bernhard/CanRtDriver
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Korrektur bei Leistungsvorgabe in Schritten

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Bernhard
2026-01-19 19:35:41 +01:00
parent 1b265c71f0
commit f91aee06c7
1 changed files with 125 additions and 96 deletions
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35
can/can_client.c
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@@ -5,6 +5,8 @@
#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];
@@ -37,13 +39,13 @@ void IncBusTimeoutCounter(int iMotorIndex)
int Can_OpenInterface(int iMotorIndex, const char * ifacename)
{
// Init control data
motctrl[iMotorIndex].nDriveConnected = 0;
motctrl[iMotorIndex].nDriveReady = 0;
motctrl[iMotorIndex].iActualMotorPowerW = 0;
motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_NEUTRAL;
motctrl[iMotorIndex].iMotorPowerRaw = 0;
motctrl[iMotorIndex].iMotorPowerSteps = 0;
motctrl[iMotorIndex].nSwitchState = 0;
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);
@@ -51,6 +53,16 @@ int Can_OpenInterface(int iMotorIndex, const char * ifacename)
Can_SetMotorGear(iMotorIndex, MOTOR_GEAR_NEUTRAL);
Can_SetMotorPower(iMotorIndex, 0);
if (iCanSimu)
{
mylog(LOG_INFO, "CAN: Using simulation mode (motor %d).", iMotorIndex);
intf_data[iMotorIndex].socket = -1;
motctrl[iMotorIndex].nSwitchState = 0xF5;
motctrl[iMotorIndex].nDriveConnected = 1;
motctrl[iMotorIndex].nDriveReady = 1;
}
else
{
// first we have to create a socket
if ((intf_data[iMotorIndex].socket = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
{
@@ -91,6 +103,7 @@ int Can_OpenInterface(int iMotorIndex, const char * ifacename)
}
mylog(LOG_INFO, "CAN: Interface %s (motor %d) opened!", ifacename, iMotorIndex);
}
return 0;
}
@@ -100,6 +113,8 @@ int Can_OpenInterface(int iMotorIndex, const char * ifacename)
/// @param iMotorIndex
void Can_CloseInterface(int iMotorIndex)
{
if (intf_data[iMotorIndex].socket >= 0)
{
if (close(intf_data[iMotorIndex].socket) < 0)
{
mylog(LOG_ERR, "CAN: Could not close socket of motor %d!", iMotorIndex);
@@ -108,6 +123,11 @@ void Can_CloseInterface(int iMotorIndex)
{
mylog(LOG_INFO, "CAN: Interface %s (motor %d) closed.", intf_data[iMotorIndex].iface_name, iMotorIndex);
}
}
else
{
mylog(LOG_INFO, "CAN: Close simulation mode.");
}
}
@@ -188,7 +208,7 @@ void Can_SetMotorPower(int iMotorIndex, int iPower)
}
else
{
motctrl[iMotorIndex].iMotorPowerRaw = (((MOTOR_PWR_MAX_RAW - MOTOR_PWR_MIN_RAW) * motctrl[iMotorIndex].iMotorPowerSteps) / MOTOR_PWR_STEP_COUNT) + MOTOR_PWR_MIN_RAW;
motctrl[iMotorIndex].iMotorPowerRaw = (((MOTOR_PWR_MAX_RAW - MOTOR_PWR_MIN_RAW) * (motctrl[iMotorIndex].iMotorPowerSteps - 1)) / (MOTOR_PWR_STEP_COUNT - 1)) + MOTOR_PWR_MIN_RAW;
}
mylog(LOG_INFO, "CAN: Motor[%d]: Set power to %d -> %d",
@@ -201,6 +221,8 @@ void Can_SetMotorPower(int iMotorIndex, int iPower)
void Can_TransmitMotorGear(int iMotorIndex)
{
// Transmission rate: 100ms
if (intf_data[iMotorIndex].socket >= 0)
{
struct can_frame frame;
frame.can_id = 0x18F005D0;
@@ -219,6 +241,7 @@ void Can_TransmitMotorGear(int iMotorIndex)
{
}
}
}
@@ -227,6 +250,8 @@ void Can_TransmitMotorGear(int iMotorIndex)
void Can_TransmitMotorPower(int iMotorIndex)
{
// Transmission rate: 50ms
if (intf_data[iMotorIndex].socket >= 0)
{
struct can_frame frame;
frame.can_id = 0x0CF003D0;
@@ -245,6 +270,7 @@ void Can_TransmitMotorPower(int iMotorIndex)
{
}
}
}
@@ -252,6 +278,8 @@ void Can_TransmitMotorPower(int iMotorIndex)
/// @param iMotorIndex
void Can_ReadData(int iMotorIndex)
{
if (intf_data[iMotorIndex].socket >= 0)
{
ssize_t nbytes = 0;
struct can_frame frame;
@@ -287,6 +315,7 @@ void Can_ReadData(int iMotorIndex)
break;
}
}
}
}
/// @brief Read PGN 65299