Änderung CYCLE_COUNTER_MAX für Testzwecke

can/can_client.c

@@ -1,12 +1,13 @@
 
 #include "main.h"
 
+#include <settings/settings.h>
 #include <can/can_client.h>
 #include <io/io.h>
 #include <mqtt/mqtt_client.h>
 
-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;
@@ -37,60 +38,72 @@ 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].iMotorPower = 0;
-    motctrl[iMotorIndex].iMotorPowerPct = 0;
+    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_MIN_PCT=%d PWR_MAX_PCT=%d PWR_STEP=%d", MOTOR_PWR_MIN_PCT, MOTOR_PWR_MAX_PCT, MOTOR_PWR_STEP);
+    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);
     Can_SetMotorPower(iMotorIndex, 0);
 
-    // first we have to create a socket
-    if ((intf_data[iMotorIndex].socket = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
+    if (settings.iCanSimu)
     {
-        mylog(LOG_ERR, "CAN: Could not create socket for motor %d!", iMotorIndex);
-        return 1;
+        mylog(LOG_WARNING, "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)
+        {
+            mylog(LOG_ERR, "CAN: Could not create socket for motor %d!", iMotorIndex);
+            return 1;
+        }
 
-    // retrieve the interface index
-    strcpy(intf_data[iMotorIndex].ifr.ifr_name, intf_data[iMotorIndex].iface_name);
-    if (ioctl(intf_data[iMotorIndex].socket, SIOCGIFINDEX, &intf_data[iMotorIndex].ifr) < 0)
-    {
-        mylog(LOG_ERR, "CAN: Could not get interface index for motor %d!", iMotorIndex);
-        return 2;
-    }
+        // retrieve the interface index
+        strcpy(intf_data[iMotorIndex].ifr.ifr_name, intf_data[iMotorIndex].iface_name);
+        if (ioctl(intf_data[iMotorIndex].socket, SIOCGIFINDEX, &intf_data[iMotorIndex].ifr) < 0)
+        {
+            mylog(LOG_ERR, "CAN: Could not get interface index for motor %d!", iMotorIndex);
+            return 2;
+        }
 
-    // bind the socket to the CAN interface
-    memset(&intf_data[iMotorIndex].addr, 0, sizeof(intf_data[iMotorIndex].addr));
-    intf_data[iMotorIndex].addr.can_family = AF_CAN;
-    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)
-    {
-        mylog(LOG_ERR, "CAN: Could not bind socket to inteface for motor %d!", iMotorIndex);
-        return 3;
-    }
+        // bind the socket to the CAN interface
+        memset(&intf_data[iMotorIndex].addr, 0, sizeof(intf_data[iMotorIndex].addr));
+        intf_data[iMotorIndex].addr.can_family = AF_CAN;
+        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)
+        {
+            mylog(LOG_ERR, "CAN: Could not bind socket to inteface for motor %d!", iMotorIndex);
+            return 3;
+        }
 
-    // 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;
-    }
+        // 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);
+        mylog(LOG_INFO, "CAN: Interface %s (motor %d) opened!", ifacename, iMotorIndex);
+    }
 
     return 0;
 }
@@ -100,13 +113,20 @@ int Can_OpenInterface(int iMotorIndex, const char * ifacename)
 /// @param iMotorIndex 
 void Can_CloseInterface(int iMotorIndex)
 {
-    if (close(intf_data[iMotorIndex].socket) < 0)
+    if (intf_data[iMotorIndex].socket >= 0)
     {
-        mylog(LOG_ERR, "CAN: Could not close socket of motor %d!", iMotorIndex);
+        if (close(intf_data[iMotorIndex].socket) < 0)
+        {
+            mylog(LOG_ERR, "CAN: Could not close socket of motor %d!", iMotorIndex);
+        }
+        else
+        {
+            mylog(LOG_INFO, "CAN: Interface %s (motor %d) closed.", intf_data[iMotorIndex].iface_name, iMotorIndex);
+        }
     }
     else
     {
-        mylog(LOG_INFO, "CAN: Interface %s (motor %d) closed.", intf_data[iMotorIndex].iface_name, iMotorIndex);
+        mylog(LOG_INFO, "CAN: Close simulation mode.");
     }
 }
 
@@ -120,10 +140,9 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
     {
         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);
+            Can_SetMotorPower(iMotorIndex, 1);
         }
         WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
         mylog(LOG_INFO, "CAN: Motor[%d]: Set gear forward.", iMotorIndex);
@@ -132,10 +151,9 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
     {
         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);
+            Can_SetMotorPower(iMotorIndex, 1);
         }
         WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
         mylog(LOG_INFO, "CAN: Motor[%d]: Set gear reverse.", iMotorIndex);
@@ -144,7 +162,6 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
     {
         if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_NEUTRAL)
         {
-            MqttClient_Publish_MotorGear(iMotorIndex, iGear);
             motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_NEUTRAL;
         }
         // motor is switch to neutral -> set power to 0
@@ -152,40 +169,57 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
         WriteOutputPin(GPIO_LED_MOTRUN, LOW);
         mylog(LOG_INFO, "CAN: Motor[%d]: Set gear neutral.", iMotorIndex);
     } 
+    MqttClient_Publish_MotorGear(iMotorIndex, iGear);
 }
 
 
 /// @brief Set power for the given motor
 /// @param iMotorIndex 
-/// @param iPower (Range: 0..100)
+/// @param iPower (Range: 0..settings.iMotorPwrStepCount)
 void Can_SetMotorPower(int iMotorIndex, int iPower)
 {
     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;
+        motctrl[iMotorIndex].iMotorPowerSteps = 0;
     }
-    else if (iPower <= MOTOR_PWR_MIN_PCT)
+    else if (iPower <= 1)
     {
         // limit to min. power
-        motctrl[iMotorIndex].iMotorPowerPct = MOTOR_PWR_MIN_PCT;
+        motctrl[iMotorIndex].iMotorPowerSteps = 1;
     }
-    else if (iPower >= MOTOR_PWR_MAX_PCT)
+    else if (iPower >= settings.iMotorPwrStepCount)
     {
         // limit to max. power
-        motctrl[iMotorIndex].iMotorPowerPct = MOTOR_PWR_MAX_PCT;
+        motctrl[iMotorIndex].iMotorPowerSteps = settings.iMotorPwrStepCount;
     } 
     else 
     {
-        motctrl[iMotorIndex].iMotorPowerPct = iPower;
-    } 
-    MqttClient_Publish_MotorPower(iMotorIndex, motctrl[iMotorIndex].iMotorPowerPct);
+        motctrl[iMotorIndex].iMotorPowerSteps = iPower;
+    }
+    MqttClient_Publish_MotorPower(iMotorIndex, motctrl[iMotorIndex].iMotorPowerSteps);
 
     // calc value for telegram
-    motctrl[iMotorIndex].iMotorPower = 250 * motctrl[iMotorIndex].iMotorPowerPct / 100;
+    if (motctrl[iMotorIndex].iMotorPowerSteps <= 0)
+    {
+        motctrl[iMotorIndex].iMotorPowerRaw = 0;
+    }
+    else
+    {
+        // 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",
-        iMotorIndex, motctrl[iMotorIndex].iMotorPowerPct, motctrl[iMotorIndex].iMotorPower);
+    mylog(LOG_INFO, "CAN: Motor[%d]: Set power to %d -> %d",
+        iMotorIndex, motctrl[iMotorIndex].iMotorPowerSteps, motctrl[iMotorIndex].iMotorPowerRaw);
 }
 
 
@@ -194,23 +228,26 @@ void Can_SetMotorPower(int iMotorIndex, int iPower)
 void Can_TransmitMotorGear(int iMotorIndex)
 {
     // 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))
+    if (intf_data[iMotorIndex].socket >= 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))
+        {
+
+        }
     }
 }
 
@@ -220,23 +257,26 @@ void Can_TransmitMotorGear(int iMotorIndex)
 void Can_TransmitMotorPower(int iMotorIndex)
 {
     // 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))
+    if (intf_data[iMotorIndex].socket >= 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].iMotorPowerRaw;   // 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))
+        {
+
+        }
     }
 }
 
@@ -245,39 +285,42 @@ void Can_TransmitMotorPower(int iMotorIndex)
 /// @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)
+    if (intf_data[iMotorIndex].socket >= 0)
     {
-        canid_t pgn = frame.can_id & 0x00FFFF00;
+        ssize_t nbytes = 0;
+        struct can_frame frame;
 
-        switch(pgn)
+        // increment cycle counter
+        IncBusTimeoutCounter(iMotorIndex);
+
+        // read one frame
+        if ((nbytes = read(intf_data[iMotorIndex].socket, &frame, sizeof(frame))) > 0)
         {
-            case 0x00EF6400:    // "repeat data"
-                break;
+            canid_t pgn = frame.can_id & 0x00FFFF00;
 
-            case 0x00F00300:    // PGN 61443 "Electronic Engine Controller 2"
-                // we have sent this -> ignore
-                break;
+            switch(pgn)
+            {
+                case 0x00EF6400:    // "repeat data"
+                    break;
 
-            case 0x00F00500:    // PGN 61445 "Electronic Transmission Controller 2"
-                // we have sent this -> ignore
-                break;
+                case 0x00F00300:    // PGN 61443 "Electronic Engine 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 0x00F00500:    // PGN 61445 "Electronic Transmission Controller 2"
+                    // we have sent this -> ignore
+                    break;
 
-            case 0x00FF1400:    // PGN 65300 "Manufacturer PGN 2"
-                // here we find the actual power of the motor
-                Can_Read_Manu_PGN2(iMotorIndex, &frame);
-                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;
+            }
         }
     }
 }

can/can_client.h

@@ -15,28 +15,24 @@
 #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_MIN_PCT 15
-#define MOTOR_PWR_MAX_PCT 100
-#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;
+    int iMotorPowerRaw;
+    int iMotorPowerSteps;
     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
 {

io/io.c

@@ -2,17 +2,22 @@
 #include "main.h"
 #include "io.h"
 #include <can/can_client.h>
+#include <settings/settings.h>
+#include <mqtt/mqtt_client.h>
 
 struct GPIO_KEY_DATA gpioKeyStop;
 struct GPIO_KEY_DATA gpioKeyPwrUp;
 struct GPIO_KEY_DATA gpioKeyPwrDown;
 
 char nInitialized = 0;
+int iPowerSupplyOn = 0;
 
 /// @brief Initialize the io pins
 /// @return 
 int IO_Init()
 {
+    iPowerSupplyOn = 0;
+
     if (wiringPiSetupPinType(WPI_PIN_BCM))
     {
         mylog(LOG_ERR, "IO: Set up wiringPi failed!");
@@ -51,7 +56,7 @@ void SetupKeyPin(struct GPIO_KEY_DATA *pdata, int iKeyPin)
 
     if ((pdata->iKeyPin > 0) && nInitialized)
     {
-        //mylog(LOG_INFO, "IO: Config Pin %d as input", iOutPin);
+        mylog(LOG_DEBUG, "IO: Config Pin %d as input", pdata->iKeyPin);
         pinMode(pdata->iKeyPin, INPUT);
         pullUpDnControl(pdata->iKeyPin, PUD_UP);
     }
@@ -154,7 +159,7 @@ void SetupOutputPin(int iOutPin)
 {
     if ((iOutPin > 0) && nInitialized)
     {
-        //mylog(LOG_INFO, "IO: Config Pin %d as output", iOutPin);
+        mylog(LOG_DEBUG, "IO: Config Pin %d as output", iOutPin);
         pinMode(iOutPin, OUTPUT);
         digitalWrite(iOutPin, LOW);
     }
@@ -179,46 +184,57 @@ void IO_DoCyclic()
     ReadKey(&gpioKeyPwrUp);
     ReadKey(&gpioKeyPwrDown);
 
-    if (gpioKeyStop.iKeyValue)
+    if (gpioKeyStop.iKeyValue || atomic_load(&abKeyStop))
     {
         // stop key is pressed
-        if (gpioKeyStop.iKeyRisingEdge)
+        if (gpioKeyStop.iKeyRisingEdge || atomic_load(&abKeyStop))
         {
             mylog(LOG_INFO, "IO: KEY-Stop: Stop motor.");
             Can_SetMotorGear(0, 0);
         }
     }
-    else if (motctrl[0].nDriveReady)    // plus and minus keys only when drive is ready
+
+    if (gpioKeyPwrUp.iKeyRisingEdge || atomic_load(&abKeyPlus))
     {
-        if (gpioKeyPwrUp.iKeyRisingEdge)
+        if (motctrl[0].nDriveReady)
         {
-            // plus key is pressed -> increase power
+            // when drive is ready to run: 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);
+                Can_SetMotorPower(0, 1);
             }
-            else
+            else if (motctrl[0].iMotorPowerSteps < settings.iMotorPwrStepCount)
             {
                 mylog(LOG_INFO, "IO: KEY-Plus: Increase power.");
-                Can_SetMotorPower(0, motctrl[0].iMotorPowerPct + MOTOR_PWR_STEP);
+                Can_SetMotorPower(0, motctrl[0].iMotorPowerSteps + 1);
             }
         }
-
-        if (gpioKeyPwrDown.iKeyRisingEdge)
+        else if (settings.iShellySupplyCount > 0)
         {
-            // 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);
-            }
+            // when drive is not ready and we have to switch the supply
+            MqttClient_SwitchPowerSupply(1);
+            iPowerSupplyOn = 1;
         }
     }
+
+    if (gpioKeyPwrDown.iKeyRisingEdge || atomic_load(&abKeyMinus))
+    {
+        // minus key is pressed -> decrease power
+        if (motctrl[0].iMotorPowerSteps > 1)
+        {
+            mylog(LOG_INFO, "IO: KEY-Minus: Decrease power.");
+            Can_SetMotorPower(0, motctrl[0].iMotorPowerSteps - 1);
+        }
+        // else
+        // {
+        //     mylog(LOG_INFO, "IO: KEY-Minus: Stop motor.");
+        //     Can_SetMotorGear(0, 0);
+        // }
+    }
+
+    atomic_store(&abKeyPlus, false);
+    atomic_store(&abKeyMinus, false);
+    atomic_store(&abKeyStop, false);
 }

io/io.h

@@ -30,6 +30,8 @@ struct GPIO_KEY_DATA
     int iKeyRepeatCycleCounter;
 };
 
+extern int iPowerSupplyOn;
+
 int IO_Init();
 void IO_DoCyclic();
 void SetupKeyPin(struct GPIO_KEY_DATA *pdata, int iKeyPin);

main.c

@@ -3,12 +3,18 @@
 #include <mqtt/mqtt_client.h>
 #include <can/can_client.h>
 #include <io/io.h>
+#include <settings/settings.h>
+#include <termios.h>
 
 // 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;
+atomic_short asThreadControl = ATOMIC_VAR_INIT(0);      // 0: thread is running, <0: thread shall exit, >0 thread has exited
 
+// values for simulation
+atomic_bool abKeyPlus = ATOMIC_VAR_INIT(false);
+atomic_bool abKeyMinus = ATOMIC_VAR_INIT(false);
+atomic_bool abKeyStop = ATOMIC_VAR_INIT(false);
 
 /// @brief send a log message
 /// @param prio 
@@ -16,27 +22,30 @@ int iLogToConsole = 1;
 /// @param  
 void mylog(int prio, const char *format, ...)
 {
-va_list args;
+        if (prio <= settings.iDebugLevel)
+        {
+                va_list args;
 
-    // 1. Initialisiere die Argumentenliste mit dem letzten festen Parameter
-    va_start(args, format);
+                // 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
-    vsyslog(prio, format, args);
+                // 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
-    if (iLogToConsole)
-    {
-        va_end(args);
-        va_start(args, format);
-        vfprintf(stderr, format, args);
-        fprintf(stderr, "\n");
-    }
+                // 3. Optional: Output additionally to the console
+                // We have to reinitialize the list because va_list is "consumed."
+                if (iLogToConsole)
+                {
+                        va_end(args);
+                        va_start(args, format);
+                        vfprintf(stderr, format, args);
+                        fprintf(stderr, "\n");
+                }
 
-    // 4. Aufräumen
-    va_end(args);
+                // 4. Cleanup
+                va_end(args);
+        }
 }
 
 
@@ -146,7 +155,7 @@ void *thread_func(void *data)
         }
 
         // Connect to mqtt broker
-        while (MqttClient_Connect() && (iThreadControl == 0))
+        while (MqttClient_Connect() && atomic_load(&asThreadControl) == 0)
         {
                 mylog(LOG_ERR, "MqttClient_Connect() failed!");
                 sleep(10);
@@ -159,13 +168,13 @@ void *thread_func(void *data)
         WriteOutputPin(GPIO_OUT_PWRON, HIGH);
 
         // cyclic call of do_cyclic_1ms()
-        while (iThreadControl == 0)
+        while (atomic_load(&asThreadControl) == 0)
         {
                 pinfo.cyclecounter++;
-                if (pinfo.cyclecounter >= 86400000)
+                if (pinfo.cyclecounter > CYCLE_COUNTER_MAX)
                 {
                         // Reset cycle counter every 24h
-                        pinfo.cyclecounter = 0;
+                        pinfo.cyclecounter = 1;
                 } 
                 do_cyclic_1ms(&pinfo);
                 wait_rest_of_period(&pinfo);
@@ -181,11 +190,22 @@ void *thread_func(void *data)
         Can_CloseInterface(0);
         
         // signal thread has finnished
-        iThreadControl = 1;
+        atomic_store(&asThreadControl, 1);
         return NULL;
 }
 
 
+// Funktion, um das Terminal in den "Raw Mode" zu versetzen
+void set_conio_terminal_mode() 
+{
+    struct termios new_termios;
+    tcgetattr(0, &new_termios);
+    new_termios.c_lflag &= ~ICANON; // Deaktiviert den zeilenweisen Modus
+    new_termios.c_lflag &= ~ECHO;   // Verhindert, dass die Taste angezeigt wird
+    tcsetattr(0, TCSANOW, &new_termios);
+}
+
+
 /// @brief catch signals and set flag to terminate for the realtime thread
 /// @param signo 
 void sig_handler(int signo)
@@ -193,7 +213,7 @@ void sig_handler(int signo)
         if ((signo == SIGINT) || (signo == SIGTERM))
         {
                 mylog(LOG_INFO, "Received signal %d", signo);
-                iThreadControl = -1;    // signal realtime thread to exit
+                atomic_store(&asThreadControl, -1);     // signal realtime thread to exit
         }
 }
 
@@ -209,19 +229,33 @@ 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());
 
-        // catch signals
-        if (signal(SIGTERM, sig_handler) == SIG_ERR)
+        // Read the settings file after opening the log
+        Settings_ReadConfFile();
+
+        if (settings.iCanSimu)
         {
-                mylog(LOG_ERR, "Can't catch SIGTERM");
-                exit(-1);
+                // in simulation mode switch terminal to raw mode
+                set_conio_terminal_mode();
         }
-        if (signal(SIGINT, sig_handler) == SIG_ERR)
+        else
         {
-                mylog(LOG_ERR, "Can't catch SIGINT");
-                exit(-2);
+                // catch signals
+                if (signal(SIGTERM, sig_handler) == SIG_ERR)
+                {
+                        mylog(LOG_ERR, "Can't catch SIGTERM");
+                        exit(-1);
+                }
+                if (signal(SIGINT, sig_handler) == SIG_ERR)
+                {
+                        mylog(LOG_ERR, "Can't catch SIGINT");
+                        exit(-2);
+                }
         }
 
         /* Lock memory */
@@ -271,7 +305,7 @@ int main(int argc, char* argv[])
 
         
         /* Create a pthread with specified attributes */
-        iThreadControl = 0;
+        atomic_store(&asThreadControl, 0);
         ret = pthread_create(&thread, &attr, thread_func, NULL);
         if (ret) 
         {
@@ -279,6 +313,48 @@ int main(int argc, char* argv[])
                 goto out;
         }
 
+        if (settings.iCanSimu)
+        {
+                // in simulation mode we use keys to control the motors
+                mylog(LOG_INFO, "*** CanRtDriver in Simu-Mode ***");
+                while (1)
+                {
+                        char ch = getchar();
+                        mylog(LOG_INFO, "SIMU: Taste gedrückt: %c", ch);
+
+                        if (ch == '+')
+                        {
+                                atomic_store(&abKeyPlus, true);
+                        }
+                        else if (ch == '-')
+                        {
+                                atomic_store(&abKeyMinus, true);
+                        }
+                        else if (ch == 's')
+                        {
+                                atomic_store(&abKeyStop, true);
+                        }
+                        else if (ch == 'p')
+                        {
+                                if (iPowerSupplyOn)
+                                {
+                                        MqttClient_SwitchPowerSupply(0);
+                                        iPowerSupplyOn = 0;
+                                }
+                                else
+                                {
+                                        MqttClient_SwitchPowerSupply(1);
+                                        iPowerSupplyOn = 1;
+                                }
+                        }
+                        else if ( ch == 'q')
+                        {
+                                atomic_store(&asThreadControl, -1);     // signal realtime thread to exit
+                                break;
+                        }
+                }
+        }
+
         // join the thread and wait for it to exit
         ret = pthread_join(thread, NULL);
         if (ret)

main.h

@@ -13,8 +13,13 @@
 #include <signal.h>
 #include <syslog.h>
 #include <stdarg.h>
+#include <stdatomic.h>
+#include <stdbool.h>
 
 
+//#define CYCLE_COUNTER_MAX 86400000
+#define CYCLE_COUNTER_MAX 600000        // for testing only
+
 struct period_info 
 {
         struct timespec next_period;
@@ -23,6 +28,10 @@ struct period_info
         float fStartTime; 
 };
 
+extern atomic_bool abKeyPlus;
+extern atomic_bool abKeyMinus;
+extern atomic_bool abKeyStop;
+
 extern struct period_info pinfo;
 extern void mylog(int prio, const char *format, ...);
 

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.c

@@ -8,30 +8,30 @@
 #include "main.h"
 #include <mqtt/mqtt_client.h>
 #include <can/can_client.h>
+#include <settings/settings.h>
 #include <string.h>
 
 #include <mosquitto.h>
 
 
+// Topics to subscribe
+const char* mqtt_topic_motor_gear_request = "Pool/Motor_Gear_Request";
+const char* mqtt_topic_motor_power_request = "Pool/Motor_Power_Request";
+
+// Topics to publish
 const char* mqtt_topic_status_cyclecounter = "Pool/Status/CycleCounter";
-
 const char* mqtt_topic_motor1_gear = "Pool/Motor1/Gear";
-int iMqttMotor1Gear = 0;
 const char* mqtt_topic_motor1_power = "Pool/Motor1/Power";
-int iMqttMotor1Power = 0;
 const char* mqtt_topic_motor2_gear = "Pool/Motor2/Gear";
-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;
+unsigned char nMotor1SwitchState = 255;
 const char* mqtt_topic_motor2_switchstate = "Pool/Motor1/SwitchState";
-unsigned char nMqttMotor2SwitchState = 0;
+unsigned char nMotor2SwitchState = 255;
 const char* mqtt_topic_motor1_actualpowerw = "Pool/Motor1/ActualPowerW";
-int iMqttMotor1ActualPowerW = 0;
+int iMqttMotor1ActualPowerW = -1;
 const char* mqtt_topic_motor2_actualpowerw = "Pool/Motor1/ActualPowerW";
-int iMqttMotor2ActualPowerW = 0;
+int iMqttMotor2ActualPowerW = -1;
 
 const char* mqtt_broker_addr = "127.0.0.1";
 const int mqtt_broker_port = 1883;
@@ -50,60 +50,46 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
     memcpy(topic_value, message->payload, message->payloadlen);
     topic_value[message->payloadlen] = '\0';
     
-    if (strcmp(message->topic, mqtt_topic_motor1_gear) == 0)
+    if (strcmp(message->topic, mqtt_topic_motor_gear_request) == 0)
     {
-        int val = 9999;
+        int val = 123456789;
         if (sscanf(topic_value, "%d", &val))
         {
-            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor1_gear: %d", val);
-            iMqttMotor1Gear = val;
-            Can_SetMotorGear(0, val);
+            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor_gear_request: %d", val);
+            if (val == 123456789)
+            {
+                val = 0;
+            }
+
+            for (int i=0; i<settings.iMotorCount; i++)
+            {
+                Can_SetMotorGear(i, val);
+            }
         }
         else
         {
-            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor1_gear: %s", topic_value);
+            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor_gear_request: %s", topic_value);
         }
     }
-    else if (strcmp(message->topic, mqtt_topic_motor1_power) == 0)
+    else if (strcmp(message->topic, mqtt_topic_motor_power_request) == 0)
     {
-        int val = 9999;
+        int val = 123456789;
         if (sscanf(topic_value, "%d", &val))
         {
-            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor1_power: %d", val);
-            iMqttMotor1Power = val;
-            Can_SetMotorPower(0, val);
+            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor_power_request: %d", val);
+            if (val == 123456789)
+            {
+                val = 0;
+            }
+            
+            for (int i=0; i<settings.iMotorCount; i++)
+            {
+                Can_SetMotorPower(i, val);
+            }
         }
         else
         {
-            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor1_power: %s", topic_value);
-        }
-    }
-    else if (strcmp(message->topic, mqtt_topic_motor2_gear) == 0)
-    {
-        int val = 9999;
-        if (sscanf(topic_value, "%d", &val))
-        {
-            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor2_gear: %d", val);
-            iMqttMotor2Gear = val;
-            Can_SetMotorGear(1, val);
-        }
-        else
-        {
-            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor2_gear: %s", topic_value);
-        }
-    }
-    else if (strcmp(message->topic, mqtt_topic_motor2_power) == 0)
-    {
-        int val = 9999;
-        if (sscanf(topic_value, "%d", &val))
-        {
-            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor2_power: %d", val);
-            iMqttMotor2Power = val;
-            Can_SetMotorPower(1, val);
-        }
-        else
-        {
-            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor2_power: %s", topic_value);
+            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor_gear_request: %s", topic_value);
         }
     }
     else
@@ -114,6 +100,38 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
     free(topic_value);
 }
 
+/// @brief callback function after connection
+void my_connect_callback(struct mosquitto *mosq, void *obj, int rc)
+{
+    if (rc == 0)
+    {
+        if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor_gear_request, 0) != MOSQ_ERR_SUCCESS)
+        {
+            mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor_gear_request) failed!");
+        }
+        if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor_power_request, 0) != MOSQ_ERR_SUCCESS)
+        {
+            mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor_power_request) failed!");
+        }
+
+        char message[10];
+        snprintf(message, sizeof(message), "0");
+        if (mosquitto_publish(mosq, NULL, mqtt_topic_motor_gear_request, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
+        {
+            mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor_gear_request) failed!");
+        }
+        if (mosquitto_publish(mosq, NULL, mqtt_topic_motor_power_request, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
+        {
+            mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor_power_request) failed!");
+        }
+
+        for (int i=0; i<settings.iMotorCount; i++)
+        {
+            MqttClient_Publish_MotorSwitchState(i, 0);
+            MqttClient_Publish_MotorActualPowerW(i, 0);
+        }
+    }
+}
 
 /// @brief connect to mqtt broker
 /// @return 
@@ -138,6 +156,7 @@ int MqttClient_Connect()
 
     // Define a function which will be called by libmosquitto client every time when there is a new MQTT message
     mosquitto_message_callback_set(mosq, my_message_callback);
+    mosquitto_connect_callback_set(mosq, my_connect_callback);
 
     // Connect to MQTT broker
     if (mosquitto_connect(mosq, mqtt_broker_addr, mqtt_broker_port, 60) != MOSQ_ERR_SUCCESS)
@@ -152,81 +171,11 @@ int MqttClient_Connect()
     {
         /* Wenn wir Verbindungsfehler hatten, dann befinden wir uns wohl in Boot-Prozess und der Mosquitto ist
            gerade erst gestartet. Wir müssen hier etwas warten, sonst funktioniert das Subscriben nicht */
-        sleep(10);
+        sleep(500);
     }
 
-    // publish all topics we want to subscribe
-    char message[10];
-    snprintf(message, sizeof(message), "0");
-    if (mosquitto_publish(mosq, NULL, mqtt_topic_motor1_gear, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
-    {
-        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)
-    {
-        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)
-    {
-        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)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor2_power) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 13;
-    }
 
-    // subscribe all needed topics
-    if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor1_gear, 0) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor1_gear) failed!");
-        iHadConnectError++;
-        return 20;
-    }
-    if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor1_power, 0) != MOSQ_ERR_SUCCESS)
-    {
-        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)
-    {
-        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)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor2_power) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 23;
-    }
-
-    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!");
+    mylog(LOG_INFO, "MQTT: Connected successfull after %d errors!", iHadConnectError);
     return 0;
 }
 
@@ -266,23 +215,15 @@ void MqttClient_Publish_MotorGear(int iMotorIndex, int iGear)
 {
     if (iMotorIndex == 0)
     {
-        if (iGear != iMqttMotor1Gear)
-        {
-            iMqttMotor1Gear = iGear;
-            char message[100];
-            snprintf(message, sizeof(message), "%d", iGear);
-            mosquitto_publish(mosq, NULL, mqtt_topic_motor1_gear, strlen(message), message, 0, false);
-        }
+        char message[100];
+        snprintf(message, sizeof(message), "%d", iGear);
+        mosquitto_publish(mosq, NULL, mqtt_topic_motor1_gear, strlen(message), message, 0, false);
     }
     else if (iMotorIndex == 1)
     {
-        if (iGear != iMqttMotor2Gear)
-        {
-            iMqttMotor2Gear = iGear;
-            char message[100];
-            snprintf(message, sizeof(message), "%d", iGear);
-            mosquitto_publish(mosq, NULL, mqtt_topic_motor2_gear, strlen(message), message, 0, false);
-        }
+        char message[100];
+        snprintf(message, sizeof(message), "%d", iGear);
+        mosquitto_publish(mosq, NULL, mqtt_topic_motor2_gear, strlen(message), message, 0, false);
     }
 }
 
@@ -294,23 +235,15 @@ void MqttClient_Publish_MotorPower(int iMotorIndex, int iPower)
 {
     if (iMotorIndex == 0)
     {
-        if (iPower != iMqttMotor1Power)
-        {
-            iMqttMotor1Power = iPower;
-            char message[100];
-            snprintf(message, sizeof(message), "%d", iPower);
-            mosquitto_publish(mosq, NULL, mqtt_topic_motor1_power, strlen(message), message, 0, false);
-        }
+        char message[100];
+        snprintf(message, sizeof(message), "%d", iPower);
+        mosquitto_publish(mosq, NULL, mqtt_topic_motor1_power, strlen(message), message, 0, false);
     }
     else if (iMotorIndex == 1)
     {
-        if (iPower != iMqttMotor2Power)
-        {
-            iMqttMotor2Power = iPower;
-            char message[100];
-            snprintf(message, sizeof(message), "%d", iPower);
-            mosquitto_publish(mosq, NULL, mqtt_topic_motor2_power, strlen(message), message, 0, false);
-        }
+        char message[100];
+        snprintf(message, sizeof(message), "%d", iPower);
+        mosquitto_publish(mosq, NULL, mqtt_topic_motor2_power, strlen(message), message, 0, false);
     }
 }
 
@@ -322,9 +255,9 @@ void MqttClient_Publish_MotorSwitchState(int iMotorIndex, unsigned char nSwitchS
 {
     if (iMotorIndex == 0)
     {
-        if (nSwitchState != nMqttMotor1SwitchState)
+        if (nSwitchState != nMotor1SwitchState)
         {
-            nMqttMotor1SwitchState = nSwitchState;
+            nMotor1SwitchState = nSwitchState;
             char message[100];
             snprintf(message, sizeof(message), "%2X", nSwitchState);
             mosquitto_publish(mosq, NULL, mqtt_topic_motor1_switchstate, strlen(message), message, 0, false);
@@ -332,9 +265,9 @@ void MqttClient_Publish_MotorSwitchState(int iMotorIndex, unsigned char nSwitchS
     }
     else if (iMotorIndex == 1)
     {
-        if (nSwitchState != nMqttMotor2SwitchState)
+        if (nSwitchState != nMotor2SwitchState)
         {
-            nMqttMotor2SwitchState = nSwitchState;
+            nMotor2SwitchState = nSwitchState;
             char message[100];
             snprintf(message, sizeof(message), "%2X", nSwitchState);
             mosquitto_publish(mosq, NULL, mqtt_topic_motor2_switchstate, strlen(message), message, 0, false);
@@ -368,4 +301,17 @@ void MqttClient_Publish_MotorActualPowerW(int iMotorIndex, int iMotorPowerW)
             mosquitto_publish(mosq, NULL, mqtt_topic_motor2_actualpowerw, strlen(message), message, 0, false);
         }
     }
+}
+
+
+void MqttClient_SwitchPowerSupply(int on)
+{
+    char *cmd = on ? "on" : "off";
+
+    for (int i=0; i<settings.iShellySupplyCount; i++)
+    {
+        mosquitto_publish(mosq, NULL, settings.sShellySupplyTopic[i], strlen(cmd), cmd, 0, false);
+    }
+
+    mylog(LOG_INFO, "MQTT: Switch supply-shellies %s", cmd);
 }

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();
@@ -11,5 +11,6 @@ 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);
+void MqttClient_SwitchPowerSupply(int on);
 
 #endif

scripts/git_update.sh

@@ -1,4 +1,5 @@
 #!/bin/bash
 
+git fetch
 git pull
 

settings/settings.c

@@ -0,0 +1,168 @@
+
+#include <main.h>
+#include <settings/settings.h>
+#include <ctype.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.iCanSimu = 1;
+    
+    settings.iMotorCount = 1;
+    settings.iMotorPwrMinRaw = 38;
+    settings.iMotorPwrMaxRaw = 250;
+    settings.iMotorPwrStepCount = 7;
+
+    settings.iShellySupplyCount = 0;
+    for (int i=0; i<MAX_SHELLIES_COUNT; i++)
+    {
+        settings.sShellySupplyTopic[i][0] = '\0';
+    }
+
+    // Get path of the executable itself
+    ssize_t length = readlink("/proc/self/exe", settings.sExePath, sizeof(settings.sExePath) - 1);
+    if (length >= 0)
+    {
+        settings.sExePath[length] = '\0';
+        mylog(LOG_INFO, "SETTINGS: Executable path: %s", settings.sExePath);
+    }
+    else
+    {
+        settings.sExePath[0] = '\0';
+        mylog(LOG_ERR, "SETTINGS: Executable path not found!");
+    }
+}
+
+
+
+char *trim_str(const char *s) 
+{
+    // Führende Leerzeichen finden
+    while (isspace((unsigned char)*s)) 
+        s++;
+
+    // Falls der String leer ist
+    if (*s == 0) 
+        return strdup("");
+
+    // Letztes Zeichen finden
+    const char *end = s + strlen(s) - 1;
+    while (end > s && isspace((unsigned char)*end)) 
+        end--;
+
+    // Länge des neuen Strings berechnen
+    size_t len = (end - s) + 1;
+
+    // Speicher reservieren (+1 für das Null-Byte)
+    char *new_str = malloc(len + 1);
+    if (new_str) 
+    {
+        memcpy(new_str, s, len);
+        new_str[len] = '\0';
+    }
+
+    return new_str;
+}
+
+void Settings_ReadConfFile() 
+{
+    
+    //const char *filename = "/etc/CanRtDriver.conf";
+
+    char filename[MAX_PATH + 50];
+    sprintf(filename, "/etc/CanRtDriver.conf");
+    FILE *file = fopen(filename, "r");
+    if (file == NULL) 
+    {
+        mylog(LOG_INFO, "SETTINGS: File %s noch found", filename);
+        sprintf(filename, "%s.conf", settings.sExePath);
+        file = fopen(filename, "r");
+        if (file == NULL)
+        {
+            mylog(LOG_ERR, "SETTINGS: No conf file found!");
+            return;
+        }
+    }
+
+    mylog(LOG_INFO, "SETTINGS: Reading %s", filename);
+
+    char line[MAX_LINE_LENGTH];
+    while (fgets(line, sizeof(line), file)) 
+    {
+        // 1. Ignore comments and empty lines
+        if (line[0] == '#' || line[0] == '\n' || line[0] == '\r') 
+        {
+            continue;
+        }
+
+        // 2. Remove CRLF at end of line
+        line[strcspn(line, "\r\n")] = 0;
+
+        // 3. Split line to key and value
+        char *key = trim_str(strtok(line, "="));
+        char *value = trim_str(strtok(NULL, "="));
+
+        if ((key != NULL) && (value != NULL)) 
+        {
+            if (strcmp(key, "DebugLevel") == 0)
+            {
+                // how many log messages we want to see
+                settings.iDebugLevel = atoi(value);
+                mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iDebugLevel);
+            }
+            else if (strcmp(key, "CanSimu") == 0)
+            {
+                // shall we do simulation
+                settings.iCanSimu = atoi(value);
+                mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iCanSimu);
+            }
+            else if (strcmp(key, "MotorPowerMinRaw") == 0)
+            {
+                // Minimum power value for the motors
+                settings.iMotorPwrMinRaw = atoi(value);
+                mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iMotorPwrMinRaw);
+            }
+            else if (strcmp(key, "MotorPowerMaxRaw") == 0)
+            {
+                // Maximum power value for the motors
+                settings.iMotorPwrMaxRaw = atoi(value);
+                mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iMotorPwrMaxRaw);
+            }
+            else if (strcmp(key, "MotorPowerStepCount") == 0)
+            {
+                // How many steps do we want to have switching the power
+                settings.iMotorPwrStepCount = atoi(value);
+                mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iMotorPwrStepCount);
+            }
+            else if (strcmp(key, "SupplyShellyMqttTopic") == 0)
+            {
+                // MQTT topic for switching power supply
+                if (settings.iShellySupplyCount < MAX_SHELLIES_COUNT)
+                {
+                    strcpy(settings.sShellySupplyTopic[settings.iShellySupplyCount], value);
+                    settings.iShellySupplyCount++;
+                }
+                else
+                {
+                    mylog(LOG_WARNING, "SETTINGS: Too many SupplyShellyMqttTopic!");
+                }
+            }
+            else
+            {
+                mylog(LOG_WARNING, "SETTING: Unknown key: %s", key);
+            }
+        }
+    }
+
+    fclose(file);
+}

settings/settings.h

@@ -0,0 +1,33 @@
+#if !defined(__SETTINGS_H__)
+#define __SETTINGS_H__
+
+#include <stdio.h>
+#include <unistd.h>
+#include <limits.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define MAX_LINE_LENGTH 256
+#define MAX_PATH 256
+#define MAX_SHELLIES_COUNT 5
+
+struct APP_SETTINGS
+{
+    int iDebugLevel;            // Level of debug messages
+    char sExePath[MAX_PATH];    // Path of the executable
+    int iCanSimu;               // Simulate CAN if 1
+
+    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
+
+    int iShellySupplyCount;     // How many Shellies we have to switch the power supply
+    char sShellySupplyTopic[MAX_SHELLIES_COUNT][MAX_PATH];
+};
+extern struct APP_SETTINGS settings;
+
+void Settings_InitDefaultValues();
+void Settings_ReadConfFile();
+
+#endif