bernhard/CanRtDriver
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CanRtDriver/can/can_client.c

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C
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#include "main.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];
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].iMotorPowerRaw = 0;
motctrl[iMotorIndex].iMotorPowerSteps = 0;
motctrl[iMotorIndex].nSwitchState = 0;
mylog(LOG_INFO, "CAN: PWR_MAX_RAW=%d PWR_STEP_COUNT=%d", MOTOR_PWR_MAX_RAW, MOTOR_PWR_STEP_COUNT);
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)
{
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;
}
// 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;
}
mylog(LOG_INFO, "CAN: Interface %s (motor %d) opened!", ifacename, iMotorIndex);
return 0;
}
/// @brief Close socket of CAN interface for the given motor
/// @param iMotorIndex
void Can_CloseInterface(int 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);
}
}
/// @brief Set gear for the given motor
/// @param iMotorIndex
/// @param iGear (-1=reverse, 0=neutral, 1=forward)
void Can_SetMotorGear(int iMotorIndex, int iGear)
{
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, 1);
}
WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
mylog(LOG_INFO, "CAN: Motor[%d]: Set gear forward.", iMotorIndex);
}
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, 1);
}
WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
mylog(LOG_INFO, "CAN: Motor[%d]: Set gear reverse.", iMotorIndex);
}
else
{
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
Can_SetMotorPower(iMotorIndex, 0);
WriteOutputPin(GPIO_LED_MOTRUN, LOW);
mylog(LOG_INFO, "CAN: Motor[%d]: Set gear neutral.", iMotorIndex);
}
}
/// @brief Set power for the given motor
/// @param iMotorIndex
/// @param iPower (Range: 0..MOTOR_PWR_STEP_COUNT)
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].iMotorPowerSteps = 0;
}
else if (iPower <= 1)
{
// limit to min. power
motctrl[iMotorIndex].iMotorPowerSteps = 1;
}
else if (iPower >= MOTOR_PWR_STEP_COUNT)
{
// limit to max. power
motctrl[iMotorIndex].iMotorPowerSteps = MOTOR_PWR_STEP_COUNT;
}
else
{
motctrl[iMotorIndex].iMotorPowerSteps = iPower;
}
MqttClient_Publish_MotorPower(iMotorIndex, motctrl[iMotorIndex].iMotorPowerSteps);
// calc value for telegram
if (motctrl[iMotorIndex].iMotorPowerSteps <= 0)
{
motctrl[iMotorIndex].iMotorPowerRaw = 0;
}
else
{
motctrl[iMotorIndex].iMotorPowerRaw = (((MOTOR_PWR_MAX_RAW - MOTOR_PWR_MIN_RAW) * motctrl[iMotorIndex].iMotorPowerSteps) / MOTOR_PWR_STEP_COUNT) + MOTOR_PWR_MIN_RAW;
}
mylog(LOG_INFO, "CAN: Motor[%d]: Set power to %d -> %d",
iMotorIndex, motctrl[iMotorIndex].iMotorPowerSteps, motctrl[iMotorIndex].iMotorPowerRaw);
}
/// @brief Send CAN protocol for motor gear for the given motor
/// @param iMotorIndex
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))
{
}
}
/// @brief Send CAN protocol for motor power for the given motor
/// @param 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].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))
{
}
}
/// @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);
}
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