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Line 173... Line 173...
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    memcpy(&data_P_f, &data_P, sizeof(data_P));
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    memcpy(&data_P_f, &data_P, sizeof(data_P));
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    memcpy(&data_I_f, &data_I, sizeof(data_I));
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    memcpy(&data_I_f, &data_I, sizeof(data_I));
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    memcpy(&data_D_f, &data_D, sizeof(data_D));
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    memcpy(&data_D_f, &data_D, sizeof(data_D));
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    memcpy(&Min_out_f, &Min_D, sizeof(Min_D));
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    memcpy(&Min_out_f, &Min_D, sizeof(Min_D));
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    memcpy(&Max_out_f, &Max_D, sizeof(Max_D));
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    memcpy(&Max_out_f, &Max_D, sizeof(Max_D));
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    PID_init(&pid, &measurementValue, &outputValue, &referenceValue, data_P_f, data_I_f, data_D_f, eeprom_read_byte(EEDATA.ControllerDirection);
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    PID_init(&pid, &measurementValue, &outputValue, &referenceValue, data_P_f, data_I_f, data_D_f, eeprom_read_byte(EEDATA.ControllerDirection));
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    if (eeprom_read_byte(EEDATA.TimeMsOrS) == CAN_MODULE_ENUM_PID_CONFIG_PARAMETER_TIMEUNIT_S) {
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    if (eeprom_read_byte(EEDATA.TimeMsOrS) == CAN_MODULE_ENUM_PID_CONFIG_PARAMETER_TIMEUNIT_S) {
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        PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time))*1000);
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        PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time))*1000);
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    } else {
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    } else {
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                } else {
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                } else {
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                    PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time)));
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                    PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time)));
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                }
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                }
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                PID_SetControllerDirection(&pid, eeprom_read_byte(EEDATA.ControllerDirection);
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                PID_SetControllerDirection(&pid, eeprom_read_byte(EEDATA.ControllerDirection));
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                PID_Status = PID_ON;
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                PID_Status = PID_ON;
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                pwmValue = DEFAULT_PWM_VALUE;
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                pwmValue = DEFAULT_PWM_VALUE;
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            }
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            }
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            data2 = PID_GetKd(&pid);
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            data2 = PID_GetKd(&pid);