bernhard/CanRtDriver
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Leistungsvorgabe jetzt in Schritten und nicht mehr in Prozent

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Bernhard
2026-01-17 19:14:44 +01:00
parent c16ac482bd
commit 1b265c71f0
4 changed files with 35 additions and 27 deletions
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41
can/can_client.c
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@@ -41,11 +41,11 @@ int Can_OpenInterface(int iMotorIndex, const char * ifacename)
motctrl[iMotorIndex].nDriveReady = 0; motctrl[iMotorIndex].nDriveReady = 0;
motctrl[iMotorIndex].iActualMotorPowerW = 0; motctrl[iMotorIndex].iActualMotorPowerW = 0;
motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_NEUTRAL; motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_NEUTRAL;
motctrl[iMotorIndex].iMotorPower = 0; motctrl[iMotorIndex].iMotorPowerRaw = 0;
motctrl[iMotorIndex].iMotorPowerPct = 0; motctrl[iMotorIndex].iMotorPowerSteps = 0;
motctrl[iMotorIndex].nSwitchState = 0; motctrl[iMotorIndex].nSwitchState = 0;
mylog(LOG_INFO, "CAN: PWR_MIN_PCT=%d PWR_MAX_PCT=%d PWR_STEP=%d", MOTOR_PWR_MIN_PCT, MOTOR_PWR_MAX_PCT, MOTOR_PWR_STEP); mylog(LOG_INFO, "CAN: PWR_MAX_RAW=%d PWR_STEP_COUNT=%d", MOTOR_PWR_MAX_RAW, MOTOR_PWR_STEP_COUNT);
strcpy(intf_data[iMotorIndex].iface_name, ifacename); strcpy(intf_data[iMotorIndex].iface_name, ifacename);
Can_SetMotorGear(iMotorIndex, MOTOR_GEAR_NEUTRAL); Can_SetMotorGear(iMotorIndex, MOTOR_GEAR_NEUTRAL);
@@ -123,7 +123,7 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
MqttClient_Publish_MotorGear(iMotorIndex, iGear); MqttClient_Publish_MotorGear(iMotorIndex, iGear);
motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_FORWARD; motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_FORWARD;
// motor is switched to forward -> set min. power // motor is switched to forward -> set min. power
Can_SetMotorPower(iMotorIndex, MOTOR_PWR_MIN_PCT); Can_SetMotorPower(iMotorIndex, 1);
} }
WriteOutputPin(GPIO_LED_MOTRUN, HIGH); WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
mylog(LOG_INFO, "CAN: Motor[%d]: Set gear forward.", iMotorIndex); mylog(LOG_INFO, "CAN: Motor[%d]: Set gear forward.", iMotorIndex);
@@ -135,7 +135,7 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
MqttClient_Publish_MotorGear(iMotorIndex, iGear); MqttClient_Publish_MotorGear(iMotorIndex, iGear);
motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_REVERSE; motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_REVERSE;
// motor is switched to reverse -> set min. power // motor is switched to reverse -> set min. power
Can_SetMotorPower(iMotorIndex, MOTOR_PWR_MIN_PCT); Can_SetMotorPower(iMotorIndex, 1);
} }
WriteOutputPin(GPIO_LED_MOTRUN, HIGH); WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
mylog(LOG_INFO, "CAN: Motor[%d]: Set gear reverse.", iMotorIndex); mylog(LOG_INFO, "CAN: Motor[%d]: Set gear reverse.", iMotorIndex);
@@ -157,35 +157,42 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
/// @brief Set power for the given motor /// @brief Set power for the given motor
/// @param iMotorIndex /// @param iMotorIndex
/// @param iPower (Range: 0..100) /// @param iPower (Range: 0..MOTOR_PWR_STEP_COUNT)
void Can_SetMotorPower(int iMotorIndex, int iPower) void Can_SetMotorPower(int iMotorIndex, int iPower)
{ {
if ((motctrl[iMotorIndex].iMotorGear == MOTOR_GEAR_NEUTRAL) || (motctrl[iMotorIndex].nDriveReady == 0)) if ((motctrl[iMotorIndex].iMotorGear == MOTOR_GEAR_NEUTRAL) || (motctrl[iMotorIndex].nDriveReady == 0))
{ {
// when motor is neutral or not ready set power to 0 // when motor is neutral or not ready set power to 0
motctrl[iMotorIndex].iMotorPowerPct = 0; motctrl[iMotorIndex].iMotorPowerSteps = 0;
} }
else if (iPower <= MOTOR_PWR_MIN_PCT) else if (iPower <= 1)
{ {
// limit to min. power // limit to min. power
motctrl[iMotorIndex].iMotorPowerPct = MOTOR_PWR_MIN_PCT; motctrl[iMotorIndex].iMotorPowerSteps = 1;
} }
else if (iPower >= MOTOR_PWR_MAX_PCT) else if (iPower >= MOTOR_PWR_STEP_COUNT)
{ {
// limit to max. power // limit to max. power
motctrl[iMotorIndex].iMotorPowerPct = MOTOR_PWR_MAX_PCT; motctrl[iMotorIndex].iMotorPowerSteps = MOTOR_PWR_STEP_COUNT;
} }
else else
{ {
motctrl[iMotorIndex].iMotorPowerPct = iPower; motctrl[iMotorIndex].iMotorPowerSteps = iPower;
} }
MqttClient_Publish_MotorPower(iMotorIndex, motctrl[iMotorIndex].iMotorPowerPct); MqttClient_Publish_MotorPower(iMotorIndex, motctrl[iMotorIndex].iMotorPowerSteps);
// calc value for telegram // calc value for telegram
motctrl[iMotorIndex].iMotorPower = 250 * motctrl[iMotorIndex].iMotorPowerPct / 100; if (motctrl[iMotorIndex].iMotorPowerSteps <= 0)
{
motctrl[iMotorIndex].iMotorPowerRaw = 0;
}
else
{
motctrl[iMotorIndex].iMotorPowerRaw = (((MOTOR_PWR_MAX_RAW - MOTOR_PWR_MIN_RAW) * motctrl[iMotorIndex].iMotorPowerSteps) / MOTOR_PWR_STEP_COUNT) + MOTOR_PWR_MIN_RAW;
}
mylog(LOG_INFO, "CAN: Motor[%d]: Set power to %d%% -> %d", mylog(LOG_INFO, "CAN: Motor[%d]: Set power to %d -> %d",
iMotorIndex, motctrl[iMotorIndex].iMotorPowerPct, motctrl[iMotorIndex].iMotorPower); iMotorIndex, motctrl[iMotorIndex].iMotorPowerSteps, motctrl[iMotorIndex].iMotorPowerRaw);
} }
@@ -226,7 +233,7 @@ void Can_TransmitMotorPower(int iMotorIndex)
frame.can_id |= CAN_EFF_FLAG; frame.can_id |= CAN_EFF_FLAG;
frame.can_dlc = 8; frame.can_dlc = 8;
frame.data[0] = 0xFF; frame.data[0] = 0xFF;
frame.data[1] = motctrl[iMotorIndex].iMotorPower; // motor power 0 = 0%, 250 = 100% frame.data[1] = motctrl[iMotorIndex].iMotorPowerRaw; // motor power 0 = 0%, 250 = 100%
frame.data[2] = 0xFF; frame.data[2] = 0xFF;
frame.data[3] = 0xFF; frame.data[3] = 0xFF;
frame.data[4] = 0xFF; frame.data[4] = 0xFF;

10
can/can_client.h
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@@ -22,17 +22,17 @@
#define MOTOR_GEAR_NEUTRAL 0x7D #define MOTOR_GEAR_NEUTRAL 0x7D
#define MOTOR_GEAR_FORWARD 0x7E #define MOTOR_GEAR_FORWARD 0x7E
#define MOTOR_PWR_MIN_PCT 15 #define MOTOR_PWR_STEP_COUNT 7 // how many steps to set power
#define MOTOR_PWR_MAX_PCT 100 #define MOTOR_PWR_MIN_RAW 38
#define MOTOR_PWR_STEP ((MOTOR_PWR_MAX_PCT - MOTOR_PWR_MIN_PCT) / 7) #define MOTOR_PWR_MAX_RAW 250 // max. raw power value for motor
struct MOTOR_CONTROL_DATA struct MOTOR_CONTROL_DATA
{ {
char nDriveConnected; char nDriveConnected;
char nDriveReady; char nDriveReady;
int iMotorGear; int iMotorGear;
int iMotorPower; int iMotorPowerRaw;
int iMotorPowerPct; int iMotorPowerSteps;
unsigned char nSwitchState; unsigned char nSwitchState;
int iActualMotorPowerW; int iActualMotorPowerW;
}; };

8
io/io.c
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@@ -197,22 +197,22 @@ void IO_DoCyclic()
{ {
mylog(LOG_INFO, "IO: KEY-Plus: Start motor."); mylog(LOG_INFO, "IO: KEY-Plus: Start motor.");
Can_SetMotorGear(0, 1); Can_SetMotorGear(0, 1);
Can_SetMotorPower(0, MOTOR_PWR_MIN_PCT); Can_SetMotorPower(0, 1);
} }
else else
{ {
mylog(LOG_INFO, "IO: KEY-Plus: Increase power."); mylog(LOG_INFO, "IO: KEY-Plus: Increase power.");
Can_SetMotorPower(0, motctrl[0].iMotorPowerPct + MOTOR_PWR_STEP); Can_SetMotorPower(0, motctrl[0].iMotorPowerSteps + 1);
} }
} }
if (gpioKeyPwrDown.iKeyRisingEdge) if (gpioKeyPwrDown.iKeyRisingEdge)
{ {
// minus key is pressed -> decrease power // minus key is pressed -> decrease power
if (motctrl[0].iMotorPowerPct > MOTOR_PWR_MIN_PCT) if (motctrl[0].iMotorPowerSteps > 1)
{ {
mylog(LOG_INFO, "IO: KEY-Minus: Decrease power."); mylog(LOG_INFO, "IO: KEY-Minus: Decrease power.");
Can_SetMotorPower(0, motctrl[0].iMotorPowerPct - MOTOR_PWR_STEP); Can_SetMotorPower(0, motctrl[0].iMotorPowerSteps - 1);
} }
else else
{ {

1
scripts/git_update.sh
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@@ -1,4 +1,5 @@
#!/bin/bash #!/bin/bash
git fetch
git pull git pull