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Rev 1382 Rev 1396
Line 105... Line 105...
105 
    txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID; ///TODO: Change this to the actual module type
 105 
    txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID; ///TODO: Change this to the actual module type
106 
    txMsg.Header.ModuleId = act_PID_ID;
 106 
    txMsg.Header.ModuleId = act_PID_ID;
107 
    txMsg.Header.Command = CAN_MODULE_CMD_PID_PID_STATUS;
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    txMsg.Header.Command = CAN_MODULE_CMD_PID_PID_STATUS;
108 
    txMsg.Length = 8;
 108 
    txMsg.Length = 8;
109 
    txMsg.Data[0] = (uint8_t)0x00ff & (((uint32_t)(measurementValue*64))>>8);
 109 
    txMsg.Data[0] = (uint8_t)0x00ff & (((uint32_t)(measurementValue*64))>>8);
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    txMsg.Data[1] = (uint8_t)0x00ff & ((uint32_t)measurementValue*64);
 110 
    txMsg.Data[1] = (uint8_t)0x00ff & ((uint32_t)(measurementValue*64));
111 
    txMsg.Data[2] = (uint8_t)0x00ff & (((uint32_t)(referenceValue*64))>>8);
 111 
    txMsg.Data[2] = (uint8_t)0x00ff & (((uint32_t)(referenceValue*64))>>8);
112 
    txMsg.Data[3] = (uint8_t)0x00ff & ((uint32_t)referenceValue*64);
 112 
    txMsg.Data[3] = (uint8_t)0x00ff & ((uint32_t)(referenceValue*64));
113 
    //uint16_t tempPWM =(uint16_t) (pwmValue*10000);
 113 
    //uint16_t tempPWM =(uint16_t) (pwmValue*10000);
114 
        txMsg.Data[4] = ( (pwmValue)>>8)&0xff;
 114 
        txMsg.Data[4] = ( (pwmValue)>>8)&0xff;
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        txMsg.Data[5] = ( (pwmValue))&0xff;
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        txMsg.Data[5] = ( (pwmValue))&0xff;
116 
    txMsg.Data[6] = ((int16_t) (pidDebugData.Sum)>>8)&0xff;
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    txMsg.Data[6] = ((int16_t) (pidDebugData.Sum)>>8)&0xff;
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    txMsg.Data[7] = ((int16_t) (pidDebugData.Sum))&0xff;
 117 
    txMsg.Data[7] = ((int16_t) (pidDebugData.Sum))&0xff;