Новая версия протокола CAN.

Пока без ответа на запрос в общее адресное пространство.

Core/Src/requester.c

@@ -1,29 +1,13 @@
 #include "requester.h"
 
-static union Byte byte[2048][8];
-#define byte_modbusadr(x) byte[x/64][(x%64)/8]
-#define _GET_MODBUS_BIT(x) byte[x/64][(x%64)/8].AllBit>>((x%64)%8)
-#define _GET_MODBUS_ADR(SensorId, RequestedBytePosition, RequestedBitPosition) SensorId*64 + RequestedBytePosition*8 + RequestedBitPosition
-
-uint16_t ModbusFilters[COUNT_OF_MODBUS_SECTIONS][2];
-
 struct device CurrentDevice;
-struct device Device_on_the_Network[32];
-struct data Data;
+struct device Device_on_the_Network[8][16];
 struct controlflags ControlFlags;
-struct received_request ReceivedRequest;
 
 uint8_t CurrentStep = 0;
 uint8_t LastStep = 0;
 struct RXMsg rxMsg[CAN_RX_BUFFER_SIZE];
 
-#define MAX_NUM_OF_DEVICES_PER_LINE 4
-#define MAX_NUM_OF_REGISTERS_IN_DEVICE 255
-
-//Регистр это слово (16 бит). uint16
-uint16_t ModbusDemonstration[MAX_NUM_OF_DEVICES_PER_LINE][MAX_NUM_OF_REGISTERS_IN_DEVICE];
-uint16_t ModbusAlternativeTable[MAX_NUM_OF_DEVICES_PER_LINE*MAX_NUM_OF_REGISTERS_IN_DEVICE];
-
 _Bool IsLeapYear(uint8_t year)
 {
 	year+=2000;
@@ -50,135 +34,94 @@ void REQUESTER_Init(void)
 	ControlFlags.IsPulse = 1;
 	MX_TIM7_Init();
 	MX_RTC_Init();
-	
-	#ifdef _DEMO
-	int Reg_AltModbusTable;
-	//Тестовые значения регистров. Для отладки/демонстрации
-	for(int x = 0; x < MAX_NUM_OF_DEVICES_PER_LINE; x++)
-	{
-		for(int y = 0; y < MAX_NUM_OF_REGISTERS_IN_DEVICE; y++)
-		{
-			ModbusDemonstration[x][y] = x<<8 | y;
-			
-			Reg_AltModbusTable = x*MAX_NUM_OF_REGISTERS_IN_DEVICE+y;
-			
-			ModbusAlternativeTable[Reg_AltModbusTable] = x<<8 | y;
-		}
-	}
-	#endif
 }
 
-int ProverkaDefinaResult;
-int ProverkaDefinaItem = 0;
-int ProverkaArbitors = 0;
-
 /**
 * @brief Функция с обработкой полученных запросов
-* @details В бесконечном цикле функция ожидает выставление флага о полученном запросе.
+* @details В бесконечном цикле функция ожидает приёма сообщения. После этого сообщение распределяется в зависимости от DataType.
 * Обработка запроса аналоговых значений - REQUESTER_AnalogProcessing().
 *	Обработка широковещательных запросов - REQUESTER_BroadcastProcessing().
 * Обработка запроса дискретных значений - REQUESTER_DiscreticProcessing().
 * Обработка Modbus - REQUESTER_ModbusProcessing().
-* @note
 */
 void REQUESTER_MainWhile(void)
 {
-	CAN_TxHeaderTypeDef TxHeader;
-	uint32_t TxMailBox = 0;
-	uint8_t data[8];
-	extID eID;
-	eID.BitAll = 0;
-	eID.StandardFields.DeviceID = 2;
-	eID.StandardFields.DataType = DATA_TYPE_ANALOG;
-	eID.StandardFields.SensorType = 0x1F;
-	eID.StandardFields.SensorID = 0;
-	eID.StandardFields.Route = ROUTE_SLAVE;
-	
-	TxHeader.IDE = CAN_ID_EXT;
-	TxHeader.TransmitGlobalTime = DISABLE;
-	TxHeader.RTR = CAN_RTR_DATA;
-	TxHeader.ExtId = eID.BitAll;
-	int TxTest = 0;
 	HAL_TIM_Base_Start_IT(&htim7);
-	
+	unsigned currentAttemptCount;
 	while(1)
 	{
 		if(AvailableCanRxMsg())
 		{
-			if(rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_ANALOG)
-			{
-				REQUESTER_AnalogProcessing(rxMsg[CurrentStep]);
-			}
-			else if(rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_BROADCAST)
-			{
-				REQUESTER_BroadcastProcessing(rxMsg[CurrentStep]);
-			}
-			else if(rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_DISCRETE)
-			{
-				REQUESTER_DiscreticProcessing(rxMsg[CurrentStep]);
-			}
-			else if(rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_MODBUS_COIL ||
-				rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_MODBUS_DISCRETE ||
-				rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_MODBUS_HOLDING ||
-				rxMsg[CurrentStep].eID.StandardFields.DataType == DATA_TYPE_MODBUS_INPUT)
-			{
-				REQUESTER_ModbusProcessing(rxMsg[CurrentStep]);
-			}
+			currentAttemptCount = 0;
+				if(rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_ANALOG)
+				{
+					REQUESTER_AnalogProcessing(rxMsg[CurrentStep]);
+				}
+				else if(rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_BROADCAST)
+				{
+					REQUESTER_BroadcastProcessing(rxMsg[CurrentStep]);					
+				}
+				else if(rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_DISCRETE)
+				{
+					REQUESTER_DiscreticProcessing(rxMsg[CurrentStep]);
+				}
+				else if(rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_GENERAL_ADDRESS_SPACE)
+				{
+					
+				}
+				else if(rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_MODBUS_COIL ||
+					rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_MODBUS_DISCRETE ||
+					rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_MODBUS_HOLDING ||
+					rxMsg[CurrentStep].eID.Fields.MsgType == DATA_TYPE_MODBUS_INPUT)
+				{
+						REQUESTER_ModbusProcessing(rxMsg[CurrentStep]);
+				}
 			CurrentStep = (uint16_t)(CurrentStep + 1) % CAN_RX_BUFFER_SIZE;
 		}
-		/*
-		while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0);
-		
-		if(HAL_CAN_AddTxMessage(&hcan, &TxHeader, data, &TxMailBox)!= HAL_OK)
-		{
-			ProverkaArbitors++;
-		}
-		*/
-//		eID.Fields.SensorID++;
-//		if(eID.Fields.SensorID>10)
-		//{
-//			eID.Fields.SensorID = 0;
-//		}			
 	}
 }
 
 /**
 * @brief Функция обработки аналоговых запросов.
-* @details Функция, формирующая и отправляющая ответ на запросы. Типы запросов: Универсальный, Уставки, Напряжение, Ток, Температура
+* @param struct RXMsg _rxMsg - структура для полученного сообщения.
+* @details Функция, формирующая и отправляющая ответ на запросы. Типы запросов: Универсальный, Уставки, Напряжение, Ток, Температура.
+
 */
-void REQUESTER_AnalogProcessing(struct RXMsg _rxMsg)
+CRR_Status REQUESTER_AnalogProcessing(struct RXMsg _rxMsg)
 {
-	switch (_rxMsg.eID.StandardFields.SensorType)
+	switch (_rxMsg.eID.Fields.Msg.Analog.SensorType)
 	{
 		case SENSOR_TYPE_ANALOG_UNIVERSAL:
 		{
-			CanRequestToAnalogUniversal(_rxMsg);
+			return (CRR_Status)CanRequestToAnalogUniversal(_rxMsg);
 			break;
 		}
 		case SENSOR_TYPE_ANALOG_USTAVKI:
 		{
-			CanRequestToAnalogUSTAVKI(_rxMsg);
+			return (CRR_Status)CanRequestToAnalogUSTAVKI(_rxMsg);
 			break;
 		}
 		case SENSOR_TYPE_ANALOG_U:
 		{
-			CanRequestToAnalogUSens(_rxMsg);
+			return (CRR_Status)CanRequestToAnalogUSens(_rxMsg);
 			break;
 		}
 		case SENSOR_TYPE_ANALOG_I:
 		{
-			CanRequestToAnalogISens(_rxMsg);		
+			return (CRR_Status)CanRequestToAnalogISens(_rxMsg);		
 			break;
 		}
 		case SENSOR_TYPE_ANALOG_T:
 		{
-			CanRequestToAnalogTSens(_rxMsg);
+			return (CRR_Status)CanRequestToAnalogTSens(_rxMsg);
 			break;
 		}
 		default:
 			//RESERVE SENSOR TYPE
+			return CRR_ERROR;
 			break;
 	}
+	return CRR_ERROR;
 }
 
 __weak HAL_StatusTypeDef CanRequestToAnalogUniversal(struct RXMsg _rxMsg)
@@ -191,7 +134,7 @@ __weak HAL_StatusTypeDef CanRequestToAnalogUniversal(struct RXMsg _rxMsg)
 	TxHeader.RTR = CAN_RTR_DATA;
 	extID tmp_eID;
 	tmp_eID.BitAll = _rxMsg.eID.BitAll;
-	tmp_eID.StandardFields.Route = ROUTE_SLAVE;
+	tmp_eID.Fields.Route = ROUTE_SLAVE;
 	TxHeader.ExtId = tmp_eID.BitAll;
 	TxHeader.DLC = 6;
 	data[0] = 'U';
@@ -213,7 +156,7 @@ __weak HAL_StatusTypeDef CanRequestToAnalogUSTAVKI(struct RXMsg _rxMsg)
 	TxHeader.RTR = CAN_RTR_DATA;
 	extID tmp_eID;
 	tmp_eID.BitAll = _rxMsg.eID.BitAll;
-	tmp_eID.StandardFields.Route = ROUTE_SLAVE;
+	tmp_eID.Fields.Route = ROUTE_SLAVE;
 	TxHeader.ExtId = tmp_eID.BitAll;
 	TxHeader.DLC = 7;
 	data[0] = 'U';
@@ -236,15 +179,15 @@ __weak HAL_StatusTypeDef CanRequestToAnalogUSens(struct RXMsg _rxMsg)
 	TxHeader.RTR = CAN_RTR_DATA;
 	extID tmp_eID;
 	tmp_eID.BitAll = _rxMsg.eID.BitAll;
-	tmp_eID.StandardFields.Route = ROUTE_SLAVE;
+	tmp_eID.Fields.Route = ROUTE_SLAVE;
 	TxHeader.ExtId = tmp_eID.BitAll;
 	TxHeader.DLC = 6;
 	data[0] = 'U';
-	data[1] = ' ';
-	data[2] = 's';
-	data[3] = 'e';
-	data[4] = 'n';
-	data[5] = 's';
+	data[1] = 'S';
+	data[2] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 1000;
+	data[3] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 100 % 10;
+	data[4] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 10 % 10;
+	data[5] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID % 10;
 	return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
 }
 
@@ -258,15 +201,15 @@ __weak HAL_StatusTypeDef CanRequestToAnalogISens(struct RXMsg _rxMsg)
 	TxHeader.RTR = CAN_RTR_DATA;
 	extID tmp_eID;
 	tmp_eID.BitAll = _rxMsg.eID.BitAll;
-	tmp_eID.StandardFields.Route = ROUTE_SLAVE;
+	tmp_eID.Fields.Route = ROUTE_SLAVE;
 	TxHeader.ExtId = tmp_eID.BitAll;
 	TxHeader.DLC = 6;
 	data[0] = 'I';
-	data[1] = ' ';
-	data[2] = 's';
-	data[3] = 'e';
-	data[4] = 'n';
-	data[5] = 's';
+	data[1] = 'S';
+	data[2] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 1000;
+	data[3] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 100 % 10;
+	data[4] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 10 % 10;
+	data[5] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID % 10;
 	return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
 }
 
@@ -280,30 +223,34 @@ __weak HAL_StatusTypeDef CanRequestToAnalogTSens(struct RXMsg _rxMsg)
 	TxHeader.RTR = CAN_RTR_DATA;
 	extID tmp_eID;
 	tmp_eID.BitAll = _rxMsg.eID.BitAll;
-	tmp_eID.StandardFields.Route = ROUTE_SLAVE;
+	tmp_eID.Fields.Route = ROUTE_SLAVE;
 	TxHeader.ExtId = tmp_eID.BitAll;
 	TxHeader.DLC = 6;
 	data[0] = 'T';
-	data[1] = ' ';
-	data[2] = 's';
-	data[3] = 'e';
-	data[4] = 'n';
-	data[5] = 's';
+	data[1] = 'S';
+	data[2] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 1000;
+	data[3] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 100 % 10;
+	data[4] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID / 10 % 10;
+	data[5] = 47 + _rxMsg.eID.Fields.Msg.Analog.SensorID % 10;
 	return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
 }
 
 /**
 * @brief Функция обработки широковещательных запросов.
+* @param struct RXMsg _rxMsg - структура для полученного сообщения.
 * @details Функция, выполняющая команды, переданные в широковещательном формате с головного (master) устройства. Типы команд: Запрос статуса, запрос на включение или выключение, рестарт устройств, установка времени.
 */
-void REQUESTER_BroadcastProcessing(struct RXMsg _rxMsg)
+CRR_Status REQUESTER_BroadcastProcessing(struct RXMsg _rxMsg)
 {	
-	switch(_rxMsg.eID.StandardFields.SensorType)
+	switch(_rxMsg.eID.Fields.Msg.Broadcast.BroadcastType)
 	{
 		case SENSOR_TYPE_BROADCAST_STATUS:
 		{
 			//Обработка запроса статуса устройства
-			CanRequestToBroadcastStatus(_rxMsg);
+			if(CanRequestToBroadcastStatus(_rxMsg)!=HAL_OK)
+			{
+				return CRR_ERROR;
+			}
 			break;
 		}
 		case SENSOR_TYPE_BROADCAST_ONOFF:
@@ -326,8 +273,10 @@ void REQUESTER_BroadcastProcessing(struct RXMsg _rxMsg)
 		}
 		default:
 			//RESERVE SENSOR TYPE.
+			return CRR_ERROR;
 			break;
 	}
+	return CRR_OK;
 }
 
 __weak HAL_StatusTypeDef CanRequestToBroadcastStatus(struct RXMsg _rxMsg)
@@ -341,8 +290,9 @@ __weak HAL_StatusTypeDef CanRequestToBroadcastStatus(struct RXMsg _rxMsg)
 	TxHeader.RTR = CAN_RTR_DATA;
 	extID tmp_eID;
 	tmp_eID.BitAll = _rxMsg.eID.BitAll;
-	tmp_eID.StandardFields.Route = ROUTE_SLAVE;
-	tmp_eID.StandardFields.DeviceID = CURRENT_ID_DEVICE;
+	tmp_eID.Fields.Route = ROUTE_SLAVE;
+	tmp_eID.Fields.DeviceType = CURRENT_TYPE_DEVICE;
+	tmp_eID.Fields.DeviceID = CURRENT_ID_DEVICE;
 	TxHeader.ExtId = tmp_eID.BitAll;
 	
 	RTC_TimeTypeDef sTime = {0};
@@ -372,7 +322,7 @@ __weak void CanRequestToBroadcastRestart(struct RXMsg _rxMsg)
 	{
 		return;
 	}
-	if(_rxMsg.eID.StandardFields.SensorID == (CURRENT_ID_DEVICE / (_rxMsg.DLC*8)))
+	if(_rxMsg.eID.Fields.Msg.Broadcast.Page == (CURRENT_ID_DEVICE / (_rxMsg.DLC*8)))
 	{
 		uint64_t page = 0;
 		for(int i = 0; i < _rxMsg.DLC; i++)
@@ -416,12 +366,13 @@ __weak void CanRequestToBroadcastRtcSetup(struct RXMsg _rxMsg)
 
 /**
 * @brief Функция обработки дискретных запросов.
+* @param struct RXMsg _rxMsg - структура для полученного сообщения.
 * @details Функция, формирующая и отправляющая ответ на запросы. Типы запросов: Аварии, Предупреждения, Управляющие сигналы, Флаги, Рестарт устройства, Изменение режима работы устройства, Запрос на устройство.
 * @note Запрос на устройство. Головное (master) устройство запрашивает некоторое колличество параметров. В Data - 64 битовых адресса параметров, тип которых задаётся в Sensor ID. Имеется возможность запрашивать непоследовательные параметры.
 */
-void REQUESTER_DiscreticProcessing(struct RXMsg _rxMsg)
+CRR_Status REQUESTER_DiscreticProcessing(struct RXMsg _rxMsg)
 {
-	switch(_rxMsg.eID.StandardFields.SensorType){
+	switch(_rxMsg.eID.Fields.Msg.Discrete.Type){
 		case SENSOR_TYPE_DISCRETE_ACCIDENT:
 		{
 			CanRequestToDiscreteAccident(_rxMsg);
@@ -459,8 +410,10 @@ void REQUESTER_DiscreticProcessing(struct RXMsg _rxMsg)
 		}
 		default:
 			//RESERVE SENSOR TYPE.
+			return CRR_ERROR;
 			break;
 	}
+	return CRR_OK;
 }
 
 __weak void CanRequestToDiscreteAccident(struct RXMsg _rxMsg)
@@ -499,116 +452,144 @@ __weak void CanRequestToDiscreteRequestListOfParameters(struct RXMsg _rxMsg)
 
 /**
 * @brief Функция обработки Modbus запросов.
+* @param struct RXMsg _rxMsg - структура для полученного сообщения.
 * @details Функция, формирующая и отправляющая ответ на запросы.
 */
-void REQUESTER_ModbusProcessing(struct RXMsg _rxMsg)
+CRR_Status REQUESTER_ModbusProcessing(struct RXMsg _rxMsg)
 {
-	switch(_rxMsg.eID.ModbusFields.DataType)
+	switch(_rxMsg.eID.Fields.MsgType)
 	{
 		case DATA_TYPE_MODBUS_COIL:
 		{
-			CanRequestToModbusCoil(_rxMsg);
+			return (CRR_Status)CanRequestToModbusCoil(_rxMsg);
 			break;
 		}
 		case DATA_TYPE_MODBUS_DISCRETE:
 		{
-			CanRequestToModbusDiscrete(_rxMsg);
+			return (CRR_Status)CanRequestToModbusDiscrete(_rxMsg);
 			break;
 		}
 		case DATA_TYPE_MODBUS_HOLDING:
 		{	
-			CanRequestToModbusHolding(_rxMsg);
+			return (CRR_Status)CanRequestToModbusHolding(_rxMsg);
 			break;
 		}
 		case DATA_TYPE_MODBUS_INPUT:
 		{
-			CanRequestToModbusInput(_rxMsg);
+			return (CRR_Status)CanRequestToModbusInput(_rxMsg);
 			break;
 		}
 		default:
 			//ERROR
+			return CRR_ERROR;
 			break;
 	}
+	return CRR_ERROR;
 }
 
-__weak void CanRequestToModbusCoil(struct RXMsg _rxMsg)
+__weak HAL_StatusTypeDef CanRequestToModbusCoil(struct RXMsg _rxMsg)
 {
-	return;
+	CAN_TxHeaderTypeDef TxHeader;
+	uint32_t TxMailBox = 0;
+	uint8_t data[8];
+	TxHeader.IDE = CAN_ID_EXT;
+	TxHeader.TransmitGlobalTime = DISABLE;
+	TxHeader.RTR = CAN_RTR_DATA;
+	extID tmp_eID;
+	tmp_eID.BitAll = _rxMsg.eID.BitAll;
+	tmp_eID.Fields.Route = ROUTE_SLAVE;
+	TxHeader.ExtId = tmp_eID.BitAll;
+	TxHeader.DLC = 8;
+	data[0] = 'M';
+	data[1] = 'C';
+	data[2] = ' ';
+	data[3] = 'S';
+	data[4] = _rxMsg.eID.Fields.Msg.Modbus.StrAdr;
+	data[5] = ' ';
+	data[6] = 'C';
+	data[7] = _rxMsg.eID.Fields.Msg.Modbus.RegCount;
+	return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
 }
-__weak void CanRequestToModbusDiscrete(struct RXMsg _rxMsg)
+__weak HAL_StatusTypeDef CanRequestToModbusDiscrete(struct RXMsg _rxMsg)
 {
-	return;
+	CAN_TxHeaderTypeDef TxHeader;
+	uint32_t TxMailBox = 0;
+	uint8_t data[8];
+	TxHeader.IDE = CAN_ID_EXT;
+	TxHeader.TransmitGlobalTime = DISABLE;
+	TxHeader.RTR = CAN_RTR_DATA;
+	extID tmp_eID;
+	tmp_eID.BitAll = _rxMsg.eID.BitAll;
+	tmp_eID.Fields.Route = ROUTE_SLAVE;
+	TxHeader.ExtId = tmp_eID.BitAll;
+	TxHeader.DLC = 8;
+	data[0] = 'M';
+	data[1] = 'D';
+	data[2] = ' ';
+	data[3] = 'S';
+	data[4] = _rxMsg.eID.Fields.Msg.Modbus.StrAdr;
+	data[5] = ' ';
+	data[6] = 'C';
+	data[7] = _rxMsg.eID.Fields.Msg.Modbus.RegCount;
+	return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
 }
-__weak void CanRequestToModbusHolding(struct RXMsg _rxMsg)
+__weak HAL_StatusTypeDef CanRequestToModbusHolding(struct RXMsg _rxMsg)
 {
-	return;
+	CAN_TxHeaderTypeDef TxHeader;
+	uint32_t TxMailBox = 0;
+	uint8_t data[8];
+	TxHeader.IDE = CAN_ID_EXT;
+	TxHeader.TransmitGlobalTime = DISABLE;
+	TxHeader.RTR = CAN_RTR_DATA;
+	extID tmp_eID;
+	tmp_eID.BitAll = _rxMsg.eID.BitAll;
+	tmp_eID.Fields.Route = ROUTE_SLAVE;
+	TxHeader.ExtId = tmp_eID.BitAll;
+	TxHeader.DLC = 8;
+	data[0] = 'M';
+	data[1] = 'H';
+	data[2] = ' ';
+	data[3] = 'S';
+	data[4] = _rxMsg.eID.Fields.Msg.Modbus.StrAdr;
+	data[5] = ' ';
+	data[6] = 'C';
+	data[7] = _rxMsg.eID.Fields.Msg.Modbus.RegCount;
+	return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
 }
-__weak void CanRequestToModbusInput(struct RXMsg _rxMsg)
+__weak HAL_StatusTypeDef CanRequestToModbusInput(struct RXMsg _rxMsg)
 {
-	return;
+	CAN_TxHeaderTypeDef TxHeader;
+	uint32_t TxMailBox = 0;
+	uint8_t data[8];
+	TxHeader.IDE = CAN_ID_EXT;
+	TxHeader.TransmitGlobalTime = DISABLE;
+	TxHeader.RTR = CAN_RTR_DATA;
+	extID tmp_eID;
+	tmp_eID.BitAll = _rxMsg.eID.BitAll;
+	tmp_eID.Fields.Route = ROUTE_SLAVE;
+	TxHeader.ExtId = tmp_eID.BitAll;
+	TxHeader.DLC = 8;
+	data[0] = 'M';
+	data[1] = 'I';
+	data[2] = ' ';
+	data[3] = 'S';
+	data[4] = _rxMsg.eID.Fields.Msg.Modbus.StrAdr;
+	data[5] = ' ';
+	data[6] = 'C';
+	data[7] = _rxMsg.eID.Fields.Msg.Modbus.RegCount;
+	return HAL_CAN_AddTxMessage(&_HCAN, &TxHeader, data, &TxMailBox);
 }
 
-/*	СТАРЫЙ УЖАСНЫЙ МОДБАС
-	if((ReceivedRequest.SensorToModbus.Modbus.StrAdr>=0) && (ReceivedRequest.SensorToModbus.Modbus.StrAdr<=127))
-	{
-		//Обращение к существующему в устройстве модбас регистру
-		CAN_TxHeaderTypeDef TxHeader;
-		uint32_t TxMailBox = 0;
-		uint8_t data[8];
-		TxHeader.IDE = CAN_ID_EXT;
-		TxHeader.DLC = 8;
-		TxHeader.RTR = CAN_RTR_DATA;
-		
-		int RequestFromDLC;
-		for(RequestFromDLC = ReceivedRequest.SensorToModbus.Modbus.StrAdr; 
-			(RequestFromDLC<MAX_NUM_OF_REGISTERS_IN_DEVICE) && 
-			((RequestFromDLC-ReceivedRequest.SensorToModbus.Modbus.StrAdr)<ReceivedRequest.SensorToModbus.Modbus.Count); 
-//				RequestFromDLC++
-			)
-		{
-			TxHeader.DLC = 0;
-			extID eID;
-			eID.BitAll = ReceivedRequest.RequestedExtID.BitAll;
-			eID.StandardFields.Route = ROUTE_SLAVE;
-			eID.StandardFields.SensorType = RequestFromDLC>>11;
-			eID.StandardFields.SensorID = RequestFromDLC;
-			TxHeader.ExtId = eID.BitAll;
-			for(int DataFor = 0; DataFor < 8; DataFor+=2)
-			{
-				data[DataFor] = HighByteOfWord(ModbusDemonstration[CURRENT_ID_DEVICE][RequestFromDLC]);
-				data[DataFor+1] = LowByteOfWord(ModbusDemonstration[CURRENT_ID_DEVICE][RequestFromDLC]);
-				RequestFromDLC++;
-				TxHeader.DLC +=2;
-				if(!((RequestFromDLC<MAX_NUM_OF_REGISTERS_IN_DEVICE) && 
-					((RequestFromDLC-ReceivedRequest.SensorToModbus.Modbus.StrAdr)<ReceivedRequest.SensorToModbus.Modbus.Count)))
-				{
-					break;
-				}
-			}
-			while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0);
-			HAL_CAN_AddTxMessage(&hcan, &TxHeader, data, &TxMailBox);
-		}
-		extID emID;
-		emID.BitAll = 0;
-		emID.ModbusFields.DeviceID = CURRENT_ID_DEVICE;
-		emID.ModbusFields.DataType = DATA_TYPE_ERROR;
-		emID.ModbusFields.CountReg = NONEXISTENT_ELEMENT;
-		emID.ModbusFields.Route = ROUTE_SLAVE;
-		TxHeader.DLC = 0;
-		for(;(RequestFromDLC-ReceivedRequest.SensorToModbus.Modbus.StrAdr)<ReceivedRequest.SensorToModbus.Modbus.Count; RequestFromDLC++)
-		{
-			emID.ModbusFields.StrAdr = RequestFromDLC;
-			TxHeader.ExtId = emID.BitAll;
-			while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0);
-			HAL_CAN_AddTxMessage(&hcan, &TxHeader, data, &TxMailBox);
-		}
-		ReceivedRequest.ModbusFlags.AllFlags = 0;
-		return;
-	}
-	ReceivedRequest.ModbusFlags.AllFlags = 0;
-	*/
-
-
+/**
+* @brief
+* @param extID tmp_eID
+* @param uint32_t tmp_IDE
+* @param uint32_t tmp_RTR
+* @param uint32_t tmp_DLC
+* @param uint8_t *tmp_DATA
+* @param uint16_t tmp_LastStep
+* @details
+*/
 void TakeRxMsgToBuffer(extID tmp_eID, uint32_t tmp_IDE, uint32_t tmp_RTR, uint32_t tmp_DLC, uint8_t *tmp_DATA, uint16_t tmp_LastStep)
 {
 	rxMsg[tmp_LastStep].eID.BitAll = tmp_eID.BitAll;
@@ -638,28 +619,26 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 
 		if(tmp_LastStep == CurrentStep)
 		{
+			//Буффер переполнен
 			return;
 		}
 		extID ExtID_Of_RX_MSG;
 		ExtID_Of_RX_MSG.BitAll = RxHeader.ExtId;
 		//Полученное сообщение - широковещательное
-		if (ExtID_Of_RX_MSG.StandardFields.DeviceID == ID_MAIN_DEVICE)
+		if (ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_BROADCAST)
 		{
-			if(ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_BROADCAST)
-			{
-				TakeRxMsgToBuffer(ExtID_Of_RX_MSG, RxHeader.IDE, RxHeader.RTR, RxHeader.DLC, RCAN_Data, tmp_LastStep);
-				return;
-			}
+			TakeRxMsgToBuffer(ExtID_Of_RX_MSG, RxHeader.IDE, RxHeader.RTR, RxHeader.DLC, RCAN_Data, tmp_LastStep);
+			return;
 		}
 		//Если ID запроса соответствует ID устройства
-		if(ExtID_Of_RX_MSG.StandardFields.DeviceID == (CURRENT_ID_DEVICE))
+		if((ExtID_Of_RX_MSG.Fields.DeviceType == CURRENT_TYPE_DEVICE) && (ExtID_Of_RX_MSG.Fields.DeviceID == CURRENT_ID_DEVICE))
 		{
-			if(ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_DISCRETE)
+			if(ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_DISCRETE)
 			{
 				TakeRxMsgToBuffer(ExtID_Of_RX_MSG, RxHeader.IDE, RxHeader.RTR, RxHeader.DLC, RCAN_Data, tmp_LastStep);
 				return;
 			}
-			if(ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_ANALOG)
+			if(ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_ANALOG)
 			{
 				//Является ли полученное сообщение - запросом
 				if(RxHeader.RTR)
@@ -668,20 +647,20 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 					return;
 				}
 			}
-			if(ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_MODBUS_COIL ||
-				ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_MODBUS_DISCRETE ||
-				ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_MODBUS_HOLDING ||
-				ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_MODBUS_INPUT)
+			if(ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_MODBUS_COIL ||
+				ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_MODBUS_DISCRETE ||
+				ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_MODBUS_HOLDING ||
+				ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_MODBUS_INPUT)
 			{
 				TakeRxMsgToBuffer(ExtID_Of_RX_MSG, RxHeader.IDE, RxHeader.RTR, RxHeader.DLC, RCAN_Data, tmp_LastStep);
 				return;
 			}
 		}
 		//Полученное сообщение - пульс устройств в сети
-		if (ExtID_Of_RX_MSG.StandardFields.DataType == DATA_TYPE_PULSE)
+		if (ExtID_Of_RX_MSG.Fields.MsgType == DATA_TYPE_PULSE)
 		{
-			Device_on_the_Network[ExtID_Of_RX_MSG.StandardFields.DeviceID].Status = ONLINE;
-			Device_on_the_Network[ExtID_Of_RX_MSG.StandardFields.DeviceID].TimeFromLastPulse = 0;
+			Device_on_the_Network[ExtID_Of_RX_MSG.Fields.DeviceType][ExtID_Of_RX_MSG.Fields.DeviceID].Status = ONLINE;
+			Device_on_the_Network[ExtID_Of_RX_MSG.Fields.DeviceType][ExtID_Of_RX_MSG.Fields.DeviceID].TimeFromLastPulse = 0;
 		}
 	}
 }
@@ -699,9 +678,11 @@ void REQUESTER_Pulse_TIM_Handler()
 		uint32_t TxMailBox = 0;
 		extID currentID;
 		currentID.BitAll = 0;
-		currentID.StandardFields.DeviceID = CURRENT_ID_DEVICE;
-		currentID.StandardFields.DataType = DATA_TYPE_PULSE;
-		currentID.StandardFields.Route = ROUTE_SLAVE;
+		currentID.Fields.DeviceID = CURRENT_ID_DEVICE;
+		currentID.Fields.DeviceType = CURRENT_TYPE_DEVICE;
+		currentID.Fields.MsgType = DATA_TYPE_PULSE;
+		currentID.Fields.Route = ROUTE_SLAVE;
+		currentID.Fields.Priority = PRIORITY_STANDARD;
 		TxHeader.ExtId = currentID.BitAll;
 		uint8_t data[8];
 		TxHeader.IDE = CAN_ID_EXT;
@@ -719,7 +700,7 @@ void REQUESTER_Pulse_TIM_Handler()
 
 /**
 * @brief Функция установки в RTC полученной даты/время из запроса.
-* @param Байтовый массив, 7 элементов. [0] - Часы. [1] - Минуты. [2] - Секунды. [3] - Год. [4] - Месяц. [5] - Дата. [6] - День недели.
+* @param uint8_t *data - Байтовый массив, 7 элементов. [0] - Часы. [1] - Минуты. [2] - Секунды. [3] - Год. [4] - Месяц. [5] - Дата. [6] - День недели.
 */
 void REQUESTER_RTC_SYNC(uint8_t *data)
 {
@@ -751,73 +732,122 @@ void REQUESTER_RTC_SYNC(uint8_t *data)
 * @brief Функция настройки фильтров CAN.
 * @details Настройка фильтров. Фильр для приёма сообщений с главного устройства. Фильтр для приёма на текущее устройство. Фильтр для приёма пульса других устройств в сети.
 */
+
+void CONFIG_CAN_FILTER(uint8_t filterBank, uint32_t idFilter, uint32_t idMask)
+{
+    CAN_FilterTypeDef canFilterConfig;
+    canFilterConfig.FilterBank = filterBank;
+    canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
+    canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
+    canFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
+    canFilterConfig.FilterActivation = ENABLE;
+    canFilterConfig.SlaveStartFilterBank = 14;
+
+    // Разбиваем 32-битный ID и маску для фильтрации на High и Low 16 бит
+    canFilterConfig.FilterIdHigh = (uint16_t)( ((idFilter & 0xFFFF) >> 13) );       // верхние 16 бит
+    canFilterConfig.FilterIdLow  = (uint16_t)( (((idFilter & 0x1FFF) << 3) ) | CAN_IDE_32 );  // низкие 16 бит,
+    canFilterConfig.FilterMaskIdHigh = (uint16_t)(((idMask & 0xFFFF) >> 13) );
+    canFilterConfig.FilterMaskIdLow  = (uint16_t)( (((idMask & 0x1FFF) << 3) ) | CAN_IDE_32 );
+
+    if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
+    {
+        Error_Handler();
+    }
+}
+
+#define BIT27 (1UL << 27)
+#define BITS_20_23_MASK (0xFUL << 20)       // 4 бита (20..23)
+#define BITS_24_26_MASK (0x7UL << 24)       // 3 бита (24..26)
+
+uint32_t filter1_id = BIT27 | CURRENT_TYPE_DEVICE | CURRENT_ID_DEVICE;
+uint32_t filter1_mask = BIT27 | BITS_24_26_MASK | BITS_20_23_MASK; // все проверяемые биты
+
+#define BITS_16_19_MASK (0xFUL << 16)
+
+uint32_t filter2_id = DATA_TYPE_BROADCAST;
+uint32_t filter2_mask = BITS_16_19_MASK;
+
+uint32_t filter3_id = DATA_TYPE_PULSE;
+uint32_t filter3_mask = BITS_16_19_MASK;
+
 void REQUESTER_CAN_FILTERS()
 {
-	//MAIN DEVICE
-	CAN_FilterTypeDef canFilterConfig;
-	canFilterConfig.FilterBank = 0;
-	canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
-	canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
-	/*Для ID устройства используются восемь младших битов.
-	Макс значение 0 устройство - 0x000, 1 - 0x002, 2 - 0x004, 3 - 0x006*/
-	canFilterConfig.FilterIdHigh = (uint16_t)(ID_MAIN_DEVICE>>13);
-	canFilterConfig.FilterIdLow = (uint16_t)(ID_MAIN_DEVICE<<5) | CAN_IDE_32;
-	/*Маска 1.1111.1110.<...>. Нули - любые символы. Единицы - точное соответствие фильтру выше.*/
-	canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DEVICE_ID_FILTER>>13);
-	canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DEVICE_ID_FILTER<<3) | CAN_IDE_32;
-	canFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
-	canFilterConfig.FilterActivation = ENABLE;
-	canFilterConfig.SlaveStartFilterBank = 14;
-	if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
-	{
-    Error_Handler();
-	}
-	
-	//CURRENT DEVICE
-	canFilterConfig.FilterBank = 1;
-	/*Для ID устройства используются восемь младших битов.
-	Макс значение 0 устройство - 0x000, 1 - 0x002, 2 - 0x004, 3 - 0x006*/
-	canFilterConfig.FilterIdHigh = (uint16_t)(CURRENT_ID_DEVICE>>13);
-	canFilterConfig.FilterIdLow = (uint16_t)(CURRENT_ID_DEVICE<<5) | CAN_IDE_32;
-	/*Маска 1.1111.1110.<...>. Нули - любые символы. Единицы - точное соответствие фильтру выше.*/
-	canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DEVICE_ID_FILTER>>13);
-	canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DEVICE_ID_FILTER<<3) | CAN_IDE_32;
-	if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
-	{
-    Error_Handler();
-	}
-	
-	//MODBUS
-	canFilterConfig.FilterBank = 2;
-	canFilterConfig.FilterIdHigh = (uint16_t)(0x03000000>>13);
-	canFilterConfig.FilterIdLow = (uint16_t)(0x03000000<<5) | CAN_IDE_32;
-	canFilterConfig.FilterMaskIdHigh = 	(uint16_t)(CAN_DATA_TYPE_FILTER>>13); // we're checking only high 13 bits, that contained "key"
-	canFilterConfig.FilterMaskIdLow = 	(uint16_t)(CAN_DATA_TYPE_FILTER<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
-	if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
-	{
-		Error_Handler();
-	}
-	
-	//PULSE
-	canFilterConfig.FilterBank = 3;
-	canFilterConfig.FilterIdHigh = (uint16_t)(HighIdFilter(DATA_TYPE_PULSE)>>13);
-	//canFilterConfig.FilterIdHigh = (uint16_t)(0x1F000000>>13);
-	canFilterConfig.FilterIdLow = (uint16_t)(HighIdFilter(DATA_TYPE_PULSE)<<5) | CAN_IDE_32;
-	canFilterConfig.FilterMaskIdHigh = 	(uint16_t)(CAN_DATA_TYPE_FILTER>>13); // we're checking only high 13 bits, that contained "key"
-	canFilterConfig.FilterMaskIdLow = 	(uint16_t)(CAN_DATA_TYPE_FILTER<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
-	if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
-	{
-		Error_Handler();
-	}
-	
-	//DEBUG FILTER "ALL IDE WELCOME"
-	canFilterConfig.FilterBank = 4;
-	canFilterConfig.FilterIdHigh = (uint16_t)(HighIdFilter(0)>>13);
-	canFilterConfig.FilterIdLow = (uint16_t)(HighIdFilter(0)<<5) | CAN_IDE_32;
-	canFilterConfig.FilterMaskIdHigh = 	(uint16_t)(0>>13); // we're checking only high 13 bits, that contained "key"
-	canFilterConfig.FilterMaskIdLow = 	(uint16_t)(0<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
-	if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
-	{
-		Error_Handler();
-	}
+    // Первый фильтр: проверяем 20-27 биты, где 27-й всегда 1
+    CONFIG_CAN_FILTER(0, filter1_id, filter1_mask);
+
+    // Второй фильтр: проверяем 16-19 биты, равны DATA_TYPE_BROADCASTE
+    CONFIG_CAN_FILTER(1, filter2_id, filter2_mask);
+
+    // Третий фильтр: проверяем 16-19 биты, равны DATA_TYPE_PULSE
+    CONFIG_CAN_FILTER(2, filter3_id, filter3_mask);
 }
+
+//void REQUESTER_CAN_FILTERS()
+//{
+//	//MAIN DEVICE
+//	CAN_FilterTypeDef canFilterConfig;
+//	canFilterConfig.FilterBank = 0;
+//	canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
+//	canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
+//	/*Для ID устройства используются восемь младших битов.
+//	Макс значение 0 устройство - 0x000, 1 - 0x002, 2 - 0x004, 3 - 0x006*/
+//	canFilterConfig.FilterIdHigh = (uint16_t)(ID_MAIN_DEVICE>>13);
+//	canFilterConfig.FilterIdLow = (uint16_t)(ID_MAIN_DEVICE<<5) | CAN_IDE_32;
+//	/*Маска 1.1111.1110.<...>. Нули - любые символы. Единицы - точное соответствие фильтру выше.*/
+//	canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DEVICE_ID_FILTER>>13);
+//	canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DEVICE_ID_FILTER<<3) | CAN_IDE_32;
+//	canFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
+//	canFilterConfig.FilterActivation = ENABLE;
+//	canFilterConfig.SlaveStartFilterBank = 14;
+//	if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
+//	{
+//    Error_Handler();
+//	}
+//	
+//	//CURRENT DEVICE
+//	canFilterConfig.FilterBank = 1;
+//	/*Для ID устройства используются восемь младших битов.
+//	Макс значение 0 устройство - 0x000, 1 - 0x002, 2 - 0x004, 3 - 0x006*/
+//	canFilterConfig.FilterIdHigh = (uint16_t)(CURRENT_ID_DEVICE>>13);
+//	canFilterConfig.FilterIdLow = (uint16_t)(CURRENT_ID_DEVICE<<5) | CAN_IDE_32;
+//	/*Маска 1.1111.1110.<...>. Нули - любые символы. Единицы - точное соответствие фильтру выше.*/
+//	canFilterConfig.FilterMaskIdHigh = (uint16_t)(CAN_DEVICE_ID_FILTER>>13);
+//	canFilterConfig.FilterMaskIdLow = (uint16_t)(CAN_DEVICE_ID_FILTER<<3) | CAN_IDE_32;
+//	if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
+//	{
+//    Error_Handler();
+//	}
+//	
+//	//MODBUS
+//	canFilterConfig.FilterBank = 2;
+//	canFilterConfig.FilterIdHigh = (uint16_t)(0x03000000>>13);
+//	canFilterConfig.FilterIdLow = (uint16_t)(0x03000000<<5) | CAN_IDE_32;
+//	canFilterConfig.FilterMaskIdHigh = 	(uint16_t)(CAN_DATA_TYPE_FILTER>>13); // we're checking only high 13 bits, that contained "key"
+//	canFilterConfig.FilterMaskIdLow = 	(uint16_t)(CAN_DATA_TYPE_FILTER<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
+//	if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
+//	{
+//		Error_Handler();
+//	}
+//	
+//	//PULSE
+//	canFilterConfig.FilterBank = 3;
+//	canFilterConfig.FilterIdHigh = (uint16_t)(HighIdFilter(DATA_TYPE_PULSE)>>13);
+//	canFilterConfig.FilterIdLow = (uint16_t)(HighIdFilter(DATA_TYPE_PULSE)<<5) | CAN_IDE_32;
+//	canFilterConfig.FilterMaskIdHigh = 	(uint16_t)(CAN_DATA_TYPE_FILTER>>13); // we're checking only high 13 bits, that contained "key"
+//	canFilterConfig.FilterMaskIdLow = 	(uint16_t)(CAN_DATA_TYPE_FILTER<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
+//	if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
+//	{
+//		Error_Handler();
+//	}
+//	
+//	//DEBUG FILTER "ALL IDE WELCOME"
+//	canFilterConfig.FilterBank = 4;
+//	canFilterConfig.FilterIdHigh = (uint16_t)(HighIdFilter(0)>>13);
+//	canFilterConfig.FilterIdLow = (uint16_t)(HighIdFilter(0)<<5) | CAN_IDE_32;
+//	canFilterConfig.FilterMaskIdHigh = 	(uint16_t)(0>>13); // we're checking only high 13 bits, that contained "key"
+//	canFilterConfig.FilterMaskIdLow = 	(uint16_t)(0<<3) | CAN_IDE_32; // 1<<2 - set IDE bit
+//	if(HAL_CAN_ConfigFilter(&_HCAN, &canFilterConfig) != HAL_OK)
+//	{
+//		Error_Handler();
+//	}
+//}