Rev 1379 | Rev 1388 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | SVN | RSS feed
| Rev 1379 | Rev 1387 | ||
|---|---|---|---|
| Line 252... | Line 252... | ||
| 252 | if (rxMsg->Length == 3) |
252 | if (rxMsg->Length == 3) |
| 253 | { |
253 | { |
| 254 | //printf("3\n"); |
254 | //printf("3\n"); |
| 255 | if (rxMsg->Data[0] < NUMBEROFCHANNELS) { |
255 | if (rxMsg->Data[0] < NUMBEROFCHANNELS) { |
| 256 | pwmValueCAN[rxMsg->Data[0]] = ((uint16_t)((rxMsg->Data[1]<<8) + rxMsg->Data[2])); |
256 | pwmValueCAN[rxMsg->Data[0]] = ((uint16_t)((rxMsg->Data[1]<<8) + rxMsg->Data[2])); |
| - | 257 | if (softPWM_INVERT_PWM == 1) { |
|
| - | 258 | pwmValue[rxMsg->Data[0]] = maxTimer - ((uint16_t)((((uint32_t)pwmValueCAN[rxMsg->Data[0]])*(maxTimer))/10000)); |
|
| - | 259 | }else { |
|
| 257 | pwmValue[rxMsg->Data[0]] = ((uint16_t)((((uint32_t)pwmValueCAN[rxMsg->Data[0]])*(maxTimer))/10000)); |
260 | pwmValue[rxMsg->Data[0]] = ((uint16_t)((((uint32_t)pwmValueCAN[rxMsg->Data[0]])*(maxTimer))/10000)); |
| - | 261 | } |
|
| 258 | rxMsg->Data[1] = (uint8_t)(0x00ff & (pwmValueCAN[rxMsg->Data[0]]>>8)); |
262 | rxMsg->Data[1] = (uint8_t)(0x00ff & (pwmValueCAN[rxMsg->Data[0]]>>8)); |
| 259 | rxMsg->Data[2] = (uint8_t)(0x00ff & pwmValueCAN[rxMsg->Data[0]]); |
263 | rxMsg->Data[2] = (uint8_t)(0x00ff & pwmValueCAN[rxMsg->Data[0]]); |
| 260 | StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER); |
264 | StdCan_Set_direction(rxMsg->Header, DIRECTIONFLAG_FROM_OWNER); |
| 261 | rxMsg->Length = 3; |
265 | rxMsg->Length = 3; |
| 262 | while (StdCan_Put(rxMsg) != StdCan_Ret_OK); |
266 | while (StdCan_Put(rxMsg) != StdCan_Ret_OK); |