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  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.         0x00,   //uint8_t ControllerDirection;
  28.     },
  29.     0   // crc, must be a correct value, but this will also be handled by the EEPROM module or make scripts
  30. };
  31. #endif
  32. #define PID_ON 1
  33. #define PID_OFF 0
  34. #define PID_AUTO 2
  35.  
  36. //! Parameters for regulator
  37. PidType pid;
  38.  
  39. //struct PID_DATA pidData;
  40. //struct PIDv1_DEBUG_DATA pidDebugData;
  41.  
  42. uint8_t sensorModuleType, sensorModuleId,sensorId;
  43. uint8_t PID_Status;
  44. uint8_t sendDebug_flag = 0;
  45. uint16_t pwmValue=0;
  46. float referenceValue, measurementValue, outputValue;
  47.  
  48. void sendPID(void)
  49. {
  50.     if (eeprom_read_byte(EEDATA.actuatorModuleType) != 0) {
  51.         StdCan_Msg_t txMsg;
  52.         StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
  53.         StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_TO_OWNER);
  54.         txMsg.Header.ModuleType = eeprom_read_byte(EEDATA.actuatorModuleType); ///TODO: Change this to the actual module type
  55.         txMsg.Header.ModuleId = eeprom_read_byte(EEDATA.actuatorModuleId);
  56.         txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PWM;
  57.         txMsg.Length = 3;
  58.         txMsg.Data[0] = eeprom_read_byte(EEDATA.actuatorId);
  59.         //uint16_t tempPWM =(uint16_t) (pwmValue*10000);
  60.         txMsg.Data[1] = ( ((uint16_t)outputValue)>>8)&0xff;
  61.         txMsg.Data[2] = ( ((uint16_t)outputValue))&0xff;
  62.         while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  63.     }
  64.     StdCan_Msg_t txMsg;
  65.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
  66.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  67.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID; ///TODO: Change this to the actual module type
  68.     txMsg.Header.ModuleId = act_PIDv1_ID;
  69.     txMsg.Header.Command = CAN_MODULE_CMD_PID_PID_STATUS;
  70.     txMsg.Length = 8;
  71.     txMsg.Data[0] = (uint8_t)0x00ff & (((uint32_t)(measurementValue*64))>>8);
  72.     txMsg.Data[1] = (uint8_t)0x00ff & ((uint32_t)(measurementValue*64));
  73.     txMsg.Data[2] = (uint8_t)0x00ff & (((uint32_t)(referenceValue*64))>>8);
  74.     txMsg.Data[3] = (uint8_t)0x00ff & ((uint32_t)(referenceValue*64));
  75.     //uint16_t tempPWM =(uint16_t) (pwmValue*10000);
  76.         txMsg.Data[4] = (uint8_t)( ((uint16_t)outputValue)>>8)&0xff;
  77.         txMsg.Data[5] = (uint8_t)( ((uint16_t)outputValue))&0xff;
  78.     txMsg.Data[6] = ((int16_t) (PID_GetITerm(&pid))>>8)&0xff;
  79.     txMsg.Data[7] = ((int16_t) (PID_GetITerm(&pid)))&0xff;
  80.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  81. }
  82.  
  83. #ifdef act_PIDv1_SEND_DEBUG
  84. void sendDebug(void)
  85. {
  86.     StdCan_Msg_t txMsg;
  87.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
  88.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  89.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID;
  90.     txMsg.Header.ModuleId = act_PIDv1_ID;
  91.     txMsg.Header.Command = CAN_MODULE_CMD_PID_P_I_TERM;
  92.     txMsg.Length = 8;
  93.     FloatType data = PID_GetPTerm(&pid);
  94.     uint8_t *ptr;
  95.     ptr = (uint8_t*)&data;
  96.     txMsg.Data[0] = ptr[0];
  97.     txMsg.Data[1] = ptr[1];
  98.     txMsg.Data[2] = ptr[2];
  99.     txMsg.Data[3] = ptr[3];
  100.     data = PID_GetITerm(&pid);
  101.     ptr = (uint8_t*)&data;
  102.     txMsg.Data[4] = ptr[0];
  103.     txMsg.Data[5] = ptr[1];
  104.     txMsg.Data[6] = ptr[2];
  105.     txMsg.Data[7] = ptr[3];
  106.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  107.    
  108.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
  109.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  110.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID;
  111.     txMsg.Header.ModuleId = act_PIDv1_ID;
  112.     txMsg.Header.Command = CAN_MODULE_CMD_PID_D_TERM_OUT;
  113.     txMsg.Length = 8;
  114.     data = PID_GetDTerm(&pid);
  115.     ptr = (uint8_t*)&data;
  116.     txMsg.Data[0] = ptr[0];
  117.     txMsg.Data[1] = ptr[1];
  118.     txMsg.Data[2] = ptr[2];
  119.     txMsg.Data[3] = ptr[3];
  120.     ptr = (uint8_t*)&outputValue;
  121.     txMsg.Data[4] = ptr[0];
  122.     txMsg.Data[5] = ptr[1];
  123.     txMsg.Data[6] = ptr[2];
  124.     txMsg.Data[7] = ptr[3];
  125.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);   
  126.    
  127. //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);
  128. }
  129. #endif
  130. void act_PIDv1_Init(void)
  131. {
  132. #if act_PIDv1_USEEEPROM==1
  133.     if (EEDATA_OK)
  134.     {
  135.     } else
  136.     {   //The CRC of the EEPROM is not correct, store default values and update CRC
  137.       eeprom_write_dword_crc(EEDATA32.referenceValue, 20.0f, WITHOUT_CRC);
  138.       eeprom_write_byte_crc(EEDATA.sensorModuleType, PIDv1_TEMPERATURE_SENSOR_MODULE_TYPE, WITHOUT_CRC);
  139.       eeprom_write_byte_crc(EEDATA.sensorModuleId, PIDv1_TEMPERATURE_SENSOR_MODULE_ID, WITHOUT_CRC);
  140.       eeprom_write_byte_crc(EEDATA.sensorId, PIDv1_TEMPERATURE_SENSOR, WITHOUT_CRC);
  141.       eeprom_write_dword_crc(EEDATA32.K_P, 850.0f, WITHOUT_CRC);
  142.       eeprom_write_dword_crc(EEDATA32.K_I, 0.5f, WITHOUT_CRC);
  143.       eeprom_write_dword_crc(EEDATA32.K_D, 0.1f, WITHOUT_CRC);
  144.       eeprom_write_dword_crc(EEDATA32.MIN, 0, WITHOUT_CRC);
  145.       eeprom_write_dword_crc(EEDATA32.MAX, 0, WITHOUT_CRC);
  146.       eeprom_write_byte_crc(EEDATA.TimeMsOrS, DEFAULT_PIDv1_CALC_PERIOD_UNIT, WITHOUT_CRC);
  147.       eeprom_write_word_crc(EEDATA16.Time, DEFAULT_PIDv1_CALC_PERIOD, WITHOUT_CRC);
  148.       eeprom_write_byte_crc(EEDATA.actuatorModuleType, PIDv1_PWM_ACTUATOR_MODULE_TYPE, WITHOUT_CRC);
  149.       eeprom_write_byte_crc(EEDATA.actuatorModuleId, PIDv1_PWM_ACTUATOR_MODULE_ID, WITHOUT_CRC);
  150.       eeprom_write_byte_crc(EEDATA.actuatorId, PIDv1_PWM_ACTUATOR, WITHOUT_CRC);
  151.       eeprom_write_byte_crc(EEDATA.ControllerDirection, 0, WITHOUT_CRC);
  152.       EEDATA_UPDATE_CRC;
  153.     }
  154.    
  155. #else
  156. #error this driver needs EEPROM support
  157. #endif
  158.    
  159.     referenceValue = (float) eeprom_read_dword(EEDATA32.referenceValue);
  160.     sensorModuleType = eeprom_read_byte(EEDATA.sensorModuleType);
  161.     sensorModuleId = eeprom_read_byte(EEDATA.sensorModuleId);
  162.     sensorId = eeprom_read_byte(EEDATA.sensorId);
  163.     uint32_t data_P = eeprom_read_dword(EEDATA32.K_P);
  164.     uint32_t data_I = eeprom_read_dword(EEDATA32.K_I);
  165.     uint32_t data_D = eeprom_read_dword(EEDATA32.K_D);
  166.     uint32_t Max_D = eeprom_read_dword(EEDATA32.MAX);
  167.     uint32_t Min_D = eeprom_read_dword(EEDATA32.MIN);
  168.     float data_P_f;// = *((float*)((&data_P)));
  169.     float data_I_f;// = *((float*)((&data_I)));
  170.     float data_D_f;// = *((float*)(&data_D));
  171.     float Max_out_f;// = *((float*)((&data_I)));
  172.     float Min_out_f;// = *((float*)(&data_D));
  173.     memcpy(&data_P_f, &data_P, sizeof(data_P));
  174.     memcpy(&data_I_f, &data_I, sizeof(data_I));
  175.     memcpy(&data_D_f, &data_D, sizeof(data_D));
  176.     memcpy(&Min_out_f, &Min_D, sizeof(Min_D));
  177.     memcpy(&Max_out_f, &Max_D, sizeof(Max_D));
  178.     PID_init(&pid, &measurementValue, &outputValue, &referenceValue, data_P_f, data_I_f, data_D_f, eeprom_read_byte(EEDATA.ControllerDirection));
  179.  
  180.     if (eeprom_read_byte(EEDATA.TimeMsOrS) == CAN_MODULE_ENUM_PID_CONFIG_PARAMETER_TIMEUNIT_S) {
  181.         PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time))*1000);
  182.  
  183.     } else {
  184.         PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time)));
  185.     }
  186.     PID_SetOutputLimits(&pid, Min_out_f, Max_out_f);
  187.     outputValue = DEFAULT_PWM_VALUE;
  188.  
  189.     PID_SetMode(&pid, PID_Mode_Automatic);
  190. }
  191.  
  192. void act_PIDv1_Process(void)
  193. {
  194.     uint8_t newValueCalculated = PID_Compute(&pid);
  195.    
  196.     if (newValueCalculated) {
  197.         sendPID();
  198.     #ifdef act_PIDv1_SEND_DEBUG
  199.         sendDebug_flag= 1;
  200.         return;
  201.     }
  202.     if (sendDebug_flag) {
  203.         sendDebug_flag = 0;
  204.         sendDebug();
  205.     }
  206.     #else
  207.     }
  208.     #endif
  209. }
  210.  
  211. void act_PIDv1_HandleMessage(StdCan_Msg_t *rxMsg)
  212. {
  213.     FloatType data2;
  214.     uint8_t *ptr;
  215.     if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_ACT &&
  216.             StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_TO_OWNER &&
  217.             rxMsg->Header.ModuleType == CAN_MODULE_TYPE_ACT_PID &&
  218.             rxMsg->Header.ModuleId == act_PIDv1_ID)
  219.     {
  220.         switch (rxMsg->Header.Command)
  221.         {
  222.         case CAN_MODULE_CMD_PHYSICAL_TEMPERATURE_CELSIUS:
  223.             if (rxMsg->Data[0]==0)  //sensor id shall be zero
  224.             {
  225.                 //printf("New setpoint with: %X %X\n",rxMsg->Data[1],rxMsg->Data[2]);
  226.  
  227.                 if (rxMsg->Length == 3)
  228.                 {
  229.                     if (0x80 == rxMsg->Data[1] && 0x00 == rxMsg->Data[2]) //512 degrees
  230.                     {
  231.                         //pid_Reset_Integrator(&pidData);
  232.                         PID_Status = PID_AUTO;
  233.                     }
  234.                     else
  235.                     {
  236.                         //pid_Reset_Integrator(&pidData);
  237.                         referenceValue = (((float)((rxMsg->Data[1]<<8) + rxMsg->Data[2]))/64);
  238.                         eeprom_write_dword_crc(EEDATA32.referenceValue, referenceValue, WITH_CRC);
  239.                     }
  240.                 }
  241.                 rxMsg->Data[1] = (uint8_t)0x00ff & (((uint32_t)(referenceValue*64))>>8);
  242.                 rxMsg->Data[2] = (uint8_t)0x00ff & ((uint32_t)referenceValue*64);
  243.                 StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  244.                 rxMsg->Length = 3;
  245.                 while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  246.             }
  247.         break;
  248.         case CAN_MODULE_CMD_PID_CONFIG_SENSOR:
  249.             //printf("New sensor with: %X %X %X len: %d\n",rxMsg->Data[1],rxMsg->Data[2] ,rxMsg->Data[2],rxMsg->Length);
  250.             if (rxMsg->Length == 3)
  251.             {
  252.                 eeprom_write_byte_crc(EEDATA.sensorModuleType, rxMsg->Data[0] , WITHOUT_CRC);
  253.                 eeprom_write_byte_crc(EEDATA.sensorModuleId, rxMsg->Data[1] , WITHOUT_CRC);
  254.                 eeprom_write_byte_crc(EEDATA.sensorId, rxMsg->Data[2] , WITH_CRC);
  255.                 sensorModuleType = eeprom_read_byte(EEDATA.sensorModuleType);
  256.                 sensorModuleId = eeprom_read_byte(EEDATA.sensorModuleId);
  257.                 sensorId = eeprom_read_byte(EEDATA.sensorId);
  258.                 //printf("Stored\n");
  259.             }
  260.             rxMsg->Data[0] = eeprom_read_byte(EEDATA.sensorModuleType);
  261.             rxMsg->Data[1] = eeprom_read_byte(EEDATA.sensorModuleId);
  262.             rxMsg->Data[2] = eeprom_read_byte(EEDATA.sensorId);
  263.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  264.             rxMsg->Length = 3;
  265.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  266.         break;
  267.         case CAN_MODULE_CMD_PID_CONFIG_ACTUATOR:
  268.             if (rxMsg->Length == 3)
  269.             {
  270.                 eeprom_write_byte_crc(EEDATA.actuatorModuleType, rxMsg->Data[0] , WITHOUT_CRC);
  271.                 eeprom_write_byte_crc(EEDATA.actuatorModuleId, rxMsg->Data[1] , WITHOUT_CRC);
  272.                 eeprom_write_byte_crc(EEDATA.actuatorId, rxMsg->Data[2] , WITH_CRC);
  273.             }
  274.             rxMsg->Data[0] = eeprom_read_byte(EEDATA.actuatorModuleType);
  275.             rxMsg->Data[1] = eeprom_read_byte(EEDATA.actuatorModuleId);
  276.             rxMsg->Data[2] = eeprom_read_byte(EEDATA.actuatorId);
  277.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  278.             rxMsg->Length = 3;
  279.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  280.         break;
  281.        
  282.         case CAN_MODULE_CMD_PID_CONFIG_PARAMETER_D_T:
  283.             if (rxMsg->Length == 8)
  284.             {
  285.                 uint32_t* data_32;
  286.                 float* data = (float*)&rxMsg->Data[0];
  287.                 data_32 = (uint32_t*)data;
  288.                 eeprom_write_dword_crc(EEDATA32.K_D, *data_32, WITHOUT_CRC);               
  289.                 eeprom_write_byte_crc(EEDATA.TimeMsOrS, ((rxMsg->Data[6]&0x80)>>7), WITHOUT_CRC);
  290.                 eeprom_write_byte_crc(EEDATA.ControllerDirection, ((rxMsg->Data[5]&0x80)>>7), WITHOUT_CRC);
  291.                 eeprom_write_word_crc(EEDATA16.Time, (uint16_t)rxMsg->Data[7]+((rxMsg->Data[6]&0x7f)<<8), WITH_CRC);
  292.                 PID_SetTunings(&pid, PID_GetKp(&pid), PID_GetKi(&pid), *data);
  293.                 if (eeprom_read_byte(EEDATA.TimeMsOrS) == CAN_MODULE_ENUM_PID_CONFIG_PARAMETER_TIMEUNIT_S) {
  294.                     PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time))*1000);
  295.  
  296.                 } else {
  297.                     PID_SetSampleTime(&pid, (uint32_t)(eeprom_read_word(EEDATA16.Time)));
  298.                 }
  299.                
  300.                 PID_SetControllerDirection(&pid, eeprom_read_byte(EEDATA.ControllerDirection));
  301.    
  302.                 PID_Status = PID_ON;
  303.                 pwmValue = DEFAULT_PWM_VALUE;
  304.             }
  305.             data2 = PID_GetKd(&pid);
  306.             ptr = (uint8_t*)&data2;
  307.             rxMsg->Data[0] = ptr[0];
  308.             rxMsg->Data[1] = ptr[1];
  309.             rxMsg->Data[2] = ptr[2];
  310.             rxMsg->Data[3] = ptr[3];
  311.             rxMsg->Data[4] = 0u;
  312.             rxMsg->Data[5] = (0x80&(eeprom_read_byte(EEDATA.ControllerDirection))<<7);
  313.             rxMsg->Data[6] = (0x7f&(eeprom_read_word(EEDATA16.Time)>>8));
  314.             rxMsg->Data[7] = (0xff&(eeprom_read_word(EEDATA16.Time)));
  315.             rxMsg->Data[6] |= (0x80&(eeprom_read_byte(EEDATA.TimeMsOrS))<<7);
  316.            
  317.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  318.             rxMsg->Length = 8;
  319.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  320.         break;
  321.         case CAN_MODULE_CMD_PID_CONFIG_PARAMETER_P_I:
  322.             if (rxMsg->Length == 8)
  323.             {
  324.                 uint32_t* data_32;
  325.                 float* data = (float*)&rxMsg->Data[0];
  326.                 data_32 = (uint32_t*)data;
  327.                 eeprom_write_dword_crc(EEDATA32.K_P, *data_32, WITHOUT_CRC);
  328.                 //data = (float*)&rxMsg->Data[4];
  329.                 float* data1 = (float*)&rxMsg->Data[4];
  330.                 data_32 = (uint32_t*)data1;
  331.                 eeprom_write_dword_crc(EEDATA32.K_I, *data_32, WITH_CRC);
  332.                
  333.                 PID_SetTunings(&pid, *data, *data1, PID_GetKd(&pid));
  334.                 PID_Status = PID_ON;
  335.                 pwmValue = DEFAULT_PWM_VALUE;
  336.             }
  337.             data2 = PID_GetKp(&pid);
  338.             ptr = (uint8_t*)&data2;
  339.             rxMsg->Data[0] = ptr[0];
  340.             rxMsg->Data[1] = ptr[1];
  341.             rxMsg->Data[2] = ptr[2];
  342.             rxMsg->Data[3] = ptr[3];
  343.             data2 = PID_GetKi(&pid);
  344.             ptr = (uint8_t*)&data2;
  345.             rxMsg->Data[4] = ptr[0];
  346.             rxMsg->Data[5] = ptr[1];
  347.             rxMsg->Data[6] = ptr[2];
  348.             rxMsg->Data[7] = ptr[3];
  349.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  350.             rxMsg->Length = 8;
  351.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  352.         break;
  353.         case CAN_MODULE_CMD_PID_OUTMINMAX:
  354.             //printf("New value with: %X %X %X %X %X %X %X %X\n",rxMsg->Data[0],rxMsg->Data[1],rxMsg->Data[2],rxMsg->Data[3],rxMsg->Data[4],rxMsg->Data[5],rxMsg->Data[6],rxMsg->Data[7]);
  355.             //printf("Len: %X\n",rxMsg->Length);
  356.             if (rxMsg->Length > 1)
  357.             {
  358.                 uint32_t* data_32;
  359.                 float* data = (float*)&rxMsg->Data[0];
  360.                 data_32 = (uint32_t*)data;
  361.                 eeprom_write_dword_crc(EEDATA32.MIN, *data_32, WITHOUT_CRC);
  362.                 //data = (float*)&rxMsg->Data[4];
  363.                 float* data1 = (float*)&rxMsg->Data[4];
  364.                 data_32 = (uint32_t*)data1;
  365.                 eeprom_write_dword_crc(EEDATA32.MAX, *data_32, WITH_CRC);
  366.                 PID_SetOutputLimits(&pid, *data, *data1);
  367.                
  368.             }
  369.             data2 = PID_GetMin(&pid);
  370.             ptr = (uint8_t*)&data2;
  371.             rxMsg->Data[0] = ptr[0];
  372.             rxMsg->Data[1] = ptr[1];
  373.             rxMsg->Data[2] = ptr[2];
  374.             rxMsg->Data[3] = ptr[3];
  375.             data2 = PID_GetMax(&pid);
  376.             ptr = (uint8_t*)&data2;
  377.             rxMsg->Data[4] = ptr[0];
  378.             rxMsg->Data[5] = ptr[1];
  379.             rxMsg->Data[6] = ptr[2];
  380.             rxMsg->Data[7] = ptr[3];
  381.             StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER);
  382.             rxMsg->Length = 8;
  383.             while (StdCan_Put(rxMsg) != StdCan_Ret_OK);
  384.         break;
  385.        
  386.         }
  387.     }
  388.  
  389.     if (    StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_SNS &&
  390.                 StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_FROM_OWNER &&
  391.                 rxMsg->Header.ModuleType == sensorModuleType &&
  392.                 rxMsg->Header.ModuleId == sensorModuleId &&
  393.                 rxMsg->Header.Command == CAN_MODULE_CMD_PHYSICAL_TEMPERATURE_CELSIUS &&
  394.                 rxMsg->Data[0] == sensorId)
  395.         {
  396.             if (0x80 == rxMsg->Data[1] && 0x00 == rxMsg->Data[2])
  397.             {
  398.                 //Error on the temperature signal, do something
  399.             }
  400.             else
  401.             {
  402.                 measurementValue = ((float)((rxMsg->Data[1]<<8) + rxMsg->Data[2]))/64;
  403.             }
  404.  
  405.         }
  406. }
  407.  
  408. void act_PIDv1_List(uint8_t ModuleSequenceNumber)
  409. {
  410.     StdCan_Msg_t txMsg;
  411.  
  412.     StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT); ///TODO: Change this to the actual class type
  413.     StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
  414.     txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_PID; ///TODO: Change this to the actual module type
  415.     txMsg.Header.ModuleId = act_PIDv1_ID;
  416.     txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
  417.     txMsg.Length = 6;
  418.  
  419.     uint32_t HwId=BIOS_GetHwId();
  420.     txMsg.Data[0] = HwId&0xff;
  421.     txMsg.Data[1] = (HwId>>8)&0xff;
  422.     txMsg.Data[2] = (HwId>>16)&0xff;
  423.     txMsg.Data[3] = (HwId>>24)&0xff;
  424.  
  425.     txMsg.Data[4] = NUMBER_OF_MODULES;
  426.     txMsg.Data[5] = ModuleSequenceNumber;
  427.  
  428.     while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
  429. }
  430.