fix CAN filters

306-controller_interface.X/mcc_generated_files/ecan.c

@@ -109,26 +109,39 @@ void ECAN_Initialize(void)
     ........................................................    
     ........................................................
     */
-    // mask 0 is 11 bits for filter 0 and 1
+    
+    /*
+     * Mask 0 is 11 bits for filters 0 and 1 only
+     * filter set for 3 recipient bits
+     * Mask 1 is copy of mask 0 but for other filters
+     */
     convertCANid2Reg(0x070, dSTANDARD_CAN_MSG_ID_2_0B, &RXM0EIDH, &RXM0EIDL, &RXM0SIDH, &RXM0SIDL);
-    // filter 0 and 1 is broadcast message
+    convertCANid2Reg(0x070, dSTANDARD_CAN_MSG_ID_2_0B, &RXM1EIDH, &RXM1EIDL, &RXM1SIDH, &RXM1SIDL);
+
+    // filter 0 is broadcast message
     convertCANid2Reg(0x000, dSTANDARD_CAN_MSG_ID_2_0B, &RXF0EIDH, &RXF0EIDL, &RXF0SIDH, &RXF0SIDL);  
+    
+    // filter 1 is message for controller
     convertCANid2Reg(0x010, dSTANDARD_CAN_MSG_ID_2_0B, &RXF1EIDH, &RXF1EIDL, &RXF1SIDH, &RXF1SIDL);  
+   
+    // filter 2 is message for recipient n°7, not yet defined
     convertCANid2Reg(0x070, dSTANDARD_CAN_MSG_ID_2_0B, &RXF2EIDH, &RXF2EIDL, &RXF2SIDH, &RXF2SIDL);  
 
-    /**
-    Enable Filters
-    */
-    RXFCON0 = 0x01;     // Filter 0 is activated
-    RXFCON1 = 0x00;
+    /*
+     * ENABLE FILTERS
+     * 
+     * Filter 0 set on mask 0
+     * Filter 1 set on mask 0
+     * Filter 2 set on mask 1
+     */
+    RXFCON0 = 0x07;
+    
     
     /**
     Assign Filters to Masks
     */
-    MSEL0 = 0x00;       // filter 0 is assigned to mask 0
-    MSEL1 = 0x00;
-    MSEL2 = 0x00;
-    MSEL3 = 0x00;
+    // Filter 0 & 1 assigned to mask 0 and filter 2 assigned to mask 1
+    MSEL0 = 0x10;
 
     /**
     Initialize CAN Timings

306-controller_interface.X/middleware/can_interface.c

@@ -85,9 +85,9 @@ bool CAN_processEvent(Event* ev) {
             // Send a message
             if (ev->id == evCAsend) {
                 uCAN_MSG canMsg;
-                canMsg.frame.idType = 0;    // I don't understand what is it
-                canMsg.frame.dlc = 4;       // 4 bytes to send
-                canMsg.frame.rtr = 0;       // no remote frame
+                canMsg.frame.idType = dSTANDARD_CAN_MSG_ID_2_0B;    // standard
+                canMsg.frame.dlc = 4;                               // 4 bytes to send
+                canMsg.frame.rtr = 0;                               // no remote frame
                 canMsg.frame.data3 = (uint8_t) data;
                 data = data >> 8;
                 canMsg.frame.data2 = (uint8_t) data;

306-controller_interface.X/nbproject/configurations.xml

@@ -210,6 +210,7 @@
         <property key="debugoptions.debug-startup" value="Use system settings"/>
         <property key="debugoptions.reset-behaviour" value="Use system settings"/>
         <property key="debugoptions.useswbreakpoints" value="false"/>
+        <property key="firmware.download.all" value="false"/>
         <property key="hwtoolclock.frcindebug" value="false"/>
         <property key="memories.aux" value="false"/>
         <property key="memories.bootflash" value="true"/>