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  1.  
  2. #include "act_PIDv1.h"
  3. #include <drivers/misc/PID_v1.h>
  4.  
  5. #if act_PIDv1_USEEEPROM==1
  6. #include "act_PIDv1_eeprom.h"
  7. struct eeprom_act_PIDv1 EEMEM eeprom_act_PIDv1 =
  8. {
  9.     {
  10.         ///TODO: Define initialization values on the EEPROM variables here, this will generate a *.eep file that can be used to store this values to the node, can in future be done with a EEPROM module and the make-scrips. Write the values in the exact same order as the struct is defined in the *.h file.
  11.         0x00000000, // referenceValue
  12.         CAN_MODULE_TYPE_SNS_DS18X20,    //SensorModuleType
  13.         0x00,   //SensorModuleId
  14.         0x00,   //SensorId
  15.         0x00000000, //uint32_t K_P; (float)
  16.         0x00000000, //uint32_t K_I; (float)
  17.         0x00000000, //uint32_t K_D; (float)
  18.         0x00,   //uint8_t TimeMsOrS;
  19.         0x0000, //uint16_t Time;
  20.         CAN_MODULE_TYPE_ACT_SOFTPWM,    //ActuatorModuleType
  21.         0x00,   //ActuatorModuleId
  22.         0x00,   //ActuatorId
  23.         10, //SendPeriod
  24.     },
  25.     0   // crc, must be a correct value, but this will also be handled by the EEPROM module or make scripts
  26. };
  27. #endif
  28. #define PID_ON 1
  29. #define PID_OFF 0
  30. #define PID_AUTO 2
  31.  
  32. //! Parameters for regulator
  33. PidType pid;
  34.  
  35. //struct PID_DATA pidData;
  36. //struct PIDv1_DEBUG_DATA pidDebugData;
  37.  
  38. uint8_t sensorModuleType, sensorModuleId,sensorId;
  39. uint8_t PID_Status;
  40. uint8_t calculatePID_flag,sendPID_flag = 0;
  41. uint16_t pwmValue=0;
  42. float referenceValue, measurementValue, outputValue;
  43.  
  44. void calculatePID(void) {
  45.     if (PID_Status == PID_OFF){
  46.         ;// use current PWMvalue
  47.     } else {
  48. //printf("PWM: %d\n",pwmValue);
  49. uint16_t tempPwm = pwmValue;
  50.         //tempPwm += (int16_t) pid_Controller(referenceValue, measurementValue, &pidData, &pidDebugData);
  51. //printf("InOut: ref: %d, meas: %d\n",(int16_t) (referenceValue*10), (int16_t) (measurementValue*10));
  52. //printf("PWM: %d\n",pwmValue);
  53.  
  54.         if (tempPwm < MIN_PWM_VALUE) {
  55.             tempPwm = MIN_PWM_VALUE;
  56.         }
  57.         else if (tempPwm > MAX_PWM_VALUE) {
  58.             tempPwm = MAX_PWM_VALUE-1;
  59.         }
  60.         cli();
  61.         pwmValue = tempPwm;
  62.         sei();
  63. //printf("PWM: %d\n",pwmValue);
  64.         //send current PWM value as soon as possible
  65.         sendPID_flag=1;
  66.     }
  67.  
  68. }
  69.  
  70.  
  71. void calculatePID_callback(uint8_t timer)
  72. {
  73.  
  74.     if (eeprom_read_byte(EEDATA.TimeMsOrS) == CAN_MODULE_ENUM_PID_CONFIG_PARAMETER_TIMEUNIT_S) {
  75.         static uint8_t seconds = 0;
  76.         seconds++;
  77.         if (seconds >= eeprom_read_word(EEDATA16.Time))
  78.         {
  79.             seconds = 0;
  80.             calculatePID_flag = 1;
  81.         }
  82.     } else {
  83.         calculatePID_flag = 1;
  84.     }
  85. }
  86.  
  87. void sendPID(void)
  88. {
  89.     if (eeprom_read_byte(EEDATA.actuatorModuleType) != 0) {
  90.         StdCan_Msg_t txMsg;
  91.         StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
  92.         StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_TO_OWNER);
  93.         txMsg.Header.ModuleType = eeprom_read_byte(EEDATA.actuatorModuleType); ///TODO: Change this to the actual module type
  94.         txMsg.Header.ModuleId = eeprom_read_byte(EEDATA.actuatorModuleId);
  95.         txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PWM;
  96.         txMsg.Length = 3;
  97.         txMsg.Data[0] = eeprom_read_byte(EEDATA.actuatorId);
  98.         //uint16_t tempPWM =(uint16_t) (pwmValue*10000);
  99.         txMsg.Data[1] = ( ((uint16_t)outputValue)>>8)&0xff;
  100.         txMsg.Data[2] = ( ((uint16_t)outputValue))&0xff;
  101.         while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  102.     }
  103.     StdCan_Msg_t txMsg;
  104.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
  105.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  106.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID; ///TODO: Change this to the actual module type
  107.     txMsg.Header.ModuleId = act_PIDv1_ID;
  108.     txMsg.Header.Command = CAN_MODULE_CMD_PID_PID_STATUS;
  109.     txMsg.Length = 8;
  110.     txMsg.Data[0] = (uint8_t)0x00ff & (((uint32_t)(measurementValue*64))>>8);
  111.     txMsg.Data[1] = (uint8_t)0x00ff & ((uint32_t)(measurementValue*64));
  112.     txMsg.Data[2] = (uint8_t)0x00ff & (((uint32_t)(referenceValue*64))>>8);
  113.     txMsg.Data[3] = (uint8_t)0x00ff & ((uint32_t)(referenceValue*64));
  114.     //uint16_t tempPWM =(uint16_t) (pwmValue*10000);
  115.         txMsg.Data[4] = ( ((uint16_t)outputValue)>>8)&0xff;
  116.         txMsg.Data[5] = ( ((uint16_t)outputValue))&0xff;
  117.     txMsg.Data[6] = ((int16_t) (PID_GetITerm(&pid))>>8)&0xff;
  118.     txMsg.Data[7] = ((int16_t) (PID_GetITerm(&pid)))&0xff;
  119.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  120. }
  121.  
  122. void sendPID_callback(uint8_t timer) {
  123.   sendPID_flag=1;
  124. }
  125.  
  126. #ifdef act_PIDv1_SEND_DEBUG_TIMER
  127. void sendPID_debug_callback(uint8_t timer)
  128. {
  129.     /*
  130.     StdCan_Msg_t txMsg;
  131.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
  132.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  133.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID; ///TODO: Change this to the actual module type
  134.     txMsg.Header.ModuleId = act_PIDv1_ID;
  135.     txMsg.Header.Command = CAN_MODULE_CMD_PID_DEBUG;
  136.     txMsg.Length = 8;
  137.  
  138.     txMsg.Data[0] = ((int16_t) (pidDebugData.P_term)>>8)&0xff;
  139.     txMsg.Data[1] = ((int16_t) (pidDebugData.P_term))&0xff;
  140.     txMsg.Data[2] = ((int16_t) (pidDebugData.I_term)>>8)&0xff;
  141.     txMsg.Data[3] = ((int16_t) (pidDebugData.I_term))&0xff;
  142.     txMsg.Data[4] = ((int16_t) (pidDebugData.D_term)>>8)&0xff;
  143.     txMsg.Data[5] = ((int16_t) (pidDebugData.D_term))&0xff;
  144.     txMsg.Data[6] = ((int16_t) (pidDebugData.Sum)>>8)&0xff;
  145.     txMsg.Data[7] = ((int16_t) (pidDebugData.Sum))&0xff;
  146.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  147.     */
  148. //printf("PID: P:%d, I:%d, D:%d, S:%d\n",(int16_t)pidDebugData.P_term,(int16_t)pidDebugData.I_term,(int16_t)pidDebugData.D_term,(int16_t)pidDebugData.Sum);
  149. }
  150. #endif
  151. void act_PIDv1_Init(void)
  152. {
  153. #if act_PIDv1_USEEEPROM==1
  154.     if (EEDATA_OK)
  155.     {
  156.     } else
  157.     {   //The CRC of the EEPROM is not correct, store default values and update CRC
  158.       eeprom_write_dword_crc(EEDATA32.referenceValue, 20.0, WITHOUT_CRC);
  159.       eeprom_write_byte_crc(EEDATA.sensorModuleType, PIDv1_TEMPERATURE_SENSOR_MODULE_TYPE, WITHOUT_CRC);
  160.       eeprom_write_byte_crc(EEDATA.sensorModuleId, PIDv1_TEMPERATURE_SENSOR_MODULE_ID, WITHOUT_CRC);
  161.       eeprom_write_byte_crc(EEDATA.sensorId, PIDv1_TEMPERATURE_SENSOR, WITHOUT_CRC);
  162.       eeprom_write_dword_crc(EEDATA32.K_P, 0, WITHOUT_CRC);
  163.       eeprom_write_dword_crc(EEDATA32.K_I, 0, WITHOUT_CRC);
  164.       eeprom_write_dword_crc(EEDATA32.K_D, 0, WITHOUT_CRC);
  165.       eeprom_write_byte_crc(EEDATA.TimeMsOrS, DEFAULT_PIDv1_CALC_PERIOD_UNIT, WITHOUT_CRC);
  166.       eeprom_write_word_crc(EEDATA16.Time, DEFAULT_PIDv1_CALC_PERIOD, WITHOUT_CRC);
  167.       eeprom_write_byte_crc(EEDATA.actuatorModuleType, PIDv1_PWM_ACTUATOR_MODULE_TYPE, WITHOUT_CRC);
  168.       eeprom_write_byte_crc(EEDATA.actuatorModuleId, PIDv1_PWM_ACTUATOR_MODULE_ID, WITHOUT_CRC);
  169.       eeprom_write_byte_crc(EEDATA.actuatorId, PIDv1_PWM_ACTUATOR, WITHOUT_CRC);
  170.       eeprom_write_byte_crc(EEDATA.sendPeriod, 10, WITHOUT_CRC);
  171.       EEDATA_UPDATE_CRC;
  172.     }
  173.    
  174. #else
  175. #error this driver needs EEPROM support
  176. #endif
  177.    
  178.     referenceValue = (float) eeprom_read_dword(EEDATA32.referenceValue);
  179.     sensorModuleType = eeprom_read_byte(EEDATA.sensorModuleType);
  180.     sensorModuleId = eeprom_read_byte(EEDATA.sensorModuleId);
  181.     sensorId = eeprom_read_byte(EEDATA.sensorId);
  182.    
  183.     PID_init(&pid, &measurementValue, &outputValue, &referenceValue, (float) eeprom_read_dword(EEDATA32.K_P), (float) eeprom_read_dword(EEDATA32.K_I), (float) eeprom_read_dword(EEDATA32.K_D), PID_Direction_Direct);
  184.  
  185.     if (eeprom_read_byte(EEDATA.TimeMsOrS) == CAN_MODULE_ENUM_PID_CONFIG_PARAMETER_TIMEUNIT_S) {
  186.         PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time))*1000);
  187.     } else {
  188.         PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time)));
  189.     }
  190.  
  191.     outputValue = DEFAULT_PWM_VALUE;
  192.  
  193.     PID_SetMode(&pid, PID_Mode_Automatic);
  194.    
  195.     Timer_SetTimeout(act_PIDv1_SEND_TIMER, eeprom_read_byte(EEDATA.sendPeriod)*1000, TimerTypeFreeRunning, &sendPID_callback);
  196.     #ifdef act_PIDv1_SEND_DEBUG_TIMER
  197.       Timer_SetTimeout(act_PIDv1_SEND_DEBUG_TIMER, PIDv1_SEND_DEBUG_PERIOD, TimerTypeFreeRunning, &sendPID_debug_callback);
  198.     #endif
  199. }
  200.  
  201. void act_PIDv1_Process(void)
  202. {
  203.     PID_Compute(&pid);
  204.    
  205.     if (sendPID_flag) {
  206.         sendPID();
  207.         sendPID_flag= 0;
  208.     }
  209. }
  210.  
  211. void act_PIDv1_HandleMessage(StdCan_Msg_t *rxMsg)
  212. {
  213.     if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_ACT &&
  214.             StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_TO_OWNER &&
  215.             rxMsg->Header.ModuleType == CAN_MODULE_TYPE_ACT_PID &&
  216.             rxMsg->Header.ModuleId == act_PIDv1_ID)
  217.     {
  218.         switch (rxMsg->Header.Command)
  219.         {
  220.         case CAN_MODULE_CMD_PHYSICAL_TEMPERATURE_CELSIUS:
  221.             if (rxMsg->Data[0]==0)  //sensor id shall be zero
  222.             {
  223.               printf("Hej: data1: %x Data2: %x\n",rxMsg->Data[1],rxMsg->Data[2]);
  224.  
  225.                 if (rxMsg->Length == 3)
  226.                 {
  227.                     if (0x80 == rxMsg->Data[1] && 0x00 == rxMsg->Data[2])
  228.                     {
  229.                         //pid_Reset_Integrator(&pidData);
  230.                         PID_Status = PID_AUTO;
  231.                     }
  232.                     else
  233.                     {
  234.                         //pid_Reset_Integrator(&pidData);
  235.                         eeprom_write_word_crc(EEDATA16.referenceValue, ((rxMsg->Data[1]<<8) + rxMsg->Data[2]), WITH_CRC);
  236.                         referenceValue = ((rxMsg->Data[1]<<8) + rxMsg->Data[2])/64;
  237.                        
  238.                         rxMsg->Data[1] = 0x10;
  239.                 rxMsg->Data[2] = 0x20;
  240.                 StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  241.                 rxMsg->Length = 3;
  242.                 while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  243.                     }
  244.                 rxMsg->Data[1] = 0x05;
  245.                 rxMsg->Data[2] = 0x05;
  246.                 StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  247.                 rxMsg->Length = 3;
  248.                 while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  249.                 }
  250.                 rxMsg->Data[1] = (uint8_t)0x00ff & (((uint32_t)(referenceValue*64))>>8);
  251.                 rxMsg->Data[2] = (uint8_t)0x00ff & ((uint32_t)referenceValue*64);
  252.                 StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  253.                 rxMsg->Length = 3;
  254.                 while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  255.                
  256.                
  257.  
  258.             }
  259.         break;
  260.         case CAN_MODULE_CMD_PID_CONFIG_SENSOR:
  261.             if (rxMsg->Length == 3)
  262.             {
  263.                 eeprom_write_byte_crc(EEDATA.sensorModuleType, rxMsg->Data[0] , WITHOUT_CRC);
  264.                 eeprom_write_byte_crc(EEDATA.sensorModuleId, rxMsg->Data[1] , WITHOUT_CRC);
  265.                 eeprom_write_byte_crc(EEDATA.sensorId, rxMsg->Data[2] , WITH_CRC);
  266.                 sensorModuleType = eeprom_read_byte(EEDATA.sensorModuleType);
  267.                 sensorModuleId = eeprom_read_byte(EEDATA.sensorModuleId);
  268.                 sensorId = eeprom_read_byte(EEDATA.sensorId);
  269.             }
  270.             rxMsg->Data[0] = eeprom_read_byte(EEDATA.sensorModuleType);
  271.             rxMsg->Data[1] = eeprom_read_byte(EEDATA.sensorModuleId);
  272.             rxMsg->Data[2] = eeprom_read_byte(EEDATA.sensorId);
  273.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  274.             rxMsg->Length = 3;
  275.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  276.         break;
  277.         case CAN_MODULE_CMD_PID_CONFIG_ACTUATOR:
  278.             if (rxMsg->Length == 3)
  279.             {
  280.                 eeprom_write_byte_crc(EEDATA.actuatorModuleType, rxMsg->Data[0] , WITHOUT_CRC);
  281.                 eeprom_write_byte_crc(EEDATA.actuatorModuleId, rxMsg->Data[1] , WITHOUT_CRC);
  282.                 eeprom_write_byte_crc(EEDATA.actuatorId, rxMsg->Data[2] , WITH_CRC);
  283.             }
  284.             rxMsg->Data[0] = eeprom_read_byte(EEDATA.actuatorModuleType);
  285.             rxMsg->Data[1] = eeprom_read_byte(EEDATA.actuatorModuleId);
  286.             rxMsg->Data[2] = eeprom_read_byte(EEDATA.actuatorId);
  287.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  288.             rxMsg->Length = 3;
  289.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  290.         break;
  291.         case CAN_MODULE_CMD_GLOBAL_REPORT_INTERVAL:
  292.             if (rxMsg->Length == 1) {
  293.                 if (65 <= rxMsg->Data[0])
  294.                     rxMsg->Data[0]=65;
  295.                 if (0 == rxMsg->Data[0])
  296.                     rxMsg->Data[0]=1;
  297.                 eeprom_write_byte_crc(EEDATA.sendPeriod, rxMsg->Data[0], WITH_CRC);
  298.                 Timer_SetTimeout(act_PIDv1_SEND_TIMER, rxMsg->Data[0]*1000, TimerTypeFreeRunning, &sendPID_callback);
  299.                 StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  300.                 while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  301.             }
  302.         break;
  303.  
  304.         case CAN_MODULE_CMD_PID_CONFIG_PARAMETER:
  305.             if (rxMsg->Length == 8)
  306.             {
  307.                 eeprom_write_word_crc(EEDATA16.K_P, (uint16_t)rxMsg->Data[1]+(rxMsg->Data[0]<<8), WITHOUT_CRC);
  308.                 eeprom_write_word_crc(EEDATA16.K_I, (uint16_t)rxMsg->Data[3]+(rxMsg->Data[2]<<8), WITHOUT_CRC);
  309.                 eeprom_write_word_crc(EEDATA16.K_D, (uint16_t)rxMsg->Data[5]+(rxMsg->Data[4]<<8), WITHOUT_CRC);
  310.                 eeprom_write_byte_crc(EEDATA.TimeMsOrS, ((rxMsg->Data[6]&0x80)>>7), WITHOUT_CRC);
  311.                 eeprom_write_word_crc(EEDATA16.Time, (uint16_t)rxMsg->Data[7]+((rxMsg->Data[6]&0x7f)<<8), WITH_CRC);
  312.                 if (eeprom_read_byte(EEDATA.TimeMsOrS) == 0) {
  313.                     Timer_SetTimeout(act_PIDv1_TIMER, 1000, TimerTypeFreeRunning, &calculatePID_callback);
  314.                 } else {
  315.                     Timer_SetTimeout(act_PIDv1_TIMER, eeprom_read_word(EEDATA16.Time), TimerTypeFreeRunning, &calculatePID_callback);
  316.                 }
  317.  
  318.                 //pid_Init((float) eeprom_read_word(EEDATA16.K_P)/64 * SCALING_FACTOR, (float) eeprom_read_word(EEDATA16.K_I)/64 * SCALING_FACTOR , (float) eeprom_read_word(EEDATA16.K_D)/64 * SCALING_FACTOR , &pidData);
  319.                 //pwmValue += (int16_t) pid_Controller(referenceValue, measurementValue, &pidData, &pidDebugData);
  320.                 PID_Status = PID_ON;
  321.                 pwmValue = DEFAULT_PWM_VALUE;
  322.  
  323.                 rxMsg->Data[0] = (0xff&(eeprom_read_word(EEDATA16.K_P)>>8));
  324.                 rxMsg->Data[1] = (0xff&(eeprom_read_word(EEDATA16.K_P)));
  325.                 rxMsg->Data[2] = (0xff&(eeprom_read_word(EEDATA16.K_I)>>8));
  326.                 rxMsg->Data[3] = (0xff&(eeprom_read_word(EEDATA16.K_I)));
  327.                 rxMsg->Data[4] = (0xff&(eeprom_read_word(EEDATA16.K_D)>>8));
  328.                 rxMsg->Data[5] = (0xff&(eeprom_read_word(EEDATA16.K_D)));
  329.                 rxMsg->Data[6] = (0xff&(eeprom_read_word(EEDATA16.Time)>>8));
  330.                 rxMsg->Data[7] = (0xff&(eeprom_read_word(EEDATA16.Time)));
  331.                 rxMsg->Data[6] |= (0x80&(eeprom_read_byte(EEDATA.TimeMsOrS))<<7);
  332.                 StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  333.                 rxMsg->Length = 8;
  334.                 while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  335.             } else
  336.             {
  337.                 rxMsg->Data[0] = (0xff&(eeprom_read_word(EEDATA16.K_P)>>8));
  338.                 rxMsg->Data[1] = (0xff&(eeprom_read_word(EEDATA16.K_P)));
  339.                 rxMsg->Data[2] = (0xff&(eeprom_read_word(EEDATA16.K_I)>>8));
  340.                 rxMsg->Data[3] = (0xff&(eeprom_read_word(EEDATA16.K_I)));
  341.                 rxMsg->Data[4] = (0xff&(eeprom_read_word(EEDATA16.K_D)>>8));
  342.                 rxMsg->Data[5] = (0xff&(eeprom_read_word(EEDATA16.K_D)));
  343.                 rxMsg->Data[6] = (0xff&(eeprom_read_word(EEDATA16.Time)>>8));
  344.                 rxMsg->Data[7] = (0xff&(eeprom_read_word(EEDATA16.Time)));
  345.                 rxMsg->Data[6] |= (0x80&(eeprom_read_byte(EEDATA.TimeMsOrS))<<7);
  346.                 StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  347.                 rxMsg->Length = 8;
  348.                 while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  349.             }
  350.         break;
  351.         }
  352.     }
  353.  
  354.  
  355.     if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_SNS &&
  356.                 StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_FROM_OWNER &&
  357.                 rxMsg->Header.ModuleType == sensorModuleType &&
  358.                 rxMsg->Header.ModuleId == sensorModuleId &&
  359.                 rxMsg->Header.Command == CAN_MODULE_CMD_PHYSICAL_TEMPERATURE_CELSIUS &&
  360.                 rxMsg->Data[0] == sensorId)
  361.         {
  362.             if (0x80 == rxMsg->Data[1] && 0x00 == rxMsg->Data[2])
  363.             {
  364.                 //Error on the temperature signal, do something
  365.             }
  366.             else
  367.             {
  368.                 measurementValue = ((float)((rxMsg->Data[1]<<8) + rxMsg->Data[2]))/64;
  369.             }
  370.  
  371.         }
  372. }
  373.  
  374. void act_PIDv1_List(uint8_t ModuleSequenceNumber)
  375. {
  376.     StdCan_Msg_t txMsg;
  377.  
  378.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
  379.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  380.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID; ///TODO: Change this to the actual module type
  381.     txMsg.Header.ModuleId = act_PIDv1_ID;
  382.     txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
  383.     txMsg.Length = 6;
  384.  
  385.     uint32_t HwId=BIOS_GetHwId();
  386.     txMsg.Data[0] = HwId&0xff;
  387.     txMsg.Data[1] = (HwId>>8)&0xff;
  388.     txMsg.Data[2] = (HwId>>16)&0xff;
  389.     txMsg.Data[3] = (HwId>>24)&0xff;
  390.  
  391.     txMsg.Data[4] = NUMBER_OF_MODULES;
  392.     txMsg.Data[5] = ModuleSequenceNumber;
  393.  
  394.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  395. }
  396.