Alles wieder hinzufügen???

can/can_client.c

@@ -1,4 +1,6 @@
 
+#include "main.h"
+
 #include <can/can_client.h>
 #include <io/io.h>
 #include <mqtt/mqtt_client.h>
@@ -6,20 +8,53 @@
 struct MOTOR_CONTROL_DATA motctrl[MOTOR_COUNT];
 struct CAN_INTERFACE_DATA intf_data[MOTOR_COUNT];
 
+
+int iBusTimeoutCounter = 0;
+/// @brief Increase counter for cycles without received telegram
+/// @param iMotorIndex 
+void IncBusTimeoutCounter(int iMotorIndex)
+{
+    if (iBusTimeoutCounter < 2000)
+    {
+        iBusTimeoutCounter++;
+        if (iBusTimeoutCounter >= 2000)
+        {
+            // long time no telegram received -> motor is not connected anymore
+            motctrl[iMotorIndex].nSwitchState = 0;
+            motctrl[iMotorIndex].nDriveConnected = 0;
+            motctrl[iMotorIndex].nDriveReady = 0;
+            Can_SetMotorGear(iMotorIndex, 0);
+            MqttClient_Publish_MotorSwitchState(iMotorIndex, motctrl[iMotorIndex].nSwitchState);
+        }
+    }
+}
+
+
 /// @brief Open socket of CAN interface for the given motor
 /// @param iMotorIndex 
 /// @param ifacename 
 /// @return 
 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].iMotorPower = 0;
+    motctrl[iMotorIndex].iMotorPowerPct = 0;
+    motctrl[iMotorIndex].nSwitchState = 0;
+
+    mylog(LOG_INFO, "CAN: PWR_MIN_PCT=%d PWR_MAX_PCT=%d PWR_STEP=%d", MOTOR_PWR_MIN_PCT, MOTOR_PWR_MAX_PCT, MOTOR_PWR_STEP);
+    
     strcpy(intf_data[iMotorIndex].iface_name, ifacename);
-    Can_SetMotorGear(iMotorIndex, 0);
+    Can_SetMotorGear(iMotorIndex, MOTOR_GEAR_NEUTRAL);
     Can_SetMotorPower(iMotorIndex, 0);
 
     // first we have to create a socket
     if ((intf_data[iMotorIndex].socket = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
     {
-        printf("Could not create socket for motor %d!\n", iMotorIndex);
+        mylog(LOG_ERR, "CAN: Could not create socket for motor %d!", iMotorIndex);
         return 1;
     }
 
@@ -27,7 +62,7 @@ int Can_OpenInterface(int iMotorIndex, const char * ifacename)
     strcpy(intf_data[iMotorIndex].ifr.ifr_name, intf_data[iMotorIndex].iface_name);
     if (ioctl(intf_data[iMotorIndex].socket, SIOCGIFINDEX, &intf_data[iMotorIndex].ifr) < 0)
     {
-        printf("Could not get interface index for motor %d!\n", iMotorIndex);
+        mylog(LOG_ERR, "CAN: Could not get interface index for motor %d!", iMotorIndex);
         return 2;
     }
 
@@ -37,11 +72,25 @@ int Can_OpenInterface(int iMotorIndex, const char * ifacename)
     intf_data[iMotorIndex].addr.can_ifindex = intf_data[iMotorIndex].ifr.ifr_ifindex;
     if (bind(intf_data[iMotorIndex].socket, (struct sockaddr *)&intf_data[iMotorIndex].addr, sizeof(intf_data[iMotorIndex].addr)) < 0)
     {
-        printf("Could not bind socket to inteface for motor %d!\n", iMotorIndex);
+        mylog(LOG_ERR, "CAN: Could not bind socket to inteface for motor %d!", iMotorIndex);
         return 3;
     }
 
-    printf("Interface %s (motor %d) opened!\n", ifacename, iMotorIndex);
+    // make socket to nonblocking
+    int fcntl_flags = fcntl(intf_data[iMotorIndex].socket, F_GETFL, 0);
+    if (fcntl_flags < 0)
+    {
+        mylog(LOG_ERR, "CAN: Could not get file descriptor flags!");
+        return 4;
+    }
+    fcntl_flags |= O_NONBLOCK;
+    if (fcntl(intf_data[iMotorIndex].socket, F_SETFL, fcntl_flags) < 0)
+    {
+        mylog(LOG_ERR, "CAN: Could not set file descriptor flags (set socket none-blocking)!");
+        return 5;
+    }
+
+    mylog(LOG_INFO, "CAN: Interface %s (motor %d) opened!", ifacename, iMotorIndex);
 
     return 0;
 }
@@ -53,11 +102,11 @@ void Can_CloseInterface(int iMotorIndex)
 {
     if (close(intf_data[iMotorIndex].socket) < 0)
     {
-        printf("Could not close socket of motor %d!\n", iMotorIndex);
+        mylog(LOG_ERR, "CAN: Could not close socket of motor %d!", iMotorIndex);
     }
     else
     {
-        printf("Interface %s (motor %d) closed.\n", intf_data[iMotorIndex].iface_name, iMotorIndex);
+        mylog(LOG_INFO, "CAN: Interface %s (motor %d) closed.", intf_data[iMotorIndex].iface_name, iMotorIndex);
     }
 }
 
@@ -67,25 +116,29 @@ void Can_CloseInterface(int iMotorIndex)
 /// @param iGear (-1=reverse, 0=neutral, 1=forward)
 void Can_SetMotorGear(int iMotorIndex, int iGear)
 {
-    if (iGear > 0)
+    if ((iGear > 0) && (motctrl[iMotorIndex].nDriveReady != 0))
     {
         if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_FORWARD)
         {
             MqttClient_Publish_MotorGear(iMotorIndex, iGear);
             motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_FORWARD;
+            // motor is switched to forward -> set min. power
+            Can_SetMotorPower(iMotorIndex, MOTOR_PWR_MIN_PCT);
         }
         WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
-        printf("Motor[%d]: Set gear forward.\n", iMotorIndex);
+        mylog(LOG_INFO, "CAN: Motor[%d]: Set gear forward.", iMotorIndex);
     } 
-    else if (iGear < 0)
+    else if ((iGear < 0) && (motctrl[iMotorIndex].nDriveReady != 0))
     {
         if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_REVERSE)
         {
             MqttClient_Publish_MotorGear(iMotorIndex, iGear);
             motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_REVERSE;
+            // motor is switched to reverse -> set min. power
+            Can_SetMotorPower(iMotorIndex, MOTOR_PWR_MIN_PCT);
         }
         WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
-        printf("Motor[%d]: Set gear reverse.\n", iMotorIndex);
+        mylog(LOG_INFO, "CAN: Motor[%d]: Set gear reverse.", iMotorIndex);
     }
     else 
     {
@@ -94,9 +147,10 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
             MqttClient_Publish_MotorGear(iMotorIndex, iGear);
             motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_NEUTRAL;
         }
-        Can_SetMotorPower(iMotorIndex, MOTOR_PWR_MIN_PCT);
+        // motor is switch to neutral -> set power to 0
+        Can_SetMotorPower(iMotorIndex, 0);
         WriteOutputPin(GPIO_LED_MOTRUN, LOW);
-        printf("Motor[%d]: Set gear neutral.\n", iMotorIndex);
+        mylog(LOG_INFO, "CAN: Motor[%d]: Set gear neutral.", iMotorIndex);
     } 
 }
 
@@ -106,12 +160,19 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
 /// @param iPower (Range: 0..100)
 void Can_SetMotorPower(int iMotorIndex, int iPower)
 {
-    if (iPower <= MOTOR_PWR_MIN_PCT)
+    if ((motctrl[iMotorIndex].iMotorGear == MOTOR_GEAR_NEUTRAL) || (motctrl[iMotorIndex].nDriveReady == 0))
     {
+        // when motor is neutral or not ready set power to 0
+        motctrl[iMotorIndex].iMotorPowerPct = 0;
+    }
+    else if (iPower <= MOTOR_PWR_MIN_PCT)
+    {
+        // limit to min. power
         motctrl[iMotorIndex].iMotorPowerPct = MOTOR_PWR_MIN_PCT;
     }
     else if (iPower >= MOTOR_PWR_MAX_PCT)
     {
+        // limit to max. power
         motctrl[iMotorIndex].iMotorPowerPct = MOTOR_PWR_MAX_PCT;
     } 
     else 
@@ -120,9 +181,10 @@ void Can_SetMotorPower(int iMotorIndex, int iPower)
     } 
     MqttClient_Publish_MotorPower(iMotorIndex, motctrl[iMotorIndex].iMotorPowerPct);
 
+    // calc value for telegram
     motctrl[iMotorIndex].iMotorPower = 250 * motctrl[iMotorIndex].iMotorPowerPct / 100;
 
-    printf("Motor[%d]: Set power to %d%% -> %d\n",
+    mylog(LOG_INFO, "CAN: Motor[%d]: Set power to %d%% -> %d",
         iMotorIndex, motctrl[iMotorIndex].iMotorPowerPct, motctrl[iMotorIndex].iMotorPower);
 }
 
@@ -177,3 +239,69 @@ void Can_TransmitMotorPower(int iMotorIndex)
 
     }
 }
+
+
+/// @brief Read data from CAN interface
+/// @param iMotorIndex 
+void Can_ReadData(int iMotorIndex)
+{
+    ssize_t nbytes = 0;
+    struct can_frame frame;
+
+    // increment cycle counter
+    IncBusTimeoutCounter(iMotorIndex);
+
+    // read one frame
+    if ((nbytes = read(intf_data[iMotorIndex].socket, &frame, sizeof(frame))) > 0)
+    {
+        canid_t pgn = frame.can_id & 0x00FFFF00;
+
+        switch(pgn)
+        {
+            case 0x00EF6400:    // "repeat data"
+                break;
+
+            case 0x00F00300:    // PGN 61443 "Electronic Engine Controller 2"
+                // we have sent this -> ignore
+                break;
+
+            case 0x00F00500:    // PGN 61445 "Electronic Transmission Controller 2"
+                // we have sent this -> ignore
+                break;
+
+            case 0x00FF1300:    // PGN 65299 "Manufacturer PGN"
+                // here we find the states of the switches
+                Can_Read_Manu_PGN(iMotorIndex, &frame);
+                break;
+
+            case 0x00FF1400:    // PGN 65300 "Manufacturer PGN 2"
+                // here we find the actual power of the motor
+                Can_Read_Manu_PGN2(iMotorIndex, &frame);
+                break;
+        }
+    }
+}
+
+/// @brief Read PGN 65299
+/// @param frame 
+void Can_Read_Manu_PGN(int iMotorIndex, struct can_frame *frame)
+{
+    // we received a valid telegram -> set timeout counter to zero
+    iBusTimeoutCounter = 0;
+
+    // get switch states
+    motctrl[iMotorIndex].nSwitchState = frame->data[4];
+    MqttClient_Publish_MotorSwitchState(iMotorIndex, motctrl[iMotorIndex].nSwitchState);
+
+    // set flags
+    motctrl[iMotorIndex].nDriveConnected = 1;       // we received a PGN -> so we are connected
+    motctrl[iMotorIndex].nDriveReady = ((motctrl[iMotorIndex].nSwitchState & 0x80) != 0) ? 1 : 0;   // this bit shows if the drive is ready to run
+}
+
+/// @brief Read PGN 65300
+/// @param frame 
+void Can_Read_Manu_PGN2(int iMotorIndex, struct can_frame *frame)
+{
+    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

@@ -5,7 +5,9 @@
 #include <stdlib.h>
 #include <string.h>
 #include <unistd.h>
+#include <syslog.h>
 
+#include <fcntl.h>
 #include <net/if.h>
 #include <sys/ioctl.h>
 #include <sys/socket.h>
@@ -20,15 +22,19 @@
 #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 ((MOTOR_PWR_MAX_PCT - MOTOR_PWR_MIN_PCT) / 7)
 
 struct MOTOR_CONTROL_DATA
 {
+    char nDriveConnected;
+    char nDriveReady;
     int iMotorGear;
     int iMotorPower;
     int iMotorPowerPct;
+    unsigned char nSwitchState;
+    int iActualMotorPowerW;
 };
 extern struct MOTOR_CONTROL_DATA motctrl[MOTOR_COUNT];
 
@@ -49,4 +55,8 @@ void Can_SetMotorPower(int iMotorIndex, int iPower);
 void Can_TransmitMotorGear(int iMotorIndex);
 void Can_TransmitMotorPower(int iMotorIndex);
 
+void Can_ReadData(int iMotorIndex);
+void Can_Read_Manu_PGN(int iMotorIndex, struct can_frame *frame);
+void Can_Read_Manu_PGN2(int iMotorIndex, struct can_frame *frame);
+
 #endif

io/io.c

@@ -1,4 +1,5 @@
 
+#include "main.h"
 #include "io.h"
 #include <can/can_client.h>
 
@@ -6,38 +7,37 @@ struct GPIO_KEY_DATA gpioKeyStop;
 struct GPIO_KEY_DATA gpioKeyPwrUp;
 struct GPIO_KEY_DATA gpioKeyPwrDown;
 
+char nInitialized = 0;
+
+/// @brief Initialize the io pins
+/// @return 
 int IO_Init()
 {
     if (wiringPiSetupPinType(WPI_PIN_BCM))
     {
-        printf("IO: Set up wiringPi failed!\n");
+        mylog(LOG_ERR, "IO: Set up wiringPi failed!");
         return 1;
     }
+    nInitialized = 1;
 
-    // IO-Pins für Tasten konfigurieren
+    // config IO-pins for the keys
     SetupKeyPin(&gpioKeyStop, GPIO_KEY_STOP);
     SetupKeyPin(&gpioKeyPwrUp, GPIO_KEY_PWRUP);
     SetupKeyPin(&gpioKeyPwrDown, GPIO_KEY_PWRDOWN);
 
-    // IO-Pins für Ausgänge konfigurieren
+    // config IO-pins for outputs
     SetupOutputPin(GPIO_LED_MOTRUN);
+    SetupOutputPin(GPIO_OUT_PWRON);
 
-    // Einschaltsequenz
+    mylog(LOG_INFO, "IO: Initialized successfull!");
-    WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
+    
-    delay(500);
-    WriteOutputPin(GPIO_LED_MOTRUN, LOW);
-    delay(500);
-    WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
-    delay(500);
-    WriteOutputPin(GPIO_LED_MOTRUN, LOW);
-    delay(500);
-
-    printf("IO initialized successfull!\n");
-
     return 0;
 }
 
 
+/// @brief Setup a pin for a key input
+/// @param pdata 
+/// @param iKeyPin 
 void SetupKeyPin(struct GPIO_KEY_DATA *pdata, int iKeyPin)
 {
     pdata->iKeyPin = iKeyPin;
@@ -49,24 +49,26 @@ void SetupKeyPin(struct GPIO_KEY_DATA *pdata, int iKeyPin)
     pdata->iKeyPressedCycleCounter = 0;
     pdata->iKeyRepeatCycleCounter = 0;
 
-    // Wenn Eingang verwendet wird
+    if ((pdata->iKeyPin > 0) && nInitialized)
-    if (pdata->iKeyPin > 0)
     {
+        //mylog(LOG_INFO, "IO: Config Pin %d as input", iOutPin);
         pinMode(pdata->iKeyPin, INPUT);
         pullUpDnControl(pdata->iKeyPin, PUD_UP);
     }
 }
 
 
+/// @brief Read a key input
+/// @param pdata 
 void ReadKey(struct GPIO_KEY_DATA *pdata)
 {
     if (pdata->iKeyPin > 0)
     {
         int newval = pdata->iKeyValue;
 
-        if (digitalRead(pdata->iKeyPin) == LOW)     // invertierte Logik weil wir PullUp-Widerstand bei Betätigung auf low ziehen
+        if (digitalRead(pdata->iKeyPin) == LOW)     // we use pull-up resistors so we have inverted logic
         {
-            // Signal liegt an
+            // key is pressed
             if (pdata->nLowCycleCounter > 0)
             {
                 pdata->nLowCycleCounter--;
@@ -77,14 +79,14 @@ void ReadKey(struct GPIO_KEY_DATA *pdata)
                 pdata->nHighCycleCounter++;
                 if (pdata->nHighCycleCounter >= KEY_RISING_FILTERCYCLES)
                 {
-                    // gewünschte Anzahl Zyklen stabil
+                    // key is stable pressed
                     newval = 1;
                 }
             }
         }
         else
         {
-            // Signal liegt nicht an
+            // key is not pressed
             if (pdata->nHighCycleCounter > 0)
             {
                 pdata->nHighCycleCounter--;
@@ -95,7 +97,7 @@ void ReadKey(struct GPIO_KEY_DATA *pdata)
                 pdata->nLowCycleCounter++;
                 if (pdata->nLowCycleCounter >= KEY_FALLING_FILTERCYCLES)
                 {
-                    // gewünschte Anzahl Zyklen stabil
+                    // key is stable not pressed
                     newval = 0;
                 }
             }
@@ -103,7 +105,7 @@ void ReadKey(struct GPIO_KEY_DATA *pdata)
 
         if (newval && !pdata->iKeyValue)
         {
-            // Taster wurde betätigt
+            // key was pressed -> rising edge
             pdata->iKeyRisingEdge = 1;
             pdata->iKeyValue = newval;
             pdata->iKeyPressedCycleCounter = 0;
@@ -111,32 +113,32 @@ void ReadKey(struct GPIO_KEY_DATA *pdata)
         }
         else if (pdata->iKeyValue && !newval)
         {
-            // Taster wurde losgelassen
+            // key was released -> falling edge
             pdata->iKeyFallingEdge = 1;
             pdata->iKeyValue = newval;
         }
         else
         {
-            // Keine Änderung
+            // no change
             pdata->iKeyRisingEdge = 0;
             pdata->iKeyFallingEdge = 0;
 
             if (pdata->iKeyValue)
             {
-                // Wenn Taste gedrückt ist
+                // when key is pressed
                 if (pdata->iKeyPressedCycleCounter < KEY_START_REPEAT_CYCLECOUNT)
                 {
-                    // Zyklen zählen
+                    // count cycles
                     pdata->iKeyPressedCycleCounter++;
                 }
 
                 if (pdata->iKeyPressedCycleCounter >= KEY_START_REPEAT_CYCLECOUNT)
                 {
-                    // Wenn Taste länger als KEY_START_REPEAT_CYCLECOUNT gedrückt ist
+                    // when key is pressed for more then KEY_START_REPEAT_CYCLECOUNT cycles
                     pdata->iKeyRepeatCycleCounter++;
                     if (pdata->iKeyRepeatCycleCounter >= KEY_REPEAT_CYCLECOUNT)
                     {
-                        // alle KEY_REPEAT_CYCLECOUNT Zyklen Tastendruck signalisieren
+                        // signal key press every KEY_REPEAT_CYCLECOUNT cycles
                         pdata->iKeyRisingEdge = 1;
                         pdata->iKeyRepeatCycleCounter = 0;
                     }
@@ -146,25 +148,31 @@ void ReadKey(struct GPIO_KEY_DATA *pdata)
     }
 }
 
-
+/// @brief Config pin for output
+/// @param iOutPin 
 void SetupOutputPin(int iOutPin)
 {
-    if (iOutPin > 0)
+    if ((iOutPin > 0) && nInitialized)
     {
+        //mylog(LOG_INFO, "IO: Config Pin %d as output", iOutPin);
         pinMode(iOutPin, OUTPUT);
         digitalWrite(iOutPin, LOW);
     }
 }
 
+/// @brief Write an output pin to HIGH or LOW
+/// @param iOutPin 
+/// @param iValue 
 void WriteOutputPin(int iOutPin, int iValue)
 {
-    if (iOutPin > 0)
+    if ((iOutPin > 0) && nInitialized)
     {
         digitalWrite(iOutPin, iValue);
     }
 }
 
 
+/// @brief look cyclic for the keys
 void IO_DoCyclic()
 {
     ReadKey(&gpioKeyStop);
@@ -173,37 +181,42 @@ void IO_DoCyclic()
 
     if (gpioKeyStop.iKeyValue)
     {
-        // Stop-Taste betätigt -> hat Vorrang vor den anderen Tasten
+        // stop key is pressed
         if (gpioKeyStop.iKeyRisingEdge)
         {
+            mylog(LOG_INFO, "IO: KEY-Stop: Stop motor.");
             Can_SetMotorGear(0, 0);
         }
     }
-    else
+    else if (motctrl[0].nDriveReady)    // plus and minus keys only when drive is ready
     {
         if (gpioKeyPwrUp.iKeyRisingEdge)
         {
-            // Leistung erhöhen
+            // plus key is pressed -> increase power
             if (motctrl[0].iMotorGear == MOTOR_GEAR_NEUTRAL)
             {
+                mylog(LOG_INFO, "IO: KEY-Plus: Start motor.");
                 Can_SetMotorGear(0, 1);
                 Can_SetMotorPower(0, MOTOR_PWR_MIN_PCT);
             }
             else
             {
+                mylog(LOG_INFO, "IO: KEY-Plus: Increase power.");
                 Can_SetMotorPower(0, motctrl[0].iMotorPowerPct + MOTOR_PWR_STEP);
             }
         }
 
         if (gpioKeyPwrDown.iKeyRisingEdge)
         {
-            // Leistung verringern
+            // minus key is pressed -> decrease power
             if (motctrl[0].iMotorPowerPct > MOTOR_PWR_MIN_PCT)
             {
+                mylog(LOG_INFO, "IO: KEY-Minus: Decrease power.");
                 Can_SetMotorPower(0, motctrl[0].iMotorPowerPct - MOTOR_PWR_STEP);
             }
             else
             {
+                mylog(LOG_INFO, "IO: KEY-Minus: Stop motor.");
                 Can_SetMotorGear(0, 0);
             }
         }

io/io.h

@@ -3,19 +3,21 @@
 
 #include <wiringPi.h>
 #include <stdio.h>
+#include <syslog.h>
 
-#define GPIO_LED_MOTRUN 17      // GPIO Pin fuer LED Motor läuft
+#define GPIO_LED_MOTRUN 17      // GPIO Pin for LED motor is running
+#define GPIO_OUT_PWRON 22       // GPIO Pin for output "Ignition Key"
 
-#define GPIO_KEY_STOP 26        // GPIO Pin fuer Taster Stop
+#define GPIO_KEY_STOP 26        // GPIO Pin for Key "Stop"
-#define GPIO_KEY_PWRUP 5        // GPIO Pin fuer Taster Leistung-Erhöhen
+#define GPIO_KEY_PWRUP 5        // GPIO Pin for Key "Increase Power"
-#define GPIO_KEY_PWRDOWN 6      // GPIO Pin fuer Taster Leistung-Verringern 
+#define GPIO_KEY_PWRDOWN 6      // GPIO Pin for Key "Decrease Power"
 
-#define KEY_RISING_FILTERCYCLES 5           // Filterwert für Eingänge steigende Flanke
+#define KEY_RISING_FILTERCYCLES 5           // filter value for input rising edge
-#define KEY_FALLING_FILTERCYCLES 15         // Filterwert für Eingänge (Zyklen-Zähler)
+#define KEY_FALLING_FILTERCYCLES 15         // filter value for input falling edge
-#define KEY_START_REPEAT_CYCLECOUNT 50      // Anzahl Zyklen, nach denen Wiederholungen beginnen
+#define KEY_START_REPEAT_CYCLECOUNT 50      // number of cycles when to start repeating key presses
-#define KEY_REPEAT_CYCLECOUNT 50            // Anzahl Zyklen, nach den wiederholt wird
+#define KEY_REPEAT_CYCLECOUNT 50            // number of cycles how often to repeat key presses
 
-// Datenstruktur für einen Taster
+// data structure for a key
 struct GPIO_KEY_DATA
 {
     int iKeyPin;

main.c

@@ -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 
@@ -55,6 +87,9 @@ static void do_cyclic_1ms(struct period_info *pinfo)
 {
         uint16_t nCalled = 0;
 
+        // read each cycle CAN data
+        Can_ReadData(0);
+
         if ((pinfo->cyclecounter % 10) == 0)
         {
                 // called every 10ms
@@ -74,7 +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)
@@ -86,14 +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);
-        }
 }
  
 
@@ -102,30 +131,33 @@ 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);
  
+        // Ignition on
+        WriteOutputPin(GPIO_OUT_PWRON, HIGH);
+
         // cyclic call of do_cyclic_1ms()
         while (iThreadControl == 0)
         {
@@ -139,12 +171,16 @@ void *thread_func(void *data)
                 wait_rest_of_period(&pinfo);
         }
 
+        // Ignition off
+        WriteOutputPin(GPIO_OUT_PWRON, LOW);
+
         // Disconnect from mqtt broker
         MqttClient_Close();
 
         // Close CAN interface
         Can_CloseInterface(0);
         
+        // signal thread has finnished
         iThreadControl = 1;
         return NULL;
 }
@@ -156,13 +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 
@@ -173,22 +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);
         }
 
@@ -196,7 +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;
         }
 
@@ -204,7 +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;
         }
 
@@ -212,21 +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;
         }
 
@@ -236,7 +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;
         }
 
@@ -244,10 +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;
 }
 

main.h

@@ -11,6 +11,8 @@
 #include <time.h>
 #include <errno.h>
 #include <signal.h>
+#include <syslog.h>
+#include <stdarg.h>
 
 
 struct period_info 
@@ -22,5 +24,6 @@ struct period_info
 };
 
 extern struct period_info pinfo;
+extern void mylog(int prio, const char *format, ...);
 
 #endif

mqtt/mqtt_client.c

@@ -5,7 +5,7 @@
     https://mosquitto.org/api/files/mosquitto-h.html
 */
 
-#include <main.h>
+#include "main.h"
 #include <mqtt/mqtt_client.h>
 #include <can/can_client.h>
 #include <string.h>
@@ -24,12 +24,26 @@ int iMqttMotor2Gear = 0;
 const char* mqtt_topic_motor2_power = "Pool/Motor2/Power";
 int iMqttMotor2Power = 0;
 
+const char* mqtt_topic_motor1_switchstate = "Pool/Motor1/SwitchState";
+unsigned char nMqttMotor1SwitchState = 0;
+const char* mqtt_topic_motor2_switchstate = "Pool/Motor1/SwitchState";
+unsigned char nMqttMotor2SwitchState = 0;
+const char* mqtt_topic_motor1_actualpowerw = "Pool/Motor1/ActualPowerW";
+int iMqttMotor1ActualPowerW = 0;
+const char* mqtt_topic_motor2_actualpowerw = "Pool/Motor1/ActualPowerW";
+int iMqttMotor2ActualPowerW = 0;
+
 const char* mqtt_broker_addr = "127.0.0.1";
 const int mqtt_broker_port = 1883;
 struct mosquitto *mosq;     /**< Libmosquito MQTT client instance. */
 
 int iHadConnectError = 0;
 
+
+/// @brief callback function for incoming mqtt messages
+/// @param mosq 
+/// @param userdata 
+/// @param message 
 void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mosquitto_message *message)
 {
     char* topic_value = (char *)malloc(message->payloadlen + 1);
@@ -41,13 +55,13 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
         int val = 9999;
         if (sscanf(topic_value, "%d", &val))
         {
-            printf("%ld: Received value for mqtt_topic_motor1_gear: %d\n", pinfo.cyclecounter, val);
+            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor1_gear: %d", val);
             iMqttMotor1Gear = val;
             Can_SetMotorGear(0, val);
         }
         else
         {
-            printf("%ld: Received mqtt_topic_motor1_gear: %s\n", pinfo.cyclecounter, topic_value);
+            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor1_gear: %s", topic_value);
         }
     }
     else if (strcmp(message->topic, mqtt_topic_motor1_power) == 0)
@@ -55,13 +69,13 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
         int val = 9999;
         if (sscanf(topic_value, "%d", &val))
         {
-            printf("%ld: Received value for mqtt_topic_motor1_power: %d\n", pinfo.cyclecounter, val);
+            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor1_power: %d", val);
             iMqttMotor1Power = val;
             Can_SetMotorPower(0, val);
         }
         else
         {
-            printf("%ld: Received mqtt_topic_motor1_power: %s\n", pinfo.cyclecounter, topic_value);
+            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor1_power: %s", topic_value);
         }
     }
     else if (strcmp(message->topic, mqtt_topic_motor2_gear) == 0)
@@ -69,13 +83,13 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
         int val = 9999;
         if (sscanf(topic_value, "%d", &val))
         {
-            printf("%ld: Received value for mqtt_topic_motor2_gear: %d\n", pinfo.cyclecounter, val);
+            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor2_gear: %d", val);
             iMqttMotor2Gear = val;
             Can_SetMotorGear(1, val);
         }
         else
         {
-            printf("%ld: Received mqtt_topic_motor2_gear: %s\n", pinfo.cyclecounter, topic_value);
+            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor2_gear: %s", topic_value);
         }
     }
     else if (strcmp(message->topic, mqtt_topic_motor2_power) == 0)
@@ -83,30 +97,32 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
         int val = 9999;
         if (sscanf(topic_value, "%d", &val))
         {
-            printf("%ld: Received value for mqtt_topic_motor2_power: %d\n", pinfo.cyclecounter, val);
+            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor2_power: %d", val);
             iMqttMotor2Power = val;
             Can_SetMotorPower(1, val);
         }
         else
         {
-            printf("%ld: Received mqtt_topic_motor2_power: %s\n", pinfo.cyclecounter, topic_value);
+            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor2_power: %s", topic_value);
         }
     }
     else
     {
-        printf("%ld: Received publish('%s'): %s\n", pinfo.cyclecounter, message->topic, topic_value);
+        mylog(LOG_WARNING, "MQTT: Received publish('%s'): %s", message->topic, topic_value);
     }
 
     free(topic_value);
 }
 
 
+/// @brief connect to mqtt broker
+/// @return 
 int MqttClient_Connect()
 {
     int major, minor, revision;
 
     mosquitto_lib_version(&major, &minor, &revision);
-    printf("Libmosquitto version: %d.%d.%d\n", major, minor, revision);
+    mylog(LOG_INFO, "MQTT: Libmosquitto version: %d.%d.%d", major, minor, revision);
 
     // libmosquitto initialization
     mosquitto_lib_init();
@@ -115,7 +131,7 @@ int MqttClient_Connect()
     mosq = mosquitto_new(NULL, true, NULL);
     if (mosq == NULL)
     {
-        printf("Failed to create mosquitto client!/n");
+        mylog(LOG_ERR, "MQTT: Failed to create mosquitto client!/n");
         iHadConnectError++;
         return 1;
     }
@@ -126,7 +142,7 @@ int MqttClient_Connect()
     // Connect to MQTT broker
     if (mosquitto_connect(mosq, mqtt_broker_addr, mqtt_broker_port, 60) != MOSQ_ERR_SUCCESS)
     {
-	    printf("Error: connecting to MQTT broker failed\n");
+	    mylog(LOG_ERR, "MQTT: Connecting to MQTT broker failed");
         MqttClient_Close();
         iHadConnectError++;
         return 2;
@@ -144,28 +160,29 @@ int MqttClient_Connect()
     snprintf(message, sizeof(message), "0");
     if (mosquitto_publish(mosq, NULL, mqtt_topic_motor1_gear, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
     {
-        printf("mosquitto_publish(mqtt_topic_motor1_gear) fehlgeschlagen!\n");
+        mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor1_gear) failed!");
         MqttClient_Close();
         iHadConnectError++;
         return 10;
     }
     if (mosquitto_publish(mosq, NULL, mqtt_topic_motor1_power, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
     {
-        printf("mosquitto_publish(mqtt_topic_motor1_power) fehlgeschlagen!\n");
+        mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor1_power) failed!");
         MqttClient_Close();
         iHadConnectError++;
         return 11;
     }
     if (mosquitto_publish(mosq, NULL, mqtt_topic_motor2_gear, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
     {
-        printf("mosquitto_publish(mqtt_topic_motor2_gear) fehlgeschlagen!\n");
+        mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor2_gear) failed!");
         MqttClient_Close();
         iHadConnectError++;
         return 12;
+        MqttClient_Close();
     }
     if (mosquitto_publish(mosq, NULL, mqtt_topic_motor2_power, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
     {
-        printf("mosquitto_publish(mqtt_topic_motor2_power) fehlgeschlagen!\n");
+        mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor2_power) failed!");
         MqttClient_Close();
         iHadConnectError++;
         return 13;
@@ -174,54 +191,65 @@ int MqttClient_Connect()
     // subscribe all needed topics
     if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor1_gear, 0) != MOSQ_ERR_SUCCESS)
     {
-        printf("mosquitto_subscribe(mqtt_topic_motor1_gear) fehlgeschlagen!\n");
+        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor1_gear) failed!");
-        MqttClient_Close();
         iHadConnectError++;
         return 20;
     }
     if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor1_power, 0) != MOSQ_ERR_SUCCESS)
     {
-        printf("mosquitto_subscribe(mqtt_topic_motor1_power) fehlgeschlagen!\n");
+        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor1_power) failed!");
         MqttClient_Close();
         iHadConnectError++;
         return 21;
     }
     if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor2_gear, 0) != MOSQ_ERR_SUCCESS)
     {
-        printf("mosquitto_subscribe(mqtt_topic_motor2_gear) fehlgeschlagen!\n");
+        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor2_gear) failed!");
         MqttClient_Close();
         iHadConnectError++;
         return 22;
     }
     if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor2_power, 0) != MOSQ_ERR_SUCCESS)
     {
-        printf("mosquitto_subscribe(mqtt_topic_motor2_power) fehlgeschlagen!\n");
+        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor2_power) failed!");
         MqttClient_Close();
         iHadConnectError++;
         return 23;
     }
 
-    printf("MQTT: Connected successfull!\n");
+    nMqttMotor1SwitchState = 255;
+    MqttClient_Publish_MotorSwitchState(0, 0);
+    nMqttMotor2SwitchState = 255;
+    MqttClient_Publish_MotorSwitchState(1, 0);
+    iMqttMotor1ActualPowerW = -1;
+    MqttClient_Publish_MotorActualPowerW(0, 0);
+    iMqttMotor2ActualPowerW = -1;
+    MqttClient_Publish_MotorActualPowerW(1, 0);
+
+    mylog(LOG_INFO, "MQTT: Connected successfull!");
     return 0;
 }
 
 
+/// @brief Disconnect from mqtt broker
 void MqttClient_Close()
 {
     //Clean up/destroy objects created by libmosquitto
     mosquitto_destroy(mosq);
     mosquitto_lib_cleanup();
 
-    printf("MQTT: Disconnected!\n");
+    mylog(LOG_INFO, "MQTT: Disconnected!");
 }
 
 
+/// @brief Has to be called cyclic, does the work
 void MqttClient_Refresher()
 {
     mosquitto_loop(mosq, 0, 1);
 }
 
 
+/// @brief publish the cycle counter as a sign of life
 void MqttClient_Publisher()
 {
     char message[100];
@@ -231,6 +259,9 @@ void MqttClient_Publisher()
 }
 
 
+/// @brief Publish the actual motor gear
+/// @param iMotorIndex 
+/// @param iGear 
 void MqttClient_Publish_MotorGear(int iMotorIndex, int iGear)
 {
     if (iMotorIndex == 0)
@@ -256,6 +287,9 @@ void MqttClient_Publish_MotorGear(int iMotorIndex, int iGear)
 }
 
 
+/// @brief Publish the requested motor power
+/// @param iMotorIndex 
+/// @param iPower 
 void MqttClient_Publish_MotorPower(int iMotorIndex, int iPower)
 {
     if (iMotorIndex == 0)
@@ -278,4 +312,60 @@ void MqttClient_Publish_MotorPower(int iMotorIndex, int iPower)
             mosquitto_publish(mosq, NULL, mqtt_topic_motor2_power, strlen(message), message, 0, false);
         }
     }
+}
+
+
+/// @brief Publish the actual switches states
+/// @param iMotorIndex 
+/// @param nSwitchState 
+void MqttClient_Publish_MotorSwitchState(int iMotorIndex, unsigned char nSwitchState)
+{
+    if (iMotorIndex == 0)
+    {
+        if (nSwitchState != nMqttMotor1SwitchState)
+        {
+            nMqttMotor1SwitchState = nSwitchState;
+            char message[100];
+            snprintf(message, sizeof(message), "%2X", nSwitchState);
+            mosquitto_publish(mosq, NULL, mqtt_topic_motor1_switchstate, strlen(message), message, 0, false);
+        }
+    }
+    else if (iMotorIndex == 1)
+    {
+        if (nSwitchState != nMqttMotor2SwitchState)
+        {
+            nMqttMotor2SwitchState = nSwitchState;
+            char message[100];
+            snprintf(message, sizeof(message), "%2X", nSwitchState);
+            mosquitto_publish(mosq, NULL, mqtt_topic_motor2_switchstate, strlen(message), message, 0, false);
+        }
+    }
+}
+
+
+/// @brief Publish the actual real motor power
+/// @param iMotorIndex 
+/// @param iMotorPowerW 
+void MqttClient_Publish_MotorActualPowerW(int iMotorIndex, int iMotorPowerW)
+{
+    if (iMotorIndex == 0)
+    {
+        if (iMotorPowerW != iMqttMotor1ActualPowerW)
+        {
+            iMqttMotor1ActualPowerW = iMotorPowerW;
+            char message[100];
+            snprintf(message, sizeof(message), "%d", iMotorPowerW);
+            mosquitto_publish(mosq, NULL, mqtt_topic_motor1_actualpowerw, strlen(message), message, 0, false);
+        }
+    }
+    else if (iMotorIndex == 1)
+    {
+        if (iMotorPowerW != iMqttMotor2ActualPowerW)
+        {
+            iMqttMotor2ActualPowerW = iMotorPowerW;
+            char message[100];
+            snprintf(message, sizeof(message), "%d", iMotorPowerW);
+            mosquitto_publish(mosq, NULL, mqtt_topic_motor2_actualpowerw, strlen(message), message, 0, false);
+        }
+    }
 }

mqtt/mqtt_client.h

@@ -9,5 +9,7 @@ void MqttClient_Refresher();
 void MqttClient_Publisher();
 void MqttClient_Publish_MotorGear(int iMotorIndex, int iGear);
 void MqttClient_Publish_MotorPower(int iMotorIndex, int iPower);
+void MqttClient_Publish_MotorSwitchState(int iMotorIndex, unsigned char nSwitchState);
+void MqttClient_Publish_MotorActualPowerW(int iMotorIndex, int iMotorPowerW);
 
 #endif

scripts/CanRtDriver.service

@@ -2,16 +2,27 @@
 ## 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!
 
 [Unit]
 Description=CAN-Bus Treiber für Gegenstromanlage
-After=network.target
+#After=network.target
+# Stellt sicher, dass die CAN-Device Unit gestartet wird
+Requires=sys-subsystem-net-devices-can0.device
+# Stellt die Reihenfolge sicher (Start nach der Device Unit)
+After=network-online.target sys-subsystem-net-devices-can0.device
+# Optional: Stoppt den Dienst, wenn das Interface offline geht
+BindsTo=sys-subsystem-net-devices-can0.device
 
 [Service]
+# Skript, das wartet, bis das Interface "UP" ist (ersetzen Sie can0 durch Ihren Interface-Namen)
+#ExecStartPre=/bin/sh -c 'while ! ip link show can0 | grep -q "state UP"; do sleep 1; done'
 ExecStart=/home/veltmann/Documents/CanRtDriver/bin/CanRtDriver
-# Oder: ExecStart=/usr/bin/python3 /home/pi/meinprogramm.py
 WorkingDirectory=/home/veltmann/Documents/CanRtDriver/bin
 StandardOutput=inherit
 StandardError=inherit

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
 

scripts/dump_power.sh

@@ -0,0 +1,2 @@
+candump can0,18FF1416:1FFFFFFF
+

scripts/dump_switch.sh

@@ -0,0 +1,2 @@
+candump can0,18FF1316:1FFFFFFF
+

scripts/git_commit_push.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+git add --all
+git commit -am "$1"
+git push
+

scripts/git_undo.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+git restore .
+

scripts/git_update.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+git pull
+