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Rev 1384 Rev 1910
Line 277... Line 277...
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    txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_ROTARY; ///TODO: Change this to the actual module type
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    txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_ROTARY; ///TODO: Change this to the actual module type
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    txMsg.Header.ModuleId = sns_rotary_ID;
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    txMsg.Header.ModuleId = sns_rotary_ID;
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    txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
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    txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
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    txMsg.Length = 6;
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    txMsg.Length = 6;
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- 
 
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    uint32_t HwId=BIOS_GetHwId();
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    txMsg.Data[0] = NODE_HW_ID_BYTE0;
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    txMsg.Data[0] = HwId&0xff;
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    txMsg.Data[1] = NODE_HW_ID_BYTE1;
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    txMsg.Data[1] = (HwId>>8)&0xff;
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    txMsg.Data[2] = NODE_HW_ID_BYTE2;
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    txMsg.Data[2] = (HwId>>16)&0xff;
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    txMsg.Data[3] = NODE_HW_ID_BYTE3;
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    txMsg.Data[3] = (HwId>>24)&0xff;
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    txMsg.Data[4] = NUMBER_OF_MODULES;
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    txMsg.Data[4] = NUMBER_OF_MODULES;
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    txMsg.Data[5] = ModuleSequenceNumber;
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    txMsg.Data[5] = ModuleSequenceNumber;
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    while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
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    while (StdCan_Put(&txMsg) != StdCan_Ret_OK);