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better alarms and can recovery

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Данила Горнушко 2023-11-28 14:40:41 +03:00
parent c0d8d19051
commit b95a972949
4 changed files with 16 additions and 4 deletions
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1
README.md
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@ -2,7 +2,6 @@ TODO:
add caninstall and canstart add caninstall and canstart
canup/caninstall parameters (without filtering) canup/caninstall parameters (without filtering)
add filtering (software and hardware) add filtering (software and hardware)
better alarms handling, can recovering
better history better history
clear history and clear screen commands clear history and clear screen commands
code refactoring code refactoring

11
main/can.c
View file

@ -10,6 +10,7 @@
#include "xvprintf.h" #include "xvprintf.h"
bool is_error_passive = false; bool is_error_passive = false;
bool auto_recovery = false;
SemaphoreHandle_t can_mutex; SemaphoreHandle_t can_mutex;
volatile can_status_t curr_can_state = { 0 }; volatile can_status_t curr_can_state = { 0 };
@ -86,11 +87,17 @@ void can_task(void* arg) {
} }
if (alerts & TWAI_ALERT_BUS_OFF) { if (alerts & TWAI_ALERT_BUS_OFF) {
print_w_clr_time("CAN went bus-off!", LOG_COLOR_RED, false); print_w_clr_time("CAN went bus-off!", LOG_COLOR_RED, false);
// ESP_ERROR_CHECK(twai_initiate_recovery()); if (auto_recovery) {
print_w_clr_time("Initiating auto-recovery...", LOG_COLOR_GREEN, false);
twai_initiate_recovery();
}
} }
if (alerts & TWAI_ALERT_BUS_RECOVERED) { if (alerts & TWAI_ALERT_BUS_RECOVERED) {
print_w_clr_time("CAN recovered!", LOG_COLOR_BLUE, false); print_w_clr_time("CAN recovered!", LOG_COLOR_BLUE, false);
// ESP_ERROR_CHECK(twai_start()); if (auto_recovery) {
print_w_clr_time("Starting CAN...", LOG_COLOR_GREEN, false);
twai_start();
}
} }
} }
curr_can_state = get_can_state(); curr_can_state = get_can_state();

1
main/can.h
View file

@ -40,6 +40,7 @@ typedef struct {
extern SemaphoreHandle_t can_mutex; extern SemaphoreHandle_t can_mutex;
extern volatile can_status_t curr_can_state; extern volatile can_status_t curr_can_state;
extern bool timestamp_enabled; extern bool timestamp_enabled;
extern bool auto_recovery;
// functions // functions

7
main/cmd_can.c
View file

@ -1,4 +1,5 @@
#include "cmd_can.h" #include "cmd_can.h"
#include "can.h"
#include "esp_log.h" #include "esp_log.h"
#include "inttypes.h" #include "inttypes.h"
#include "freertos/projdefs.h" #include "freertos/projdefs.h"
@ -83,6 +84,10 @@ invalid_args:
static int canrecover(int argc, char **argv) { static int canrecover(int argc, char **argv) {
esp_err_t res = twai_initiate_recovery();
if (res == ESP_OK) print_w_clr_time("Started CAN recovery.", LOG_COLOR_GREEN, false);
else if (curr_can_state.state == CAN_NOT_INSTALLED) print_w_clr_time("CAN driver is not installed!", LOG_COLOR_RED, false);
else print_w_clr_time("Can't start recovery - not in bus-off state!", LOG_COLOR_RED, false);
return 0; return 0;
} }
@ -169,7 +174,7 @@ static void register_canup(void) {
canup_args.speed = arg_str1(NULL, NULL, "<25|50|100|125|250|500|800|1000>", "CAN bus speed, in kbits."); canup_args.speed = arg_str1(NULL, NULL, "<25|50|100|125|250|500|800|1000>", "CAN bus speed, in kbits.");
canup_args.mode = arg_str0("m", "mode", "<normal|no_ack|listen_only", "Set CAN mode. Normal, No Ack (for self-testing) or Listen Only (to prevent transmitting, for monitoring)."); canup_args.mode = arg_str0("m", "mode", "<normal|no_ack|listen_only", "Set CAN mode. Normal, No Ack (for self-testing) or Listen Only (to prevent transmitting, for monitoring).");
canup_args.filters = arg_str0("f", "filters", "<filters>", "CAN filters to receive only selected frames."); canup_args.filters = arg_str0("f", "filters", "<filters>", "CAN filters to receive only selected frames.");
canup_args.autorecover = arg_str0("r", "auto-recover", "<1|0>", "Set 1 to enable auto-recovery of CAN bus if case of bus-off event."); canup_args.autorecover = arg_str0("r", "auto-recovery", "<1|0>", "Set 1 to enable auto-recovery of CAN bus if case of bus-off event.");
canup_args.end = arg_end(2); canup_args.end = arg_end(2);
const esp_console_cmd_t cmd = { const esp_console_cmd_t cmd = {
.command = "canup", .command = "canup",