Erste Vorbereitungen für Settings-Datei

can/can_client.c

@@ -1,14 +1,15 @@
 
 #include "main.h"
 
+#include <settings/settings.h>
 #include <can/can_client.h>
 #include <io/io.h>
 #include <mqtt/mqtt_client.h>
 
 int iCanSimu = 0;
 
-struct MOTOR_CONTROL_DATA motctrl[MOTOR_COUNT];
-struct CAN_INTERFACE_DATA intf_data[MOTOR_COUNT];
+struct MOTOR_CONTROL_DATA motctrl[MAX_MOTOR_COUNT];
+struct CAN_INTERFACE_DATA intf_data[MAX_MOTOR_COUNT];
 
 
 int iBusTimeoutCounter = 0;
@@ -47,7 +48,8 @@ int Can_OpenInterface(int iMotorIndex, const char * ifacename)
     motctrl[iMotorIndex].nDriveConnected = 0;
     motctrl[iMotorIndex].nDriveReady = 0;
 
-    mylog(LOG_INFO, "CAN: PWR_MAX_RAW=%d PWR_STEP_COUNT=%d", MOTOR_PWR_MAX_RAW, MOTOR_PWR_STEP_COUNT);
+    mylog(LOG_INFO, "CAN: PWR_MIN_RAW=%d PWR_MAX_RAW=%d PWR_STEP_COUNT=%d", 
+        settings.iMotorPwrMinRaw, settings.iMotorPwrMaxRaw, settings.iMotorPwrStepCount);
     
     strcpy(intf_data[iMotorIndex].iface_name, ifacename);
     Can_SetMotorGear(iMotorIndex, MOTOR_GEAR_NEUTRAL);
@@ -177,7 +179,7 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
 
 /// @brief Set power for the given motor
 /// @param iMotorIndex 
-/// @param iPower (Range: 0..MOTOR_PWR_STEP_COUNT)
+/// @param iPower (Range: 0..settings.iMotorPwrStepCount)
 void Can_SetMotorPower(int iMotorIndex, int iPower)
 {
     if ((motctrl[iMotorIndex].iMotorGear == MOTOR_GEAR_NEUTRAL) || (motctrl[iMotorIndex].nDriveReady == 0))
@@ -190,10 +192,10 @@ void Can_SetMotorPower(int iMotorIndex, int iPower)
         // limit to min. power
         motctrl[iMotorIndex].iMotorPowerSteps = 1;
     }
-    else if (iPower >= MOTOR_PWR_STEP_COUNT)
+    else if (iPower >= settings.iMotorPwrStepCount)
     {
         // limit to max. power
-        motctrl[iMotorIndex].iMotorPowerSteps = MOTOR_PWR_STEP_COUNT;
+        motctrl[iMotorIndex].iMotorPowerSteps = settings.iMotorPwrStepCount;
     } 
     else 
     {
@@ -208,7 +210,16 @@ void Can_SetMotorPower(int iMotorIndex, int iPower)
     }
     else
     {
-        motctrl[iMotorIndex].iMotorPowerRaw = (((MOTOR_PWR_MAX_RAW - MOTOR_PWR_MIN_RAW) * (motctrl[iMotorIndex].iMotorPowerSteps - 1)) / (MOTOR_PWR_STEP_COUNT - 1)) + MOTOR_PWR_MIN_RAW;
+        // Scale motor power from steps to raw value
+        motctrl[iMotorIndex].iMotorPowerRaw = (((settings.iMotorPwrMaxRaw - settings.iMotorPwrMinRaw) * (motctrl[iMotorIndex].iMotorPowerSteps - 1)) / (settings.iMotorPwrStepCount - 1)) + settings.iMotorPwrMinRaw;
+        if (motctrl[iMotorIndex].iMotorPowerRaw < settings.iMotorPwrMinRaw)
+        {
+            motctrl[iMotorIndex].iMotorPowerRaw = settings.iMotorPwrMinRaw;
+        }
+        else if (motctrl[iMotorIndex].iMotorPowerRaw > settings.iMotorPwrMaxRaw)
+        {
+            motctrl[iMotorIndex].iMotorPowerRaw = settings.iMotorPwrMaxRaw;
+        }
     }
 
     mylog(LOG_INFO, "CAN: Motor[%d]: Set power to %d -> %d",

can/can_client.h

@@ -15,17 +15,13 @@
 #include <linux/can.h>
 #include <linux/can/raw.h>
 
-#define MOTOR_COUNT 2
+#define MAX_MOTOR_COUNT 2
 
 // motor gear: 0x7C=reverse, 0x7D=neutral, 0x7E=forward
 #define MOTOR_GEAR_REVERSE 0x7C
 #define MOTOR_GEAR_NEUTRAL 0x7D
 #define MOTOR_GEAR_FORWARD 0x7E
 
-#define MOTOR_PWR_STEP_COUNT 7      // how many steps to set power
-#define MOTOR_PWR_MIN_RAW 38
-#define MOTOR_PWR_MAX_RAW 250       // max. raw power value for motor
-
 struct MOTOR_CONTROL_DATA
 {
     char nDriveConnected;
@@ -36,7 +32,7 @@ struct MOTOR_CONTROL_DATA
     unsigned char nSwitchState;
     int iActualMotorPowerW;
 };
-extern struct MOTOR_CONTROL_DATA motctrl[MOTOR_COUNT];
+extern struct MOTOR_CONTROL_DATA motctrl[MAX_MOTOR_COUNT];
 
 struct CAN_INTERFACE_DATA
 {

main.c

@@ -3,6 +3,7 @@
 #include <mqtt/mqtt_client.h>
 #include <can/can_client.h>
 #include <io/io.h>
+#include <settings/settings.h>
 
 // Period info of the realtime task
 struct period_info pinfo;
@@ -15,18 +16,20 @@ int iLogToConsole = 1;
 /// @param format 
 /// @param  
 void mylog(int prio, const char *format, ...)
+{
+        if (prio >= settings.iDebugLevel)
         {
                 va_list args;
 
-    // 1. Initialisiere die Argumentenliste mit dem letzten festen Parameter
+                // 1. Initialize the argument list with the last fixed argument
                 va_start(args, format);
 
-    // 2. Übergabe an vsyslog (statt syslog)
-    // vsyslog nimmt eine va_list entgegen
+                // 2. Transfer to vsyslog (instead of syslog)
+                // vsyslog accepts a va_list
                 vsyslog(prio, format, args);
 
-    // 3. Optional: Zusätzlich auf die Konsole ausgeben
-    // Wir müssen die Liste neu initialisieren, da va_list "verbraucht" wird
+                // 3. Optional: Output additionally to the console
+                // We have to reinitialize the list because va_list is "consumed."
                 if (iLogToConsole)
                 {
                         va_end(args);
@@ -35,9 +38,10 @@ va_list args;
                         fprintf(stderr, "\n");
                 }
 
-    // 4. Aufräumen
+                // 4. Cleanup
                 va_end(args);
         }
+}
 
 
 /// @brief Initialize period_info with period_ms for cyclic task
@@ -209,6 +213,9 @@ int main(int argc, char* argv[])
         pthread_t thread;
         int ret;
 
+        // First we have to get the default values of our settings
+        Settings_InitDefaultValues();
+
         openlog("CanRtDriver", LOG_PID | LOG_CONS, LOG_DAEMON);
         mylog(LOG_INFO, "Service started. PID: %d", getpid());
 

makefile

@@ -7,13 +7,14 @@ CFLAGS = -Wextra -Wall -std=gnu99 -I. -Wno-unused-parameter -Wno-unused-variable
 MQTT_SOURCES = mqtt/mqtt_client.c
 CAN_SOURCES = can/can_client.c
 IO_SOURCES = io/io.c
+SETTINGS_SOURCES = settings/settings.c
 PROG = bin/CanRtDriver
 BINDIR = bin
 
 
 all: $(BINDIR) $(PROG) 
 
-bin/CanRtDriver: main.c $(CAN_SOURCES) $(MQTT_SOURCES) $(IO_SOURCES)
+bin/CanRtDriver: main.c $(CAN_SOURCES) $(MQTT_SOURCES) $(IO_SOURCES) $(SETTINGS_SOURCES)
 	$(CC) $(CFLAGS) $^ -lpthread -lmosquitto -lwiringPi -o $@
 
 $(BINDIR):

mqtt/mqtt_client.h

@@ -1,7 +1,7 @@
 #if !defined(__MQTT_CLIENT_H__)
 #define __MQTT_CLIENT_H__
 
-#define USE_MOSQUITTO_LIB
+//#define USE_MOSQUITTO_LIB
 
 int MqttClient_Connect();
 void MqttClient_Close();

settings/settings.c

@@ -0,0 +1,23 @@
+
+#include <main.h>
+#include <settings/settings.h>
+
+struct APP_SETTINGS settings;
+
+void Settings_InitDefaultValues()
+{
+// #define        LOG_EMERG        0        /* system is unusable */
+// #define        LOG_ALERT        1        /* action must be taken immediately */
+// #define        LOG_CRIT         2        /* critical conditions */
+// #define        LOG_ERR          3        /* error conditions */
+// #define        LOG_WARNING      4        /* warning conditions */
+// #define        LOG_NOTICE       5        /* normal but significant condition */
+// #define        LOG_INFO         6        /* informational */
+// #define        LOG_DEBUG        7        /* debug-level messages */
+    settings.iDebugLevel = LOG_INFO;
+
+    settings.iMotorCount = 1;
+    settings.iMotorPwrMinRaw = 38;
+    settings.iMotorPwrMaxRaw = 250;
+    settings.iMotorPwrStepCount = 7;
+}

settings/settings.h

@@ -0,0 +1,17 @@
+#if !defined(__SETTINGS_H__)
+#define __SETTINGS_H__
+
+struct APP_SETTINGS
+{
+    int iDebugLevel;            // Level of debug messages
+
+    int iMotorCount;            // Number of used motors (1 or 2)
+    int iMotorPwrMinRaw;        // Minimum power value for motor (raw value)
+    int iMotorPwrMaxRaw;        // Maximum power value for motor (raw value)
+    int iMotorPwrStepCount;     // Number of power steps
+};
+extern struct APP_SETTINGS settings;
+
+void Settings_InitDefaultValues();
+
+#endif