Update managing of fw requests

robotology · Dec 27, 2023 · 95c349a · 95c349a
1 parent b8e3f1e
commit 95c349a
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/BAT_B.c b/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/BAT_B.c
@@ -11,7 +11,7 @@
 
 char Firmware_vers = 1;
 char Revision_vers = 3;
-char Build_number  = 2;
+char Build_number  = 3;
 
 uint32_t vtol=100;  // voltage tolerance for hysteresis
 uint32_t vhyst=0;    // voltage hysteresis

diff --git a/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/can_utility.c b/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/can_utility.c
@@ -147,10 +147,12 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
   }
 
   /* Enable - Disable CAN Transmission from EMS */
-  if(((RxHeader.StdId & 0x700) >> 8) == 2) // GOT MESSAGE FROM CLASS ICUBCANPROTO_CLASS_POLLING_ANALOGSENSOR
+  if(((RxHeader.StdId & 0x700) >> 8) == 2 && (RxHeader.IDE == CAN_ID_STD)) // GOT MESSAGE FROM CLASS ICUBCANPROTO_CLASS_POLLING_ANALOGSENSOR
   {
-
-      TX_ENABLED = (RxData[1] == 0) ? 1 : 0;
+      if((RxData[0] & 0x7F) == 7) // GOT MESSAGE OF TYPE ICUBCANPROTO_POL_AS_CMD__SET_TXMODE
+      {
+        TX_ENABLED = (RxData[1] == 0) ? 1 : 0;
+      }
   }
 
   /* Display LEDx */

diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
@@ -81,7 +81,7 @@ extern "C" {
 #define EOMTHEEMSAPPLCFG_VERSION_MAJOR          (VERSION_MAJOR_OFFSET+3)
 //  <o> minor           <0-255> 
 //  <o> minor           <0-255>
-#define EOMTHEEMSAPPLCFG_VERSION_MINOR          82
+#define EOMTHEEMSAPPLCFG_VERSION_MINOR          83
 
 //  </h>version