HydroBot/hydrobot-sharedlibs Changeset - eaddb578c329

Changeset - eaddb578c329

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matthewreed - 7 years ago 2017-05-23 21:58:52

Fixed bugs in protocol receive and changed can receive led

2 files changed with 2 insertions and 2 deletions:

src/can.c

src/protocol.c

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src/can.c

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@@ @@ -116,23 +116,23 @@ bool can_silence_bus(bool value) @@
     bool result = true;
     can_silenced = value;
     return result;
+}
 void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
+{
     if ((hcan->pRxMsg->StdId == can_rx_id) | (hcan->pRxMsg->StdId == can_broadcast_id))
+    {
         protocol_receive_message(hcan->pRxMsg);
         led_start_time(LED_CAN, 500);
         HAL_CAN_Receive_IT(&can_handle, CAN_FIFO0);
+    }
     led_start_time(LED_CAN, 500);
+}
 void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan) {}
 void HAL_CAN_ErrorCallback(CAN_HandleTypeDef* hcan)
+{
     led_set(LED_ERROR, 1);
+}

src/protocol.c

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@@ @@ -16,25 +16,25 @@ bool protocol_send_test() @@
     bool result = true;
     can_send_test(protocol_settings.val.can_id | 0x00000001);
     return result;
+}
 bool protocol_receive_message(CanRxMsgTypeDef* can_message)
+{
     bool result = true;
     protocol_message_t message;
     message.command = can_message->Data[0] & 0x80;
     message.id = can_message->Data[0] & 0x7F;
-    message.key = (can_message->Data[1] << 8) & can_message->Data[2];
+    message.key = (can_message->Data[1] << 8) | can_message->Data[2];
     message.sensor = can_message->Data[3];
     message.data.byte_data[0] = can_message->Data[4];
     message.data.byte_data[1] = can_message->Data[5];
     message.data.byte_data[2] = can_message->Data[6];
     message.data.byte_data[3] = can_message->Data[7];
     protocol_process_message(&message);
     return result;
+}
 bool protocol_send_message(protocol_message_t* message)

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