Optimierung Systemhochlauf

can/can_client.c

@@ -6,6 +6,19 @@
 struct MOTOR_CONTROL_DATA motctrl[MOTOR_COUNT];
 struct CAN_INTERFACE_DATA intf_data[MOTOR_COUNT];
 
+int iBusTimeoutCounter = 0;
+void IncBusTimeoutCounter(int iMotorIndex)
+{
+    if (iBusTimeoutCounter < 2000)
+    {
+        iBusTimeoutCounter++;
+        if (iBusTimeoutCounter >= 2000)
+        {
+            motctrl[iMotorIndex].nSwitchState = 0;
+            MqttClient_Publish_MotorSwitchState(iMotorIndex, motctrl[iMotorIndex].nSwitchState);
+        }
+    }
+}
 /// @brief Open socket of CAN interface for the given motor
 /// @param iMotorIndex 
 /// @param ifacename 
@@ -152,24 +165,27 @@ void Can_SetMotorPower(int iMotorIndex, int iPower)
 /// @param iMotorIndex 
 void Can_TransmitMotorGear(int iMotorIndex)
 {
-    // Transmission rate: 100ms
+    //if (motctrl[iMotorIndex].nSwitchState > 0)
-    struct can_frame frame;
-
-    frame.can_id = 0x18F005D0;
-    frame.can_id |= CAN_EFF_FLAG;
-    frame.can_dlc = 8;
-    frame.data[0] = motctrl[iMotorIndex].iMotorGear;
-    frame.data[1] = 0xFF;
-    frame.data[2] = 0xFF;
-    frame.data[3] = 0xFF;
-    frame.data[4] = 0xFF;
-    frame.data[5] = 0xFF;
-    frame.data[6] = 0xFF;
-    frame.data[7] = 0xFF;
-
-    if (write(intf_data[iMotorIndex].socket, &frame, sizeof(frame)) != sizeof(frame))
     {
+        // Transmission rate: 100ms
+        struct can_frame frame;
 
+        frame.can_id = 0x18F005D0;
+        frame.can_id |= CAN_EFF_FLAG;
+        frame.can_dlc = 8;
+        frame.data[0] = motctrl[iMotorIndex].iMotorGear;
+        frame.data[1] = 0xFF;
+        frame.data[2] = 0xFF;
+        frame.data[3] = 0xFF;
+        frame.data[4] = 0xFF;
+        frame.data[5] = 0xFF;
+        frame.data[6] = 0xFF;
+        frame.data[7] = 0xFF;
+
+        if (write(intf_data[iMotorIndex].socket, &frame, sizeof(frame)) != sizeof(frame))
+        {
+
+        }
     }
 }
 
@@ -178,24 +194,27 @@ void Can_TransmitMotorGear(int iMotorIndex)
 /// @param iMotorIndex 
 void Can_TransmitMotorPower(int iMotorIndex)
 {
-    // Transmission rate: 50ms
+    //if (motctrl[iMotorIndex].nSwitchState > 0)
-    struct can_frame frame;
-
-    frame.can_id = 0x0CF003D0;
-    frame.can_id |= CAN_EFF_FLAG;
-    frame.can_dlc = 8;
-    frame.data[0] = 0xFF;
-    frame.data[1] = motctrl[iMotorIndex].iMotorPower;   // motor power 0 = 0%, 250 = 100%
-    frame.data[2] = 0xFF;
-    frame.data[3] = 0xFF;
-    frame.data[4] = 0xFF;
-    frame.data[5] = 0xFF;
-    frame.data[6] = 0xFF;
-    frame.data[7] = 0xFF;
-
-    if (write(intf_data[iMotorIndex].socket, &frame, sizeof(frame)) != sizeof(frame))
     {
+        // Transmission rate: 50ms
+        struct can_frame frame;
 
+        frame.can_id = 0x0CF003D0;
+        frame.can_id |= CAN_EFF_FLAG;
+        frame.can_dlc = 8;
+        frame.data[0] = 0xFF;
+        frame.data[1] = motctrl[iMotorIndex].iMotorPower;   // motor power 0 = 0%, 250 = 100%
+        frame.data[2] = 0xFF;
+        frame.data[3] = 0xFF;
+        frame.data[4] = 0xFF;
+        frame.data[5] = 0xFF;
+        frame.data[6] = 0xFF;
+        frame.data[7] = 0xFF;
+
+        if (write(intf_data[iMotorIndex].socket, &frame, sizeof(frame)) != sizeof(frame))
+        {
+
+        }
     }
 }
 
@@ -207,6 +226,8 @@ void Can_ReadData(int iMotorIndex)
     ssize_t nbytes = 0;
     struct can_frame frame;
 
+    IncBusTimeoutCounter(iMotorIndex);
+
     // wir wollen immer alle verfügbaren Frames lesen
     while ((nbytes = read(intf_data[iMotorIndex].socket, &frame, sizeof(frame))) > 0)
     {
@@ -239,7 +260,8 @@ void Can_ReadData(int iMotorIndex)
 /// @param frame 
 void Can_Read_Manu_PGN(int iMotorIndex, struct can_frame *frame)
 {
-    motctrl[iMotorIndex].nSwitchState = frame->data[2];
+    iBusTimeoutCounter = 0;
+    motctrl[iMotorIndex].nSwitchState = frame->data[4];
     MqttClient_Publish_MotorSwitchState(iMotorIndex, motctrl[iMotorIndex].nSwitchState);
 }
 
@@ -247,6 +269,6 @@ void Can_Read_Manu_PGN(int iMotorIndex, struct can_frame *frame)
 /// @param frame 
 void Can_Read_Manu_PGN2(int iMotorIndex, struct can_frame *frame)
 {
-    motctrl[iMotorIndex].iActualMotorPowerW = (frame->data[3] << 16) | (frame->data[4] << 8) | frame->data[5];
+    motctrl[iMotorIndex].iActualMotorPowerW = (frame->data[6] << 16) | (frame->data[5] << 8) | frame->data[4];
     MqttClient_Publish_MotorActualPowerW(iMotorIndex, motctrl[iMotorIndex].iActualMotorPowerW);
 }

can/can_client.h

@@ -21,9 +21,9 @@
 #define MOTOR_GEAR_NEUTRAL 0x7D
 #define MOTOR_GEAR_FORWARD 0x7E
 
-#define MOTOR_PWR_MIN_PCT 5
+#define MOTOR_PWR_MIN_PCT 15
 #define MOTOR_PWR_MAX_PCT 100
-#define MOTOR_PWR_STEP 14
+#define MOTOR_PWR_STEP 12
 
 struct MOTOR_CONTROL_DATA
 {

main.c

@@ -130,7 +130,7 @@ void *thread_func(void *data)
         periodic_task_init(1, &pinfo);
  
         // "Zündung" ein
-        WriteOutputPin(GPIO_OUT_PWRON, 1);
+        WriteOutputPin(GPIO_OUT_PWRON, HIGH);
 
         // cyclic call of do_cyclic_1ms()
         while (iThreadControl == 0)
@@ -146,7 +146,7 @@ void *thread_func(void *data)
         }
 
         // "Zündung" aus
-        WriteOutputPin(GPIO_OUT_PWRON, 0);
+        WriteOutputPin(GPIO_OUT_PWRON, LOW);
 
         // Disconnect from mqtt broker
         MqttClient_Close();

mqtt/mqtt_client.c

@@ -297,7 +297,7 @@ void MqttClient_Publish_MotorSwitchState(int iMotorIndex, unsigned char nSwitchS
         {
             nMqttMotor1SwitchState = nSwitchState;
             char message[100];
-            snprintf(message, sizeof(message), "%d", nSwitchState);
+            snprintf(message, sizeof(message), "%2X", nSwitchState);
             mosquitto_publish(mosq, NULL, mqtt_topic_motor1_switchstate, strlen(message), message, 0, false);
         }
     }
@@ -307,7 +307,7 @@ void MqttClient_Publish_MotorSwitchState(int iMotorIndex, unsigned char nSwitchS
         {
             nMqttMotor2SwitchState = nSwitchState;
             char message[100];
-            snprintf(message, sizeof(message), "%d", nSwitchState);
+            snprintf(message, sizeof(message), "%2X", nSwitchState);
             mosquitto_publish(mosq, NULL, mqtt_topic_motor2_switchstate, strlen(message), message, 0, false);
         }
     }

scripts/CanRtDriver.service

@@ -2,8 +2,9 @@
 ## Datei gehört in /etc/systemd/system
 ## aktivieren dann mit: 
 ## - sudo systemctl daemon-reload
-## - sudo systemctl enable CanRtDriver.service
+## - sudo systemctl enable CanRtDriver.service NICHT AUSFÜHREN!!!
-## - sudo systemctl start CanRtDriver.service
+## - sudo systemctl start CanRtDriver.service NICHT AUSFÜHREN!!!
+##   => Service wird über ./scripts/can_link_up.sh gestartet
 ##
 ## Device Unit ermitteln mit: systemctl --type=device | grep can0
 ## Ggf. unter 'Requires', 'After' und 'BindsTo' anpassen!

scripts/can_link_up.sh

@@ -2,6 +2,10 @@
 
 ip link set can0 up type can bitrate 250000
 ip link set can1 up type can bitrate 250000
+sleep 5
 ifconfig can0 txqueuelen 65536
 ifconfig can1 txqueuelen 65536
+sleep 10
+
+systemctl start CanRtDriver