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Rev 1119 Rev 1178
Line 133... Line 133...
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        StdCan_Msg_t txMsg;
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        StdCan_Msg_t txMsg;
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        StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
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        StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_ACT);
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        StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
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        StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
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        txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_SLOWPWM;
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        txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_SLOWPWM;
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        txMsg.Header.ModuleId = act_SlowPWM_ID;
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        txMsg.Header.ModuleId = act_SlowPWM_ID;
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        txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_SLOWPWM;
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        txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PWM;
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        txMsg.Length = 3;
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        txMsg.Length = 3;
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        txMsg.Data[0] = PWMSENSORID;
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        txMsg.Data[0] = PWMSENSORID;
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        txMsg.Data[1] = (pwmValue>>8)&0xff;
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        txMsg.Data[1] = (pwmValue>>8)&0xff;
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        txMsg.Data[2] = (pwmValue)&0xff;
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        txMsg.Data[2] = (pwmValue)&0xff;
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        StdCan_Put(&txMsg);
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        StdCan_Put(&txMsg);
Line 151... Line 151...
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            rxMsg->Header.ModuleType == CAN_MODULE_TYPE_ACT_SLOWPWM &&
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            rxMsg->Header.ModuleType == CAN_MODULE_TYPE_ACT_SLOWPWM &&
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            rxMsg->Header.ModuleId == act_SlowPWM_ID)
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            rxMsg->Header.ModuleId == act_SlowPWM_ID)
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    {
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    {
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        switch (rxMsg->Header.Command)
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        switch (rxMsg->Header.Command)
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        {
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        {
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        case CAN_MODULE_CMD_PHYSICAL_SLOWPWM:
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        case CAN_MODULE_CMD_PHYSICAL_PWM:
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            if (rxMsg->Data[0] == PWMSENSORID)
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            if (rxMsg->Data[0] == PWMSENSORID)
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            {
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            {
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                if (rxMsg->Length == 3)
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                if (rxMsg->Length == 3)
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                {
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                {
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                    pwmValue= (rxMsg->Data[1]<<8) + rxMsg->Data[2];
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                    pwmValue= (rxMsg->Data[1]<<8) + rxMsg->Data[2];