> From: Gene Heskett [mailto:[email protected]]
> On Monday 13 September 2021 18:11:44 John Dammeyer wrote:
>
> > Hi Gene,
> > I was able to use your pyvcp information along with the web documents
> > to get my own slider working. In the CAN message screen grab you can
> > see id=218, dlc=4, and the first two bytes representing 0x0032 in
> > Little Endian format. That value in decimal is 50. Scale screen grab
> > shows the slider set at 50. Drag the slider back and forth and the
> > CAN message changes. And on the scope the screen shot shows 5V. Drag
> > the slider back and forth and the voltage trace changes amplitude.
> > That voltage is based on the received CANopen message sent from the
> > slider on the Pi4 LCNC. Thanks again for your help.
> > John Dammeyer
> >
> NP John, glad I could help.
I realized after I posted all that and looked at the PIC source code that I
remembered incorrectly (ie. Forgot) that the PWM values are 8 bits not 16 with
a resolution of 1%. Only two bytes are needed in the message. The code below
shows how it's properly converted and set into the hardware PWM generation
registers.
case 0x200 : // Receive PDO 1
// PWM Outputs for LH CONN pin 2,11
if (id == NodeID ) {
OC3RS = ScalePWM((int)CANOpenMsg.d.data[0]);
OC4RS = ScalePWM((int)CANOpenMsg.d.data[1]);
ObjectDictionaryValues[XIM_PWM1_NDX] = ReportPWM(0);
ObjectDictionaryValues[XIM_PWM2_NDX] = ReportPWM(1);
}
break;
>
> Cheers, Gene Heskett
> --
> "There are four boxes to be used in defense of liberty:
> soap, ballot, jury, and ammo. Please use in that order."
> -Ed Howdershelt (Author)
> If we desire respect for the law, we must first make the law respectable.
> - Louis D. Brandeis
> Genes Web page <http://geneslinuxbox.net:6309/gene>
>
>
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