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Rev 1205 Rev 1909
Line 114... Line 114...
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    else
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    else
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        retval = StdCan_Ret_Fail;
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        retval = StdCan_Ret_Fail;
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#endif
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#endif
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    //TODO: Do something with the Node Descriptor.
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    //TODO: Do something with the Node Descriptor.
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    //(why have constats passed as parameters? they are defined at compiletime /arune)
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    //(why have constants passed as parameters? they are defined at compiletime /arune)
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#if defined(_AVRLIB_BIOS_)
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#if defined(_AVRLIB_BIOS_)
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    /* TODO: When a Tx queue is implemented, the startup message should
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    /* TODO: When a Tx queue is implemented, the startup message should
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     * be sent via StdCan_Put instead of directly to lower layer.
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     * be sent via StdCan_Put instead of directly to lower layer.
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     */
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     */
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    Can_Message_t Startup;
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    Can_Message_t Startup;
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    Startup.ExtendedFlag = 1;
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    Startup.ExtendedFlag = 1;
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    Startup.RemoteFlag = 0;
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    Startup.RemoteFlag = 0;
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    Startup.DataLength = 4;
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    Startup.DataLength = 4;
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#ifdef MODULE_APPLICATION
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#ifdef MODULE_APPLICATION
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    Startup.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE);
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    Startup.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE);
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    Startup.Data.bytes[0] = NODE_HW_ID&0xff;
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    Startup.Data.bytes[0] = BIOS_GetHwId()&0xff;
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    Startup.Data.bytes[1] = (NODE_HW_ID>>8)&0xff;
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    Startup.Data.bytes[1] = (BIOS_GetHwId()>>8)&0xff;
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    Startup.Data.bytes[2] = (NODE_HW_ID>>16)&0xff;
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    Startup.Data.bytes[2] = (BIOS_GetHwId()>>16)&0xff;
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    Startup.Data.bytes[3] = (NODE_HW_ID>>24)&0xff;
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    Startup.Data.bytes[3] = (BIOS_GetHwId()>>24)&0xff;
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#else
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#else
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    Startup.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
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    Startup.Id = (CAN_NMT_APP_START << CAN_SHIFT_NMT_TYPE) | (NODE_ID << CAN_SHIFT_NMT_SID);
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    Startup.Data.bytes[1] = APP_TYPE&0xff;
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    Startup.Data.bytes[1] = APP_TYPE&0xff;
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    Startup.Data.bytes[0] = (APP_TYPE>>8)&0xff;
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    Startup.Data.bytes[0] = (APP_TYPE>>8)&0xff;
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    Startup.Data.bytes[3] = APP_VERSION&0xff;
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    Startup.Data.bytes[3] = APP_VERSION&0xff;
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    Heartbeat.ExtendedFlag = 1;
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    Heartbeat.ExtendedFlag = 1;
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    Heartbeat.RemoteFlag = 0;
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    Heartbeat.RemoteFlag = 0;
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#ifdef MODULE_APPLICATION
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#ifdef MODULE_APPLICATION
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    Heartbeat.DataLength = 5;
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    Heartbeat.DataLength = 5;
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    Heartbeat.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_HEARTBEAT << CAN_SHIFT_NMT_TYPE);
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    Heartbeat.Id = (CAN_NMT << CAN_SHIFT_CLASS) | (CAN_NMT_HEARTBEAT << CAN_SHIFT_NMT_TYPE);
- 
 
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    uint32_t HwId=BIOS_GetHwId();
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    Heartbeat.Data.bytes[0] = NODE_HW_ID_BYTE0;
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    Heartbeat.Data.bytes[0] = HwId&0xff;
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    Heartbeat.Data.bytes[1] = NODE_HW_ID_BYTE1;
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    Heartbeat.Data.bytes[1] = (HwId>>8)&0xff;
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    Heartbeat.Data.bytes[2] = NODE_HW_ID_BYTE2;
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    Heartbeat.Data.bytes[2] = (HwId>>16)&0xff;
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    Heartbeat.Data.bytes[3] = NODE_HW_ID_BYTE3;
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    Heartbeat.Data.bytes[3] = (HwId>>24)&0xff;
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    Heartbeat.Data.bytes[4] = NUMBER_OF_MODULES;
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    Heartbeat.Data.bytes[4] = NUMBER_OF_MODULES;
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#else
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#else
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    Heartbeat.DataLength = 0;
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    Heartbeat.DataLength = 0;