bernhard/CanRtDriver
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Bernhard
2025-12-17 19:19:44 +01:00
parent c393706088
commit dcb267df89
7 changed files with 278 additions and 152 deletions
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93
main.c
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@@ -7,6 +7,38 @@
// Period info of the realtime task
struct period_info pinfo;
int iThreadControl = 0; // 0: thread is running, <0: thread shall exit, >0 thread has exited
int iLogToConsole = 1;
/// @brief send a log message
/// @param prio
/// @param format
/// @param
void mylog(int prio, const char *format, ...)
{
va_list args;
// 1. Initialisiere die Argumentenliste mit dem letzten festen Parameter
va_start(args, format);
// 2. Übergabe an vsyslog (statt syslog)
// vsyslog nimmt eine va_list entgegen
vsyslog(prio, format, args);
// 3. Optional: Zusätzlich auf die Konsole ausgeben
// Wir müssen die Liste neu initialisieren, da va_list "verbraucht" wird
if (iLogToConsole)
{
va_end(args);
va_start(args, format);
vfprintf(stderr, format, args);
fprintf(stderr, "\n");
}
// 4. Aufräumen
va_end(args);
}
/// @brief Initialize period_info with period_ms for cyclic task
/// @param period_ms
@@ -77,7 +109,6 @@ static void do_cyclic_1ms(struct period_info *pinfo)
// called every 100ms
nCalled |= 0x0010;
Can_TransmitMotorGear(0);
//printf("%.3f: 100ms-Cycle %ld...\n", clock_gettime_s() - pinfo->fStartTime, pinfo->cyclecounter);
}
if (((pinfo->cyclecounter + 20) % 100) == 0)
@@ -89,14 +120,9 @@ static void do_cyclic_1ms(struct period_info *pinfo)
if (((pinfo->cyclecounter + 30) % 500) == 0)
{
// called every 250ms
// called every 500ms
MqttClient_Publisher();
}
if (nCalled > 0)
{
//printf("%.3f: Called 0x%.4X at cycle %ld...\n", clock_gettime_s() - pinfo->fStartTime, nCalled, pinfo->cyclecounter);
}
}
@@ -105,31 +131,31 @@ static void do_cyclic_1ms(struct period_info *pinfo)
/// @return
void *thread_func(void *data)
{
// Initialize IO Ports
if (IO_Init())
{
mylog(LOG_ERR, "IO_Init() failed!");
return NULL;
}
// Open CAN interface first motor
if (Can_OpenInterface(0, "can0"))
{
printf("Can_OpenInterface() failed!\n");
mylog(LOG_ERR, "Can_OpenInterface() failed!");
return NULL;
}
// Connect to mqtt broker
while (MqttClient_Connect() && (iThreadControl == 0))
{
printf("MqttClient_Connect() failed!\n");
mylog(LOG_ERR, "MqttClient_Connect() failed!");
sleep(10);
}
// Initialize IO Ports
if (IO_Init())
{
printf("IO_Init() failed!\n");
return NULL;
}
// initialize cyclic task
periodic_task_init(1, &pinfo);
// "Zündung" ein
// Ignition on
WriteOutputPin(GPIO_OUT_PWRON, HIGH);
// cyclic call of do_cyclic_1ms()
@@ -145,7 +171,7 @@ void *thread_func(void *data)
wait_rest_of_period(&pinfo);
}
// "Zündung" aus
// Ignition off
WriteOutputPin(GPIO_OUT_PWRON, LOW);
// Disconnect from mqtt broker
@@ -154,6 +180,7 @@ void *thread_func(void *data)
// Close CAN interface
Can_CloseInterface(0);
// signal thread has finnished
iThreadControl = 1;
return NULL;
}
@@ -165,13 +192,13 @@ void sig_handler(int signo)
{
if ((signo == SIGINT) || (signo == SIGTERM))
{
printf("Received signal %d\n", signo);
mylog(LOG_INFO, "Received signal %d", signo);
iThreadControl = -1; // signal realtime thread to exit
}
}
/// @brief Hauptfunktion Echtzeit-Task erstellen und starten
/// @brief Main function, create and start realtime task
/// @param argc
/// @param argv
/// @return
@@ -182,22 +209,25 @@ int main(int argc, char* argv[])
pthread_t thread;
int ret;
openlog("CanRtDriver", LOG_PID | LOG_CONS, LOG_DAEMON);
mylog(LOG_INFO, "Service started. PID: %d", getpid());
// catch signals
if (signal(SIGTERM, sig_handler) == SIG_ERR)
{
printf("Can't catch SIGTERM\n");
mylog(LOG_ERR, "Can't catch SIGTERM");
exit(-1);
}
if (signal(SIGINT, sig_handler) == SIG_ERR)
{
printf("Can't catch SIGINT\n");
mylog(LOG_ERR, "Can't catch SIGINT");
exit(-2);
}
/* Lock memory */
if(mlockall(MCL_CURRENT | MCL_FUTURE) == -1)
{
printf("mlockall failed: %m\n");
mylog(LOG_ERR, "mlockall failed: %m");
exit(-3);
}
@@ -205,7 +235,7 @@ int main(int argc, char* argv[])
ret = pthread_attr_init(&attr);
if (ret)
{
printf("init pthread attributes failed\n");
mylog(LOG_ERR, "init pthread attributes failed");
goto out;
}
@@ -213,7 +243,7 @@ int main(int argc, char* argv[])
ret = pthread_attr_setstacksize(&attr, PTHREAD_STACK_MIN);
if (ret)
{
printf("pthread setstacksize failed\n");
mylog(LOG_ERR, "pthread setstacksize failed");
goto out;
}
@@ -221,21 +251,21 @@ int main(int argc, char* argv[])
ret = pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
if (ret)
{
printf("pthread setschedpolicy failed\n");
mylog(LOG_ERR, "pthread setschedpolicy failed");
goto out;
}
param.sched_priority = 99; // Priority between 1 (low) and 99() high)
ret = pthread_attr_setschedparam(&attr, &param);
if (ret)
{
printf("pthread setschedparam failed\n");
mylog(LOG_ERR, "pthread setschedparam failed");
goto out;
}
/* Use scheduling parameters of attr */
ret = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
if (ret)
{
printf("pthread setinheritsched failed\n");
mylog(LOG_ERR, "pthread setinheritsched failed");
goto out;
}
@@ -245,7 +275,7 @@ int main(int argc, char* argv[])
ret = pthread_create(&thread, &attr, thread_func, NULL);
if (ret)
{
printf("create pthread failed\n");
mylog(LOG_ERR, "create pthread failed");
goto out;
}
@@ -253,10 +283,13 @@ int main(int argc, char* argv[])
ret = pthread_join(thread, NULL);
if (ret)
{
printf("faild to join thread!\n");
mylog(LOG_ERR, "faild to join thread!");
}
out:
mylog(LOG_INFO, "Service quit.");
closelog();
return ret;
}