bernhard/CanRtDriver
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Bernhard
2026-01-20 20:11:36 +01:00
parent 874ebf51ba
commit 281e70d91e
6 changed files with 90 additions and 19 deletions
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2
can/can_client.c
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@@ -55,7 +55,7 @@ int Can_OpenInterface(int iMotorIndex, const char * ifacename)
if (settings.iCanSimu)
{
mylog(LOG_INFO, "CAN: Using simulation mode (motor %d).", iMotorIndex);
mylog(LOG_WARNING, "CAN: Using simulation mode (motor %d).", iMotorIndex);
intf_data[iMotorIndex].socket = -1;
motctrl[iMotorIndex].nSwitchState = 0xF5;
motctrl[iMotorIndex].nDriveConnected = 1;

4
io/io.c
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@@ -51,7 +51,7 @@ void SetupKeyPin(struct GPIO_KEY_DATA *pdata, int iKeyPin)
if ((pdata->iKeyPin > 0) && nInitialized)
{
//mylog(LOG_INFO, "IO: Config Pin %d as input", iOutPin);
mylog(LOG_DEBUG, "IO: Config Pin %d as input", pdata->iKeyPin);
pinMode(pdata->iKeyPin, INPUT);
pullUpDnControl(pdata->iKeyPin, PUD_UP);
}
@@ -154,7 +154,7 @@ void SetupOutputPin(int iOutPin)
{
if ((iOutPin > 0) && nInitialized)
{
//mylog(LOG_INFO, "IO: Config Pin %d as output", iOutPin);
mylog(LOG_DEBUG, "IO: Config Pin %d as output", iOutPin);
pinMode(iOutPin, OUTPUT);
digitalWrite(iOutPin, LOW);
}

2
main.c
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@@ -17,7 +17,7 @@ int iLogToConsole = 1;
/// @param
void mylog(int prio, const char *format, ...)
{
if (prio >= settings.iDebugLevel)
if (prio <= settings.iDebugLevel)
{
va_list args;

12
mqtt/mqtt_client.c
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@@ -55,7 +55,7 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
int val = 9999;
if (sscanf(topic_value, "%d", &val))
{
mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor1_gear: %d", val);
mylog(LOG_DEBUG, "MQTT: Received value for mqtt_topic_motor1_gear: %d", val);
iMqttMotor1Gear = val;
Can_SetMotorGear(0, val);
}
@@ -69,7 +69,7 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
int val = 9999;
if (sscanf(topic_value, "%d", &val))
{
mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor1_power: %d", val);
mylog(LOG_DEBUG, "MQTT: Received value for mqtt_topic_motor1_power: %d", val);
iMqttMotor1Power = val;
Can_SetMotorPower(0, val);
}
@@ -83,7 +83,7 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
int val = 9999;
if (sscanf(topic_value, "%d", &val))
{
mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor2_gear: %d", val);
mylog(LOG_DEBUG, "MQTT: Received value for mqtt_topic_motor2_gear: %d", val);
iMqttMotor2Gear = val;
Can_SetMotorGear(1, val);
}
@@ -97,7 +97,7 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
int val = 9999;
if (sscanf(topic_value, "%d", &val))
{
mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor2_power: %d", val);
mylog(LOG_DEBUG, "MQTT: Received value for mqtt_topic_motor2_power: %d", val);
iMqttMotor2Power = val;
Can_SetMotorPower(1, val);
}
@@ -152,7 +152,7 @@ int MqttClient_Connect()
{
/* Wenn wir Verbindungsfehler hatten, dann befinden wir uns wohl in Boot-Prozess und der Mosquitto ist
gerade erst gestartet. Wir müssen hier etwas warten, sonst funktioniert das Subscriben nicht */
sleep(10);
sleep(500);
}
// publish all topics we want to subscribe
@@ -226,7 +226,7 @@ int MqttClient_Connect()
iMqttMotor2ActualPowerW = -1;
MqttClient_Publish_MotorActualPowerW(1, 0);
mylog(LOG_INFO, "MQTT: Connected successfull!");
mylog(LOG_INFO, "MQTT: Connected successfull after %d errors!", iHadConnectError);
return 0;
}

86
settings/settings.c Normal file → Executable file
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@@ -1,7 +1,7 @@
#include <main.h>
#include <settings/settings.h>
#include <ctype.h>
struct APP_SETTINGS settings;
@@ -16,7 +16,7 @@ void Settings_InitDefaultValues()
// #define LOG_INFO 6 /* informational */
// #define LOG_DEBUG 7 /* debug-level messages */
settings.iDebugLevel = LOG_INFO;
settings.iCanSimu = 0;
settings.iCanSimu = 1;
settings.iMotorCount = 1;
settings.iMotorPwrMinRaw = 38;
@@ -38,17 +38,58 @@ void Settings_InitDefaultValues()
}
char *trim_str(const char *s)
{
// Führende Leerzeichen finden
while (isspace((unsigned char)*s))
s++;
// Falls der String leer ist
if (*s == 0)
return strdup("");
// Letztes Zeichen finden
const char *end = s + strlen(s) - 1;
while (end > s && isspace((unsigned char)*end))
end--;
// Länge des neuen Strings berechnen
size_t len = (end - s) + 1;
// Speicher reservieren (+1 für das Null-Byte)
char *new_str = malloc(len + 1);
if (new_str)
{
memcpy(new_str, s, len);
new_str[len] = '\0';
}
return new_str;
}
void Settings_ReadConfFile()
{
const char *filename = "/etc/CanRtDriver.conf";
//const char *filename = "/etc/CanRtDriver.conf";
char filename[MAX_PATH + 50];
sprintf(filename, "%s.conf", settings.sExePath);
FILE *file = fopen(filename, "r");
if (file == NULL)
{
mylog(LOG_ERR, "Failed to open settings file %s", filename);
return;
mylog(LOG_INFO, "SETTINGS: File %s noch found", filename);
sprintf(filename, "/etc/CanRtDriver.conf");
file = fopen(filename, "r");
if (file == NULL)
{
mylog(LOG_ERR, "SETTINGS: No conf file found!");
return;
}
}
mylog(LOG_INFO, "SETTINGS: Reading %s", filename);
char line[MAX_LINE_LENGTH];
while (fgets(line, sizeof(line), file))
{
@@ -62,13 +103,42 @@ void Settings_ReadConfFile()
line[strcspn(line, "\r\n")] = 0;
// 3. Split line to key and value
char *key = strtok(line, "=");
char *value = strtok(NULL, "=");
char *key = trim_str(strtok(line, "="));
char *value = trim_str(strtok(NULL, "="));
if ((key != NULL) && (value != NULL))
{
mylog(LOG_DEBUG, "SETTINGS: Found key: '%s' | value: '%s'\n", key, value);
//mylog(LOG_INFO, "SETTINGS: Found key: '%s' | value: '%s'", key, value);
if (strcmp(key, "DebugLevel") == 0)
{
settings.iDebugLevel = atoi(value);
mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iDebugLevel);
}
else if (strcmp(key, "CanSimu") == 0)
{
settings.iCanSimu = atoi(value);
mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iCanSimu);
}
else if (strcmp(key, "MotorPowerMinRaw") == 0)
{
settings.iMotorPwrMinRaw = atoi(value);
mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iMotorPwrMinRaw);
}
else if (strcmp(key, "MotorPowerMaxRaw") == 0)
{
settings.iMotorPwrMaxRaw = atoi(value);
mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iMotorPwrMaxRaw);
}
else if (strcmp(key, "MotorPowerStepCount") == 0)
{
settings.iMotorPwrStepCount = atoi(value);
mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iMotorPwrStepCount);
}
else
{
mylog(LOG_WARNING, "SETTING: Unknown key: %s", key);
}
// // Beispiel: Wert verarbeiten
// if (strcmp(key, "port") == 0)
// {

3
settings/settings.h Normal file → Executable file
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@@ -8,12 +8,13 @@
#include <string.h>
#define MAX_LINE_LENGTH 256
#define MAX_PATH 256
struct APP_SETTINGS
{
int iDebugLevel; // Level of debug messages
char sExePath[MAX_PATH]; // Path of the executable
int iCanSimu = 0; // Simulate CAN if 1
int iCanSimu; // Simulate CAN if 1
int iMotorCount; // Number of used motors (1 or 2)
int iMotorPwrMinRaw; // Minimum power value for motor (raw value)