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Rev 1395 Rev 1762
Line 284... Line 284...
284 
        txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_SOFTPWM;
 284 
        txMsg.Header.ModuleType = CAN_MODULE_TYPE_ACT_SOFTPWM;
285 
        txMsg.Header.ModuleId = act_softPWM_ID;
 285 
        txMsg.Header.ModuleId = act_softPWM_ID;
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        txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PWM;
 286 
        txMsg.Header.Command = CAN_MODULE_CMD_PHYSICAL_PWM;
287 
        txMsg.Length = 3;
 287 
        txMsg.Length = 3;
288 
        txMsg.Data[0] = currentSendChannelId;
 288 
        txMsg.Data[0] = currentSendChannelId;
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        txMsg.Data[1] = (pwmValue[currentSendChannelId]>>8)&0xff;
 289 
        txMsg.Data[1] = (pwmValueCAN[currentSendChannelId]>>8)&0xff;
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        txMsg.Data[2] = (pwmValue[currentSendChannelId])&0xff;
 290 
        txMsg.Data[2] = (pwmValueCAN[currentSendChannelId])&0xff;
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        while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
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        while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
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//printf("sent pwm2: %d %d\n",pwmValueCAN[currentSendChannelId],currentSendChannelId);
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//printf("sent pwm2: %d %d\n",pwmValueCAN[currentSendChannelId],currentSendChannelId);
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#if act_softPWM_ACTIVATE_AUTOOFF != 0
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#if act_softPWM_ACTIVATE_AUTOOFF != 0
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        offCounter[currentSendChannelId]--;
 294 
        offCounter[currentSendChannelId]--;
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        if (offCounter[currentSendChannelId] == 0) {
 295 
        if (offCounter[currentSendChannelId] == 0) {
Line 323... Line 323...
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//printf("3\n");
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//printf("3\n");
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                if (rxMsg->Data[0] < NUMBEROFCHANNELS) {
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                if (rxMsg->Data[0] < NUMBEROFCHANNELS) {
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                    pwmValueCAN[rxMsg->Data[0]] = ((uint16_t)((rxMsg->Data[1]<<8) + rxMsg->Data[2]));
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                    pwmValueCAN[rxMsg->Data[0]] = ((uint16_t)((rxMsg->Data[1]<<8) + rxMsg->Data[2]));
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                    if (pwmValueCAN[rxMsg->Data[0]] >= 10000) {
 326 
                    if (pwmValueCAN[rxMsg->Data[0]] >= 10000) {
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                        pwmValue[rxMsg->Data[0]] = maxTimer+1;
 327 
                        pwmValue[rxMsg->Data[0]] = maxTimer+1;
- 
 
 328 
                        pwmValueCAN[rxMsg->Data[0]] = 10000;
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                    } else {
 329 
                    } else {
329 
                        pwmValue[rxMsg->Data[0]] = ((uint16_t)((((uint32_t)pwmValueCAN[rxMsg->Data[0]])*(maxTimer))/10000));
 330 
                        pwmValue[rxMsg->Data[0]] = ((uint16_t)((((uint32_t)pwmValueCAN[rxMsg->Data[0]])*(maxTimer))/10000));
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                    }
 331 
                    }
331 
                    rxMsg->Data[1] = (uint8_t)(0x00ff & (pwmValueCAN[rxMsg->Data[0]]>>8));
 332 
                    rxMsg->Data[1] = (uint8_t)(0x00ff & (pwmValueCAN[rxMsg->Data[0]]>>8));
332 
                    rxMsg->Data[2] = (uint8_t)(0x00ff & pwmValueCAN[rxMsg->Data[0]]);
 333 
                    rxMsg->Data[2] = (uint8_t)(0x00ff & pwmValueCAN[rxMsg->Data[0]]);