Subversion Repositories HomeAutomation

Rev

Rev 2273 | Rev 2282 | Go to most recent revision | Blame | Compare with Previous | Last modification | View Log | SVN | RSS feed

  1.  
  2. #include "act_PIDv1.h"
  3. #include <drivers/misc/PID_v1.h>
  4. #include <string.h>
  5. #include <drivers/misc/PID_AutoTune.h>
  6.  
  7. #if act_PIDv1_USEEEPROM==1
  8. #include "act_PIDv1_eeprom.h"
  9. struct eeprom_act_PIDv1 EEMEM eeprom_act_PIDv1 =
  10. {
  11.     {
  12.         ///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.
  13.         0x00000000, // referenceValue
  14.         CAN_MODULE_TYPE_SNS_DS18X20,    //SensorModuleType
  15.         0x00,   //SensorModuleId
  16.         0x00,   //SensorId
  17.         0x00000000, //uint32_t K_P; (float)
  18.         0x00000000, //uint32_t K_I; (float)
  19.         0x00000000, //uint32_t K_D; (float)
  20.         0x00,   //uint8_t TimeMsOrS;
  21.         0x0000, //uint16_t Time;
  22.         CAN_MODULE_TYPE_ACT_SOFTPWM,    //ActuatorModuleType
  23.         0x00,   //ActuatorModuleId
  24.         0x00,   //ActuatorId
  25.         0x00000000, //uint32_t MAX; (float)
  26.         0x00000000, //uint32_t MIN; (float)
  27.     },
  28.     0   // crc, must be a correct value, but this will also be handled by the EEPROM module or make scripts
  29. };
  30. #endif
  31. #define PID_ON 1
  32. #define PID_OFF 0
  33. #define PID_AUTO 2
  34.  
  35. //! Parameters for regulator
  36. PidType pid;
  37.  
  38. //struct PID_DATA pidData;
  39. //struct PIDv1_DEBUG_DATA pidDebugData;
  40.  
  41. uint8_t sensorModuleType, sensorModuleId,sensorId;
  42. uint8_t PID_Status;
  43. uint8_t sendDebug_flag = 0;
  44. uint16_t pwmValue=0;
  45. float referenceValue, measurementValue, outputValue;
  46.  
  47. void sendPID(void)
  48. {
  49.     if (eeprom_read_byte(EEDATA.actuatorModuleType) != 0) {
  50.         StdCan_Msg_t txMsg;
  51.         StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
  52.         StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_TO_OWNER);
  53.         txMsg.Header.ModuleType = eeprom_read_byte(EEDATA.actuatorModuleType); ///TODO: Change this to the actual module type
  54.         txMsg.Header.ModuleId = eeprom_read_byte(EEDATA.actuatorModuleId);
  55.         txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PWM;
  56.         txMsg.Length = 3;
  57.         txMsg.Data[0] = eeprom_read_byte(EEDATA.actuatorId);
  58.         //uint16_t tempPWM =(uint16_t) (pwmValue*10000);
  59.         txMsg.Data[1] = ( ((uint16_t)outputValue)>>8)&0xff;
  60.         txMsg.Data[2] = ( ((uint16_t)outputValue))&0xff;
  61.         while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  62.     }
  63.     StdCan_Msg_t txMsg;
  64.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
  65.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  66.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID; ///TODO: Change this to the actual module type
  67.     txMsg.Header.ModuleId = act_PIDv1_ID;
  68.     txMsg.Header.Command = CAN_MODULE_CMD_PID_PID_STATUS;
  69.     txMsg.Length = 8;
  70.     txMsg.Data[0] = (uint8_t)0x00ff & (((uint32_t)(measurementValue*64))>>8);
  71.     txMsg.Data[1] = (uint8_t)0x00ff & ((uint32_t)(measurementValue*64));
  72.     txMsg.Data[2] = (uint8_t)0x00ff & (((uint32_t)(referenceValue*64))>>8);
  73.     txMsg.Data[3] = (uint8_t)0x00ff & ((uint32_t)(referenceValue*64));
  74.     //uint16_t tempPWM =(uint16_t) (pwmValue*10000);
  75.         txMsg.Data[4] = (uint8_t)( ((uint16_t)outputValue)>>8)&0xff;
  76.         txMsg.Data[5] = (uint8_t)( ((uint16_t)outputValue))&0xff;
  77.     txMsg.Data[6] = ((int16_t) (PID_GetITerm(&pid))>>8)&0xff;
  78.     txMsg.Data[7] = ((int16_t) (PID_GetITerm(&pid)))&0xff;
  79.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  80. }
  81.  
  82. #ifdef act_PIDv1_SEND_DEBUG
  83. void sendDebug(void)
  84. {
  85.     StdCan_Msg_t txMsg;
  86.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
  87.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  88.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID;
  89.     txMsg.Header.ModuleId = act_PIDv1_ID;
  90.     txMsg.Header.Command = CAN_MODULE_CMD_PID_P_I_TERM;
  91.     txMsg.Length = 8;
  92.     FloatType data = PID_GetPTerm(&pid);
  93.     uint8_t *ptr;
  94.     ptr = (uint8_t*)&data;
  95.     txMsg.Data[0] = ptr[0];
  96.     txMsg.Data[1] = ptr[1];
  97.     txMsg.Data[2] = ptr[2];
  98.     txMsg.Data[3] = ptr[3];
  99.     data = PID_GetITerm(&pid);
  100.     ptr = (uint8_t*)&data;
  101.     txMsg.Data[4] = ptr[0];
  102.     txMsg.Data[5] = ptr[1];
  103.     txMsg.Data[6] = ptr[2];
  104.     txMsg.Data[7] = ptr[3];
  105.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  106.    
  107.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
  108.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  109.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID;
  110.     txMsg.Header.ModuleId = act_PIDv1_ID;
  111.     txMsg.Header.Command = CAN_MODULE_CMD_PID_D_TERM_OUT;
  112.     txMsg.Length = 8;
  113.     data = PID_GetDTerm(&pid);
  114.     ptr = (uint8_t*)&data;
  115.     txMsg.Data[0] = ptr[0];
  116.     txMsg.Data[1] = ptr[1];
  117.     txMsg.Data[2] = ptr[2];
  118.     txMsg.Data[3] = ptr[3];
  119.     ptr = (uint8_t*)&outputValue;
  120.     txMsg.Data[4] = ptr[0];
  121.     txMsg.Data[5] = ptr[1];
  122.     txMsg.Data[6] = ptr[2];
  123.     txMsg.Data[7] = ptr[3];
  124.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);   
  125.    
  126. //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);
  127. }
  128. #endif
  129. void act_PIDv1_Init(void)
  130. {
  131. #if act_PIDv1_USEEEPROM==1
  132.     if (EEDATA_OK)
  133.     {
  134.     } else
  135.     {   //The CRC of the EEPROM is not correct, store default values and update CRC
  136.       eeprom_write_dword_crc(EEDATA32.referenceValue, 20.0f, WITHOUT_CRC);
  137.       eeprom_write_byte_crc(EEDATA.sensorModuleType, PIDv1_TEMPERATURE_SENSOR_MODULE_TYPE, WITHOUT_CRC);
  138.       eeprom_write_byte_crc(EEDATA.sensorModuleId, PIDv1_TEMPERATURE_SENSOR_MODULE_ID, WITHOUT_CRC);
  139.       eeprom_write_byte_crc(EEDATA.sensorId, PIDv1_TEMPERATURE_SENSOR, WITHOUT_CRC);
  140.       eeprom_write_dword_crc(EEDATA32.K_P, 850.0f, WITHOUT_CRC);
  141.       eeprom_write_dword_crc(EEDATA32.K_I, 0.5f, WITHOUT_CRC);
  142.       eeprom_write_dword_crc(EEDATA32.K_D, 0.1f, WITHOUT_CRC);
  143.       eeprom_write_dword_crc(EEDATA32.MIN, 0, WITHOUT_CRC);
  144.       eeprom_write_dword_crc(EEDATA32.MAX, 0, WITHOUT_CRC);
  145.       eeprom_write_byte_crc(EEDATA.TimeMsOrS, DEFAULT_PIDv1_CALC_PERIOD_UNIT, WITHOUT_CRC);
  146.       eeprom_write_word_crc(EEDATA16.Time, DEFAULT_PIDv1_CALC_PERIOD, WITHOUT_CRC);
  147.       eeprom_write_byte_crc(EEDATA.actuatorModuleType, PIDv1_PWM_ACTUATOR_MODULE_TYPE, WITHOUT_CRC);
  148.       eeprom_write_byte_crc(EEDATA.actuatorModuleId, PIDv1_PWM_ACTUATOR_MODULE_ID, WITHOUT_CRC);
  149.       eeprom_write_byte_crc(EEDATA.actuatorId, PIDv1_PWM_ACTUATOR, WITHOUT_CRC);
  150.       EEDATA_UPDATE_CRC;
  151.     }
  152.    
  153. #else
  154. #error this driver needs EEPROM support
  155. #endif
  156.    
  157.     referenceValue = (float) eeprom_read_dword(EEDATA32.referenceValue);
  158.     sensorModuleType = eeprom_read_byte(EEDATA.sensorModuleType);
  159.     sensorModuleId = eeprom_read_byte(EEDATA.sensorModuleId);
  160.     sensorId = eeprom_read_byte(EEDATA.sensorId);
  161.     uint32_t data_P = eeprom_read_dword(EEDATA32.K_P);
  162.     uint32_t data_I = eeprom_read_dword(EEDATA32.K_I);
  163.     uint32_t data_D = eeprom_read_dword(EEDATA32.K_D);
  164.     uint32_t Max_D = eeprom_read_dword(EEDATA32.MAX);
  165.     uint32_t Min_D = eeprom_read_dword(EEDATA32.MIN);
  166.     float data_P_f;// = *((float*)((&data_P)));
  167.     float data_I_f;// = *((float*)((&data_I)));
  168.     float data_D_f;// = *((float*)(&data_D));
  169.     float Max_out_f;// = *((float*)((&data_I)));
  170.     float Min_out_f;// = *((float*)(&data_D));
  171.     memcpy(&data_P_f, &data_P, sizeof(data_P));
  172.     memcpy(&data_I_f, &data_I, sizeof(data_I));
  173.     memcpy(&data_D_f, &data_D, sizeof(data_D));
  174.     memcpy(&Min_out_f, &Min_D, sizeof(Min_D));
  175.     memcpy(&Max_out_f, &Max_D, sizeof(Max_D));
  176.     PID_init(&pid, &measurementValue, &outputValue, &referenceValue, data_P_f, data_I_f, data_D_f, PID_Direction_Direct);
  177.  
  178.     if (eeprom_read_byte(EEDATA.TimeMsOrS) == CAN_MODULE_ENUM_PID_CONFIG_PARAMETER_TIMEUNIT_S) {
  179.         PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time))*1000);
  180.  
  181.     } else {
  182.         PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time)));
  183.     }
  184.     PID_SetOutputLimits(&pid, Min_out_f, Max_out_f);
  185.     outputValue = DEFAULT_PWM_VALUE;
  186.  
  187.     PID_SetMode(&pid, PID_Mode_Automatic);
  188. }
  189.  
  190. void act_PIDv1_Process(void)
  191. {
  192.     uint8_t newValueCalculated = PID_Compute(&pid);
  193.    
  194.     if (newValueCalculated) {
  195.         sendPID();
  196.     #ifdef act_PIDv1_SEND_DEBUG
  197.         sendDebug_flag= 1;
  198.         return;
  199.     }
  200.     if (sendDebug_flag) {
  201.         sendDebug_flag = 0;
  202.         sendDebug();
  203.     }
  204.     #else
  205.     }
  206.     #endif
  207. }
  208.  
  209. void act_PIDv1_HandleMessage(StdCan_Msg_t *rxMsg)
  210. {
  211.     FloatType data2;
  212.     uint8_t *ptr;
  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("New setpoint with: %X %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]) //512 degrees
  228.                     {
  229.                         //pid_Reset_Integrator(&pidData);
  230.                         PID_Status = PID_AUTO;
  231.                     }
  232.                     else
  233.                     {
  234.                         //pid_Reset_Integrator(&pidData);
  235.                         referenceValue = (((float)((rxMsg->Data[1]<<8) + rxMsg->Data[2]))/64);
  236.                         eeprom_write_dword_crc(EEDATA32.referenceValue, referenceValue, WITH_CRC);
  237.                     }
  238.                 }
  239.                 rxMsg->Data[1] = (uint8_t)0x00ff & (((uint32_t)(referenceValue*64))>>8);
  240.                 rxMsg->Data[2] = (uint8_t)0x00ff & ((uint32_t)referenceValue*64);
  241.                 StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  242.                 rxMsg->Length = 3;
  243.                 while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  244.             }
  245.         break;
  246.         case CAN_MODULE_CMD_PID_CONFIG_SENSOR:
  247.             //printf("New sensor with: %X %X %X len: %d\n",rxMsg->Data[1],rxMsg->Data[2] ,rxMsg->Data[2],rxMsg->Length);
  248.             if (rxMsg->Length == 3)
  249.             {
  250.                 eeprom_write_byte_crc(EEDATA.sensorModuleType, rxMsg->Data[0] , WITHOUT_CRC);
  251.                 eeprom_write_byte_crc(EEDATA.sensorModuleId, rxMsg->Data[1] , WITHOUT_CRC);
  252.                 eeprom_write_byte_crc(EEDATA.sensorId, rxMsg->Data[2] , WITH_CRC);
  253.                 sensorModuleType = eeprom_read_byte(EEDATA.sensorModuleType);
  254.                 sensorModuleId = eeprom_read_byte(EEDATA.sensorModuleId);
  255.                 sensorId = eeprom_read_byte(EEDATA.sensorId);
  256.                 //printf("Stored\n");
  257.             }
  258.             rxMsg->Data[0] = eeprom_read_byte(EEDATA.sensorModuleType);
  259.             rxMsg->Data[1] = eeprom_read_byte(EEDATA.sensorModuleId);
  260.             rxMsg->Data[2] = eeprom_read_byte(EEDATA.sensorId);
  261.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  262.             rxMsg->Length = 3;
  263.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  264.         break;
  265.         case CAN_MODULE_CMD_PID_CONFIG_ACTUATOR:
  266.             if (rxMsg->Length == 3)
  267.             {
  268.                 eeprom_write_byte_crc(EEDATA.actuatorModuleType, rxMsg->Data[0] , WITHOUT_CRC);
  269.                 eeprom_write_byte_crc(EEDATA.actuatorModuleId, rxMsg->Data[1] , WITHOUT_CRC);
  270.                 eeprom_write_byte_crc(EEDATA.actuatorId, rxMsg->Data[2] , WITH_CRC);
  271.             }
  272.             rxMsg->Data[0] = eeprom_read_byte(EEDATA.actuatorModuleType);
  273.             rxMsg->Data[1] = eeprom_read_byte(EEDATA.actuatorModuleId);
  274.             rxMsg->Data[2] = eeprom_read_byte(EEDATA.actuatorId);
  275.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  276.             rxMsg->Length = 3;
  277.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  278.         break;
  279.        
  280.         case CAN_MODULE_CMD_PID_CONFIG_PARAMETER_D_T:
  281.             if (rxMsg->Length == 8)
  282.             {
  283.                 uint32_t* data_32;
  284.                 float* data = (float*)&rxMsg->Data[0];
  285.                 data_32 = (uint32_t*)data;
  286.                 eeprom_write_dword_crc(EEDATA32.K_D, *data_32, WITHOUT_CRC);               
  287.                 eeprom_write_byte_crc(EEDATA.TimeMsOrS, ((rxMsg->Data[6]&0x80)>>7), WITHOUT_CRC);
  288.                 eeprom_write_word_crc(EEDATA16.Time, (uint16_t)rxMsg->Data[7]+((rxMsg->Data[6]&0x7f)<<8), WITH_CRC);
  289.                 PID_SetTunings(&pid, PID_GetKp(&pid), PID_GetKi(&pid), *data);
  290.                 if (eeprom_read_byte(EEDATA.TimeMsOrS) == CAN_MODULE_ENUM_PID_CONFIG_PARAMETER_TIMEUNIT_S) {
  291.                     PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time))*1000);
  292.  
  293.                 } else {
  294.                     PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time)));
  295.                 }
  296.                 PID_Status = PID_ON;
  297.                 pwmValue = DEFAULT_PWM_VALUE;
  298.             }
  299.             data2 = PID_GetKd(&pid);
  300.             ptr = (uint8_t*)&data2;
  301.             rxMsg->Data[0] = ptr[0];
  302.             rxMsg->Data[1] = ptr[1];
  303.             rxMsg->Data[2] = ptr[2];
  304.             rxMsg->Data[3] = ptr[3];
  305.             rxMsg->Data[4] = 0u;
  306.             rxMsg->Data[5] = 0u;
  307.             rxMsg->Data[6] = (0x7f&(eeprom_read_word(EEDATA16.Time)>>8));
  308.             rxMsg->Data[7] = (0xff&(eeprom_read_word(EEDATA16.Time)));
  309.             rxMsg->Data[6] |= (0x80&(eeprom_read_byte(EEDATA.TimeMsOrS))<<7);
  310.            
  311.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  312.             rxMsg->Length = 8;
  313.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  314.         break;
  315.         case CAN_MODULE_CMD_PID_CONFIG_PARAMETER_P_I:
  316.             if (rxMsg->Length == 8)
  317.             {
  318.                 uint32_t* data_32;
  319.                 float* data = (float*)&rxMsg->Data[0];
  320.                 data_32 = (uint32_t*)data;
  321.                 eeprom_write_dword_crc(EEDATA32.K_P, *data_32, WITHOUT_CRC);
  322.                 //data = (float*)&rxMsg->Data[4];
  323.                 float* data1 = (float*)&rxMsg->Data[4];
  324.                 data_32 = (uint32_t*)data1;
  325.                 eeprom_write_dword_crc(EEDATA32.K_I, *data_32, WITH_CRC);
  326.                
  327.                 PID_SetTunings(&pid, *data, *data1, PID_GetKd(&pid));
  328.                 PID_Status = PID_ON;
  329.                 pwmValue = DEFAULT_PWM_VALUE;
  330.             }
  331.             data2 = PID_GetKp(&pid);
  332.             ptr = (uint8_t*)&data2;
  333.             rxMsg->Data[0] = ptr[0];
  334.             rxMsg->Data[1] = ptr[1];
  335.             rxMsg->Data[2] = ptr[2];
  336.             rxMsg->Data[3] = ptr[3];
  337.             data2 = PID_GetKi(&pid);
  338.             ptr = (uint8_t*)&data2;
  339.             rxMsg->Data[4] = ptr[0];
  340.             rxMsg->Data[5] = ptr[1];
  341.             rxMsg->Data[6] = ptr[2];
  342.             rxMsg->Data[7] = ptr[3];
  343.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  344.             rxMsg->Length = 8;
  345.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  346.         break;
  347.         case CAN_MODULE_CMD_PID_OUTMINMAX:
  348.             if (rxMsg->Length > 1)
  349.             {
  350.                 uint32_t* data_32;
  351.                 float* data = (float*)&rxMsg->Data[0];
  352.                 data_32 = (uint32_t*)data;
  353.                 eeprom_write_dword_crc(EEDATA32.MIN, *data_32, WITHOUT_CRC);
  354.                 //data = (float*)&rxMsg->Data[4];
  355.                 float* data1 = (float*)&rxMsg->Data[4];
  356.                 data_32 = (uint32_t*)data1;
  357.                 eeprom_write_dword_crc(EEDATA32.MAX, *data_32, WITH_CRC);
  358.                 PID_SetOutputLimits(&pid, *data, *data1);
  359.    
  360.             }
  361.             data2 = PID_GetMin(&pid);
  362.             ptr = (uint8_t*)&data2;
  363.             rxMsg->Data[0] = ptr[0];
  364.             rxMsg->Data[1] = ptr[1];
  365.             rxMsg->Data[2] = ptr[2];
  366.             rxMsg->Data[3] = ptr[3];
  367.             data2 = PID_GetMax(&pid);
  368.             ptr = (uint8_t*)&data2;
  369.             rxMsg->Data[4] = ptr[0];
  370.             rxMsg->Data[5] = ptr[1];
  371.             rxMsg->Data[6] = ptr[2];
  372.             rxMsg->Data[7] = ptr[3];
  373.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  374.             rxMsg->Length = 8;
  375.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  376.         break;
  377.        
  378.         }
  379.     }
  380.  
  381.  
  382.     if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_SNS &&
  383.                 StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_FROM_OWNER &&
  384.                 rxMsg->Header.ModuleType == sensorModuleType &&
  385.                 rxMsg->Header.ModuleId == sensorModuleId &&
  386.                 rxMsg->Header.Command == CAN_MODULE_CMD_PHYSICAL_TEMPERATURE_CELSIUS &&
  387.                 rxMsg->Data[0] == sensorId)
  388.         {
  389.             if (0x80 == rxMsg->Data[1] && 0x00 == rxMsg->Data[2])
  390.             {
  391.                 //Error on the temperature signal, do something
  392.             }
  393.             else
  394.             {
  395.                 measurementValue = ((float)((rxMsg->Data[1]<<8) + rxMsg->Data[2]))/64;
  396.             }
  397.  
  398.         }
  399. }
  400.  
  401. void act_PIDv1_List(uint8_t ModuleSequenceNumber)
  402. {
  403.     StdCan_Msg_t txMsg;
  404.  
  405.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
  406.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  407.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID; ///TODO: Change this to the actual module type
  408.     txMsg.Header.ModuleId = act_PIDv1_ID;
  409.     txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
  410.     txMsg.Length = 6;
  411.  
  412.     uint32_t HwId=BIOS_GetHwId();
  413.     txMsg.Data[0] = HwId&0xff;
  414.     txMsg.Data[1] = (HwId>>8)&0xff;
  415.     txMsg.Data[2] = (HwId>>16)&0xff;
  416.     txMsg.Data[3] = (HwId>>24)&0xff;
  417.  
  418.     txMsg.Data[4] = NUMBER_OF_MODULES;
  419.     txMsg.Data[5] = ModuleSequenceNumber;
  420.  
  421.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  422. }
  423.