CanRtDriver/can/can_client.c

#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];

/// @brief Open socket of CAN interface for the given motor
/// @param iMotorIndex 
/// @param ifacename 
/// @return 
int Can_OpenInterface(int iMotorIndex, const char * ifacename)
{
    strcpy(intf_data[iMotorIndex].iface_name, ifacename);
    Can_SetMotorGear(iMotorIndex, 0);
    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);
        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)
    {
        printf("Could not get interface index for motor %d!\n", 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)
    {
        printf("Could not bind socket to inteface for motor %d!\n", iMotorIndex);
        return 3;
    }

    printf("Interface %s (motor %d) opened!\n", 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)
    {
        printf("Could not close socket of motor %d!\n", iMotorIndex);
    }
    else
    {
        printf("Interface %s (motor %d) closed.\n", 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)
    {
        if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_FORWARD)
        {
            MqttClient_Publish_MotorGear(iMotorIndex, iGear);
            motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_FORWARD;
        }
        WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
        printf("Motor[%d]: Set gear forward.\n", iMotorIndex);
    } 
    else if (iGear < 0)
    {
        if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_REVERSE)
        {
            MqttClient_Publish_MotorGear(iMotorIndex, iGear);
            motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_REVERSE;
        }
        WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
        printf("Motor[%d]: Set gear reverse.\n", iMotorIndex);
    }
    else 
    {
        if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_NEUTRAL)
        {
            MqttClient_Publish_MotorGear(iMotorIndex, iGear);
            motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_NEUTRAL;
        }
        Can_SetMotorPower(iMotorIndex, MOTOR_PWR_MIN_PCT);
        WriteOutputPin(GPIO_LED_MOTRUN, LOW);
        printf("Motor[%d]: Set gear neutral.\n", iMotorIndex);
    } 
}


/// @brief Set power for the given motor
/// @param iMotorIndex 
/// @param iPower (Range: 0..100)
void Can_SetMotorPower(int iMotorIndex, int iPower)
{
    if (iPower <= MOTOR_PWR_MIN_PCT)
    {
        motctrl[iMotorIndex].iMotorPowerPct = MOTOR_PWR_MIN_PCT;
    }
    else if (iPower >= MOTOR_PWR_MAX_PCT)
    {
        motctrl[iMotorIndex].iMotorPowerPct = MOTOR_PWR_MAX_PCT;
    } 
    else 
    {
        motctrl[iMotorIndex].iMotorPowerPct = iPower;
    } 
    MqttClient_Publish_MotorPower(iMotorIndex, motctrl[iMotorIndex].iMotorPowerPct);

    motctrl[iMotorIndex].iMotorPower = 250 * motctrl[iMotorIndex].iMotorPowerPct / 100;

    printf("Motor[%d]: Set power to %d%% -> %d\n",
        iMotorIndex, motctrl[iMotorIndex].iMotorPowerPct, motctrl[iMotorIndex].iMotorPower);
}


/// @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].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))
    {

    }
}