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CANBoard_FW
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Added base ID offset from jumpers 

#5
This commit is contained in:
Cory Grant 2023-03-05 00:35:39 -05:00
parent fee23ffdbe
commit 4066fd5e00
1 changed files with 16 additions and 5 deletions
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21
Core/Src/main.c
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@ -98,6 +98,10 @@ static volatile uint8_t nCanRotarySwitch[5];
static volatile uint8_t nCanAnalogSwitch[5];
static volatile uint8_t nCanRotaryInvert[5];
static volatile uint8_t nCanBaseIdOffset;
static volatile uint8_t nCanId1;
static volatile uint8_t nCanId2;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@ -461,7 +465,7 @@ static void MX_CAN_Init(void)
Error_Handler();
}
CanTxHeader.StdId = CAN_BASE_ID;
CanTxHeader.StdId = CAN_BASE_ID + nCanBaseIdOffset;
CanTxHeader.ExtId = 0;
CanTxHeader.RTR = CAN_RTR_DATA;
CanTxHeader.IDE = CAN_ID_STD;
@ -601,7 +605,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
Error_Handler();
}
if((CanRxHeader.StdId == CAN_BASE_ID + 3) && (CanRxHeader.IDE == CAN_ID_STD) && (CanRxHeader.DLC >= 4))
if((CanRxHeader.StdId == CAN_BASE_ID + nCanBaseIdOffset + 3) && (CanRxHeader.IDE == CAN_ID_STD) && (CanRxHeader.DLC >= 4))
{
nCanDigOut[0] = CanRxData[0] & 0x01;
nCanDigOut[1] = CanRxData[1] & 0x01;
@ -615,7 +619,7 @@ void TxCanMsgs()
//=======================================================
//Build Msg 0 (Analog inputs 1-4 millivolts)
//=======================================================
CanTxHeader.StdId = CAN_BASE_ID + 0;
CanTxHeader.StdId = CAN_BASE_ID + nCanBaseIdOffset + 0;
CanTxHeader.DLC = 8; //Bytes to send
CanTxData[0] = ((float)anIn[0] / 4096) * 4850; //Scaled to 4.85v - voltage divider on input, 3.3V = 4.85V on input
CanTxData[1] = ((float)(anIn[0] >> 8) / 4096) * 4850;
@ -638,7 +642,7 @@ void TxCanMsgs()
//=======================================================
//Build Msg 1 (Analog input 5 millivolts and temperature)
//=======================================================
CanTxHeader.StdId = CAN_BASE_ID + 1;
CanTxHeader.StdId = CAN_BASE_ID + nCanBaseIdOffset + 1;
CanTxHeader.DLC = 8; //Bytes to send
CanTxData[0] = ((float)anIn[4] / 4096) * 4850; //Scaled to 4.85v - voltage divider on input, 3.3V = 4.85V on input
CanTxData[1] = ((float)(anIn[4] >> 8) / 4096) * 4850;
@ -707,7 +711,7 @@ void TxCanMsgs()
//=======================================================
//Build Msg 2 (Rotary switches, dig inputs, analog input switches, low side output status, heartbeat)
//=======================================================
CanTxHeader.StdId = CAN_BASE_ID + 2;
CanTxHeader.StdId = CAN_BASE_ID + nCanBaseIdOffset + 2;
CanTxHeader.DLC = 8; //Bytes to send
CanTxData[0] = (nCanRotarySwitch[1] << 4) + nCanRotarySwitch[0];
CanTxData[1] = (nCanRotarySwitch[3] << 4) + nCanRotarySwitch[2];
@ -749,6 +753,13 @@ void StartDefaultTask(void *argument)
/* Infinite loop */
for(;;)
{
//=======================================================
//Set CAN base ID
//=======================================================
nCanId1 = HAL_GPIO_ReadPin(CAN_ID_1_GPIO_Port, CAN_ID_1_Pin);
nCanId2 = HAL_GPIO_ReadPin(CAN_ID_2_GPIO_Port, CAN_ID_2_Pin);
nCanBaseIdOffset = (nCanId1 << 4) + (nCanId2 << 5);
//=======================================================
//Set digital outputs
//=======================================================