josuealcalde/can_wizard
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added alerts

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Данила Горнушко 2023-11-28 09:51:44 +03:00
parent d037b1412c
commit 6cb2ec72c3
4 changed files with 15 additions and 6 deletions
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16
main/can.c
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@ -73,8 +73,16 @@ void can_task(void* arg) {
twai_message_t rx_msg; twai_message_t rx_msg;
char data_bytes_str[50]; char data_bytes_str[50];
for (;;) { // A Task shall never return or exit. for (;;) { // A Task shall never return or exit.
curr_can_state = get_can_state();
if (twai_read_alerts(&alerts, 0) == ESP_OK) { 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) { if (alerts & TWAI_ALERT_BUS_OFF) {
ESP_LOGE(LOG_TAG, "CAN went bus-off!"); ESP_LOGE(LOG_TAG, "CAN went bus-off!");
// ESP_ERROR_CHECK(twai_initiate_recovery()); // ESP_ERROR_CHECK(twai_initiate_recovery());
@ -84,12 +92,14 @@ void can_task(void* arg) {
// ESP_ERROR_CHECK(twai_start()); // ESP_ERROR_CHECK(twai_start());
} }
} }
curr_can_state = get_can_state();
if (xSemaphoreTake(can_mutex, 0) == pdTRUE) { 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); can_msg_to_str(&rx_msg, data_bytes_str);
xprintf(LOG_COLOR(LOG_COLOR_BLUE) "recv %s\n" LOG_RESET_COLOR, data_bytes_str); xprintf(LOG_COLOR(LOG_COLOR_BLUE) "recv %s\n" LOG_RESET_COLOR, data_bytes_str);
} }
xSemaphoreGive(can_mutex); xSemaphoreGive(can_mutex);
} else vTaskDelay(can_task_timeout); }
vTaskDelay(can_task_timeout);
} }
} }

1
main/cmd_can.c
View file

@ -1,6 +1,5 @@
#include "cmd_can.h" #include "cmd_can.h"
#include "esp_log.h" #include "esp_log.h"
#include "freertos/portmacro.h"
#include "inttypes.h" #include "inttypes.h"
#include "freertos/projdefs.h" #include "freertos/projdefs.h"
#include "string.h" #include "string.h"

2
main/cmd_can.h
View file

@ -13,7 +13,7 @@ static const twai_general_config_t g_config = {
.bus_off_io = TWAI_IO_UNUSED, .bus_off_io = TWAI_IO_UNUSED,
.tx_queue_len = 5, .tx_queue_len = 5,
.rx_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, .clkout_divider = 0,
.intr_flags = ESP_INTR_FLAG_LEVEL1, .intr_flags = ESP_INTR_FLAG_LEVEL1,
}; };

2
main/console.c
View file

@ -154,7 +154,7 @@ void initialize_console(void) {
console_config.max_cmdline_length = 256; console_config.max_cmdline_length = 256;
if (use_colors) console_config.hint_color = atoi(LOG_COLOR_CYAN); if (use_colors) console_config.hint_color = atoi(LOG_COLOR_CYAN);
ESP_ERROR_CHECK(esp_console_init(&console_config)); ESP_ERROR_CHECK(esp_console_init(&console_config));
linenoiseSetMultiLine(1); // linenoiseSetMultiLine(1);
linenoiseSetCompletionCallback(&esp_console_get_completion); linenoiseSetCompletionCallback(&esp_console_get_completion);
linenoiseSetHintsCallback((linenoiseHintsCallback*) &esp_console_get_hint); linenoiseSetHintsCallback((linenoiseHintsCallback*) &esp_console_get_hint);
linenoiseHistorySetMaxLen(100); linenoiseHistorySetMaxLen(100);