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Fix msg ID generation in CSC, need to apply mask before shifting, not after

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Allen Ibara
2009-04-29 01:33:52 +00:00
parent 827f67fa07
commit b49a527e96
1 changed files with 1 additions and 1 deletions
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sw/airborne/csc/csc_ap_link.c
+1 -1
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@@ -33,7 +33,7 @@ void csc_ap_send_msg(uint8_t msg_id, const uint8_t *buf, uint8_t len)
// set frame length
out_msg.frame = (len << 16);
// build msg id using our board ID and requested msg id
out_msg.id = ((CSC_BOARD_ID << 7) & CSC_BOARD_MASK) | (msg_id & CSC_MSGID_MASK);
out_msg.id = ((CSC_BOARD_ID & CSC_BOARD_MASK) << 7) | (msg_id & CSC_MSGID_MASK);
// copy msg payload in host order
memcpy((char *)&out_msg.dat_a, buf, len);
// send via CAN2