355 lines
12 KiB
C
Executable File
355 lines
12 KiB
C
Executable File
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#include "main.h"
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#include <settings/settings.h>
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#include <can/can_client.h>
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#include <io/io.h>
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#include <mqtt/mqtt_client.h>
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int iCanSimu = 0;
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struct MOTOR_CONTROL_DATA motctrl[MAX_MOTOR_COUNT];
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struct CAN_INTERFACE_DATA intf_data[MAX_MOTOR_COUNT];
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int iBusTimeoutCounter = 0;
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/// @brief Increase counter for cycles without received telegram
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/// @param iMotorIndex
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void IncBusTimeoutCounter(int iMotorIndex)
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{
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if (iBusTimeoutCounter < 2000)
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{
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iBusTimeoutCounter++;
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if (iBusTimeoutCounter >= 2000)
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{
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// long time no telegram received -> motor is not connected anymore
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motctrl[iMotorIndex].nSwitchState = 0;
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motctrl[iMotorIndex].nDriveConnected = 0;
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motctrl[iMotorIndex].nDriveReady = 0;
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Can_SetMotorGear(iMotorIndex, 0);
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MqttClient_Publish_MotorSwitchState(iMotorIndex, motctrl[iMotorIndex].nSwitchState);
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}
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}
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}
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/// @brief Open socket of CAN interface for the given motor
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/// @param iMotorIndex
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/// @param ifacename
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/// @return
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int Can_OpenInterface(int iMotorIndex, const char * ifacename)
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{
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// Init control data
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motctrl[iMotorIndex].iActualMotorPowerW = 0;
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motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_NEUTRAL;
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motctrl[iMotorIndex].iMotorPowerRaw = 0;
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motctrl[iMotorIndex].iMotorPowerSteps = 0;
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motctrl[iMotorIndex].nSwitchState = 0;
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motctrl[iMotorIndex].nDriveConnected = 0;
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motctrl[iMotorIndex].nDriveReady = 0;
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mylog(LOG_INFO, "CAN: PWR_MIN_RAW=%d PWR_MAX_RAW=%d PWR_STEP_COUNT=%d",
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settings.iMotorPwrMinRaw, settings.iMotorPwrMaxRaw, settings.iMotorPwrStepCount);
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strcpy(intf_data[iMotorIndex].iface_name, ifacename);
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Can_SetMotorGear(iMotorIndex, MOTOR_GEAR_NEUTRAL);
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Can_SetMotorPower(iMotorIndex, 0);
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if (iCanSimu)
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{
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mylog(LOG_INFO, "CAN: Using simulation mode (motor %d).", iMotorIndex);
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intf_data[iMotorIndex].socket = -1;
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motctrl[iMotorIndex].nSwitchState = 0xF5;
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motctrl[iMotorIndex].nDriveConnected = 1;
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motctrl[iMotorIndex].nDriveReady = 1;
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}
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else
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{
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// first we have to create a socket
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if ((intf_data[iMotorIndex].socket = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
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{
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mylog(LOG_ERR, "CAN: Could not create socket for motor %d!", iMotorIndex);
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return 1;
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}
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// retrieve the interface index
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strcpy(intf_data[iMotorIndex].ifr.ifr_name, intf_data[iMotorIndex].iface_name);
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if (ioctl(intf_data[iMotorIndex].socket, SIOCGIFINDEX, &intf_data[iMotorIndex].ifr) < 0)
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{
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mylog(LOG_ERR, "CAN: Could not get interface index for motor %d!", iMotorIndex);
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return 2;
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}
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// bind the socket to the CAN interface
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memset(&intf_data[iMotorIndex].addr, 0, sizeof(intf_data[iMotorIndex].addr));
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intf_data[iMotorIndex].addr.can_family = AF_CAN;
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intf_data[iMotorIndex].addr.can_ifindex = intf_data[iMotorIndex].ifr.ifr_ifindex;
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if (bind(intf_data[iMotorIndex].socket, (struct sockaddr *)&intf_data[iMotorIndex].addr, sizeof(intf_data[iMotorIndex].addr)) < 0)
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{
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mylog(LOG_ERR, "CAN: Could not bind socket to inteface for motor %d!", iMotorIndex);
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return 3;
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}
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// make socket to nonblocking
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int fcntl_flags = fcntl(intf_data[iMotorIndex].socket, F_GETFL, 0);
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if (fcntl_flags < 0)
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{
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mylog(LOG_ERR, "CAN: Could not get file descriptor flags!");
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return 4;
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}
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fcntl_flags |= O_NONBLOCK;
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if (fcntl(intf_data[iMotorIndex].socket, F_SETFL, fcntl_flags) < 0)
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{
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mylog(LOG_ERR, "CAN: Could not set file descriptor flags (set socket none-blocking)!");
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return 5;
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}
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mylog(LOG_INFO, "CAN: Interface %s (motor %d) opened!", ifacename, iMotorIndex);
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}
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return 0;
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}
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/// @brief Close socket of CAN interface for the given motor
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/// @param iMotorIndex
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void Can_CloseInterface(int iMotorIndex)
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{
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if (intf_data[iMotorIndex].socket >= 0)
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{
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if (close(intf_data[iMotorIndex].socket) < 0)
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{
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mylog(LOG_ERR, "CAN: Could not close socket of motor %d!", iMotorIndex);
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}
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else
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{
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mylog(LOG_INFO, "CAN: Interface %s (motor %d) closed.", intf_data[iMotorIndex].iface_name, iMotorIndex);
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}
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}
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else
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{
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mylog(LOG_INFO, "CAN: Close simulation mode.");
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}
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}
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/// @brief Set gear for the given motor
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/// @param iMotorIndex
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/// @param iGear (-1=reverse, 0=neutral, 1=forward)
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void Can_SetMotorGear(int iMotorIndex, int iGear)
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{
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if ((iGear > 0) && (motctrl[iMotorIndex].nDriveReady != 0))
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{
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if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_FORWARD)
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{
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MqttClient_Publish_MotorGear(iMotorIndex, iGear);
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motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_FORWARD;
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// motor is switched to forward -> set min. power
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Can_SetMotorPower(iMotorIndex, 1);
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}
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WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
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mylog(LOG_INFO, "CAN: Motor[%d]: Set gear forward.", iMotorIndex);
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}
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else if ((iGear < 0) && (motctrl[iMotorIndex].nDriveReady != 0))
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{
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if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_REVERSE)
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{
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MqttClient_Publish_MotorGear(iMotorIndex, iGear);
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motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_REVERSE;
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// motor is switched to reverse -> set min. power
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Can_SetMotorPower(iMotorIndex, 1);
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}
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WriteOutputPin(GPIO_LED_MOTRUN, HIGH);
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mylog(LOG_INFO, "CAN: Motor[%d]: Set gear reverse.", iMotorIndex);
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}
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else
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{
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if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_NEUTRAL)
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{
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MqttClient_Publish_MotorGear(iMotorIndex, iGear);
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motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_NEUTRAL;
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}
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// motor is switch to neutral -> set power to 0
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Can_SetMotorPower(iMotorIndex, 0);
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WriteOutputPin(GPIO_LED_MOTRUN, LOW);
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mylog(LOG_INFO, "CAN: Motor[%d]: Set gear neutral.", iMotorIndex);
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}
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}
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/// @brief Set power for the given motor
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/// @param iMotorIndex
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/// @param iPower (Range: 0..settings.iMotorPwrStepCount)
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void Can_SetMotorPower(int iMotorIndex, int iPower)
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{
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if ((motctrl[iMotorIndex].iMotorGear == MOTOR_GEAR_NEUTRAL) || (motctrl[iMotorIndex].nDriveReady == 0))
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{
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// when motor is neutral or not ready set power to 0
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motctrl[iMotorIndex].iMotorPowerSteps = 0;
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}
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else if (iPower <= 1)
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{
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// limit to min. power
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motctrl[iMotorIndex].iMotorPowerSteps = 1;
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}
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else if (iPower >= settings.iMotorPwrStepCount)
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{
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// limit to max. power
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motctrl[iMotorIndex].iMotorPowerSteps = settings.iMotorPwrStepCount;
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}
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else
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{
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motctrl[iMotorIndex].iMotorPowerSteps = iPower;
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}
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MqttClient_Publish_MotorPower(iMotorIndex, motctrl[iMotorIndex].iMotorPowerSteps);
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// calc value for telegram
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if (motctrl[iMotorIndex].iMotorPowerSteps <= 0)
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{
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motctrl[iMotorIndex].iMotorPowerRaw = 0;
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}
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else
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{
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// Scale motor power from steps to raw value
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motctrl[iMotorIndex].iMotorPowerRaw = (((settings.iMotorPwrMaxRaw - settings.iMotorPwrMinRaw) * (motctrl[iMotorIndex].iMotorPowerSteps - 1)) / (settings.iMotorPwrStepCount - 1)) + settings.iMotorPwrMinRaw;
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if (motctrl[iMotorIndex].iMotorPowerRaw < settings.iMotorPwrMinRaw)
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{
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motctrl[iMotorIndex].iMotorPowerRaw = settings.iMotorPwrMinRaw;
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}
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else if (motctrl[iMotorIndex].iMotorPowerRaw > settings.iMotorPwrMaxRaw)
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{
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motctrl[iMotorIndex].iMotorPowerRaw = settings.iMotorPwrMaxRaw;
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}
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}
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mylog(LOG_INFO, "CAN: Motor[%d]: Set power to %d -> %d",
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iMotorIndex, motctrl[iMotorIndex].iMotorPowerSteps, motctrl[iMotorIndex].iMotorPowerRaw);
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}
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/// @brief Send CAN protocol for motor gear for the given motor
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/// @param iMotorIndex
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void Can_TransmitMotorGear(int iMotorIndex)
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{
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// Transmission rate: 100ms
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if (intf_data[iMotorIndex].socket >= 0)
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{
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struct can_frame frame;
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frame.can_id = 0x18F005D0;
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frame.can_id |= CAN_EFF_FLAG;
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frame.can_dlc = 8;
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frame.data[0] = motctrl[iMotorIndex].iMotorGear;
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frame.data[1] = 0xFF;
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frame.data[2] = 0xFF;
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frame.data[3] = 0xFF;
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frame.data[4] = 0xFF;
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frame.data[5] = 0xFF;
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frame.data[6] = 0xFF;
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frame.data[7] = 0xFF;
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if (write(intf_data[iMotorIndex].socket, &frame, sizeof(frame)) != sizeof(frame))
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{
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}
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}
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}
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/// @brief Send CAN protocol for motor power for the given motor
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/// @param iMotorIndex
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void Can_TransmitMotorPower(int iMotorIndex)
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{
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// Transmission rate: 50ms
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if (intf_data[iMotorIndex].socket >= 0)
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{
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struct can_frame frame;
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frame.can_id = 0x0CF003D0;
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frame.can_id |= CAN_EFF_FLAG;
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frame.can_dlc = 8;
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frame.data[0] = 0xFF;
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frame.data[1] = motctrl[iMotorIndex].iMotorPowerRaw; // motor power 0 = 0%, 250 = 100%
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frame.data[2] = 0xFF;
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frame.data[3] = 0xFF;
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frame.data[4] = 0xFF;
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frame.data[5] = 0xFF;
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frame.data[6] = 0xFF;
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frame.data[7] = 0xFF;
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if (write(intf_data[iMotorIndex].socket, &frame, sizeof(frame)) != sizeof(frame))
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{
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}
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}
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}
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/// @brief Read data from CAN interface
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/// @param iMotorIndex
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void Can_ReadData(int iMotorIndex)
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{
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if (intf_data[iMotorIndex].socket >= 0)
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{
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ssize_t nbytes = 0;
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struct can_frame frame;
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// increment cycle counter
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IncBusTimeoutCounter(iMotorIndex);
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// read one frame
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if ((nbytes = read(intf_data[iMotorIndex].socket, &frame, sizeof(frame))) > 0)
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{
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canid_t pgn = frame.can_id & 0x00FFFF00;
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switch(pgn)
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{
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case 0x00EF6400: // "repeat data"
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break;
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case 0x00F00300: // PGN 61443 "Electronic Engine Controller 2"
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// we have sent this -> ignore
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break;
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case 0x00F00500: // PGN 61445 "Electronic Transmission Controller 2"
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// we have sent this -> ignore
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break;
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case 0x00FF1300: // PGN 65299 "Manufacturer PGN"
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// here we find the states of the switches
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Can_Read_Manu_PGN(iMotorIndex, &frame);
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break;
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case 0x00FF1400: // PGN 65300 "Manufacturer PGN 2"
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// here we find the actual power of the motor
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Can_Read_Manu_PGN2(iMotorIndex, &frame);
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break;
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}
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}
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}
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}
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/// @brief Read PGN 65299
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/// @param frame
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void Can_Read_Manu_PGN(int iMotorIndex, struct can_frame *frame)
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{
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// we received a valid telegram -> set timeout counter to zero
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iBusTimeoutCounter = 0;
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// get switch states
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motctrl[iMotorIndex].nSwitchState = frame->data[4];
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MqttClient_Publish_MotorSwitchState(iMotorIndex, motctrl[iMotorIndex].nSwitchState);
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// set flags
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motctrl[iMotorIndex].nDriveConnected = 1; // we received a PGN -> so we are connected
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motctrl[iMotorIndex].nDriveReady = ((motctrl[iMotorIndex].nSwitchState & 0x80) != 0) ? 1 : 0; // this bit shows if the drive is ready to run
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}
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/// @brief Read PGN 65300
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/// @param frame
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void Can_Read_Manu_PGN2(int iMotorIndex, struct can_frame *frame)
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{
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motctrl[iMotorIndex].iActualMotorPowerW = (frame->data[6] << 16) | (frame->data[5] << 8) | frame->data[4];
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MqttClient_Publish_MotorActualPowerW(iMotorIndex, motctrl[iMotorIndex].iActualMotorPowerW);
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}
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