALSE; |
273 | cm.extended=FALSE; |
| 338 | cm.data_length=6; |
274 | cm.data_length=6; |
| - | 275 | cm.data[5]='5'; |
|
| - | 276 | cm.data[4]='4'; |
|
| - | 277 | cm.data[3]='3'; |
|
| - | 278 | cm.data[2]='2'; |
|
| - | 279 | cm.data[1]='1'; |
|
| 339 | cm.data[0]='0'; |
280 | cm.data[0]='0'; |
| 340 | cm.data[1]='1'; |
- | |
| 341 | cm.data[2]='2'; |
- | |
| 342 | cm.data[3]='3'; |
- | |
| 343 | cm.data[4]='4'; |
- | |
| 344 | cm.data[5]='5'; |
- | |
| 345 | 281 | ||
| 346 | while(!canSendMessage(cm)); |
282 | while(!canSendMessage(cm)); |
| 347 | } |
283 | } |
| 348 | 284 | ||
| 349 | 285 | ||