From 6cb2ec72c393f91239ac76c03a0a1cdf9455f656 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=BB=D0=B0=20=D0=93=D0=BE=D1=80?=
 =?UTF-8?q?=D0=BD=D1=83=D1=88=D0=BA=D0=BE?= <me@okhsunrog.ru>
Date: Tue, 28 Nov 2023 09:51:44 +0300
Subject: [PATCH] added alerts

---
 main/can.c     | 16 +++++++++++++---
 main/cmd_can.c |  1 -
 main/cmd_can.h |  2 +-
 main/console.c |  2 +-
 4 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/main/can.c b/main/can.c
index cf6f42d..fb5d9f8 100644
--- a/main/can.c
+++ b/main/can.c
@@ -73,8 +73,16 @@ void can_task(void* arg) {
     twai_message_t rx_msg;
     char data_bytes_str[50];
     for (;;) { // A Task shall never return or exit.
-        curr_can_state = get_can_state();
         if (twai_read_alerts(&alerts, 0) == ESP_OK) {
+            if (alerts & TWAI_ALERT_ERR_ACTIVE) {
+                is_error_passive = false;
+            }
+            if (alerts & TWAI_ALERT_ERR_PASS) {
+                is_error_passive = true;
+            }
+            if (alerts & TWAI_ALERT_BUS_ERROR) {
+                ESP_LOGE(LOG_TAG, "CAN error!");
+            }
             if (alerts & TWAI_ALERT_BUS_OFF) {
                 ESP_LOGE(LOG_TAG, "CAN went bus-off!");
                 // ESP_ERROR_CHECK(twai_initiate_recovery());
@@ -84,12 +92,14 @@ void can_task(void* arg) {
                 // ESP_ERROR_CHECK(twai_start());
             }
         }
+        curr_can_state = get_can_state();
         if (xSemaphoreTake(can_mutex, 0) == pdTRUE) {
-            if (twai_receive(&rx_msg, can_task_timeout) == ESP_OK) {
+            while (twai_receive(&rx_msg, 0) == ESP_OK) {
                 can_msg_to_str(&rx_msg, data_bytes_str); 
                 xprintf(LOG_COLOR(LOG_COLOR_BLUE) "recv %s\n" LOG_RESET_COLOR, data_bytes_str);
             }
             xSemaphoreGive(can_mutex);
-        } else vTaskDelay(can_task_timeout);
+        }
+        vTaskDelay(can_task_timeout);
     }
 }
diff --git a/main/cmd_can.c b/main/cmd_can.c
index 34bc261..7814dca 100644
--- a/main/cmd_can.c
+++ b/main/cmd_can.c
@@ -1,6 +1,5 @@
 #include "cmd_can.h"
 #include "esp_log.h"
-#include "freertos/portmacro.h"
 #include "inttypes.h"
 #include "freertos/projdefs.h"
 #include "string.h"
diff --git a/main/cmd_can.h b/main/cmd_can.h
index 66be1f4..0e1f2e3 100644
--- a/main/cmd_can.h
+++ b/main/cmd_can.h
@@ -13,7 +13,7 @@ static const twai_general_config_t g_config = {
     .bus_off_io = TWAI_IO_UNUSED,
     .tx_queue_len = 5,
     .rx_queue_len = 5,
-    .alerts_enabled = TWAI_ALERT_AND_LOG | TWAI_ALERT_ALL,
+    .alerts_enabled = TWAI_ALERT_ERR_ACTIVE | TWAI_ALERT_BUS_RECOVERED | TWAI_ALERT_BUS_ERROR | TWAI_ALERT_ERR_PASS | TWAI_ALERT_BUS_OFF,
     .clkout_divider = 0,
     .intr_flags = ESP_INTR_FLAG_LEVEL1,
 };
diff --git a/main/console.c b/main/console.c
index dfcd36f..edf8515 100644
--- a/main/console.c
+++ b/main/console.c
@@ -154,7 +154,7 @@ void initialize_console(void) {
     console_config.max_cmdline_length = 256;
     if (use_colors) console_config.hint_color = atoi(LOG_COLOR_CYAN);
     ESP_ERROR_CHECK(esp_console_init(&console_config));
-    linenoiseSetMultiLine(1);
+    // linenoiseSetMultiLine(1);
     linenoiseSetCompletionCallback(&esp_console_get_completion);
     linenoiseSetHintsCallback((linenoiseHintsCallback*) &esp_console_get_hint);
     linenoiseHistorySetMaxLen(100);