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Line 179... Line 179...
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    txMsg.Data.words[0] = APP_TYPE;
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    txMsg.Data.words[0] = APP_TYPE;
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    txMsg.Data.words[1] = APP_VERSION;
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    txMsg.Data.words[1] = APP_VERSION;
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    BIOS_CanSend(&txMsg); // Send startup message
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    BIOS_CanSend(&txMsg); // Send startup message
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    //set up status message
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    txMsg.Id = 0x08000c0b; //(CLASS_SNS << CLASS_MASK_BITS)|(SNS_ACT_STATUS_SERVO << TYPE_MASK_BITS)|(NODE_ID << SID_MASK_BITS);
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    txMsg.Id = ((CAN_SNS << CAN_SHIFT_CLASS) | (SNS_TYPE_STATUS << CAN_SHIFT_SNS_TYPE) | (SNS_ID_SERVO_STATUS << CAN_SHIFT_SNS_ID) | (NODE_ID << CAN_SHIFT_SNS_SID));
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    // Main loop
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    // Main loop
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    while (1) {
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    while (1) {
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        // check if any messages have been received
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        // check if any messages have been received
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        if(rxMsgFull){
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        if(rxMsgFull){