josuealcalde/can_wizard
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refactoring

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Данила Горнушко 2023-11-28 08:55:08 +03:00
parent c3594ab41e
commit d037b1412c
4 changed files with 35 additions and 72 deletions
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63
main/can.c
View file

@ -1,7 +1,6 @@
#include "can.h"
#include "esp_log.h"
#include "freertos/projdefs.h"
#include "hal/twai_types.h"
#include "sdkconfig.h"
#include <stddef.h>
#include <stdio.h>
@ -51,47 +50,6 @@ static can_status_t get_can_state() {
return result;
}
void can_init() {
// Install CAN driver
// calculate_hw_can_filter(CONFIG_DEVICE_ID, &f_config, false);
static twai_filter_config_t f_config = {.acceptance_code = 0, .acceptance_mask = 0xFFFFFFFF, .single_filter = true};
ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, &f_config));
ESP_LOGI(LOG_TAG, "CAN driver installed");
// Start CAN driver
ESP_ERROR_CHECK(twai_start());
ESP_LOGI(LOG_TAG, "CAN driver started");
}
void can_stop() {
// stop and uninstall twai driver to change hardware filters
ESP_ERROR_CHECK(twai_stop());
ESP_ERROR_CHECK(twai_driver_uninstall());
}
// filtering subset of CAN IDs with hardware filters, need more filtering in software
void calculate_hw_can_filter(uint32_t device_id, twai_filter_config_t* filter, bool ota_mode) {
filter->single_filter = true;
filter->acceptance_code = device_id << 11;
if (ota_mode) {
filter->acceptance_code += 0x100000 << 11;
filter->acceptance_mask = ~((0x1000FF) << 11);
} else {
filter->acceptance_mask = ~((device_id | 0x1F0000) << 11);
}
}
void can_bus_off_check() {
uint32_t alerts = 0;
if (twai_read_alerts(&alerts, 0) == ESP_OK) {
if (alerts & TWAI_ALERT_BUS_OFF) {
ESP_ERROR_CHECK(twai_initiate_recovery());
}
if (alerts & TWAI_ALERT_BUS_RECOVERED) {
ESP_ERROR_CHECK(twai_start());
}
}
}
void can_msg_to_str(twai_message_t *can_msg, char *out_str) {
char byte_str[3];
out_str[0] = '\0';
@ -109,20 +67,29 @@ void can_msg_to_str(twai_message_t *can_msg, char *out_str) {
// TODO: add software filtering
void can_task(void* arg) {
static const TickType_t can_task_timeout = pdMS_TO_TICKS(100);
uint32_t alerts = 0;
can_mutex = xSemaphoreCreateMutex();
twai_message_t rx_msg;
char data_bytes_str[50];
// ESP_ERROR_CHECK(esp_task_wdt_add(NULL));
for (;;) { // A Task shall never return or exit.
// esp_task_wdt_reset();
// can_bus_off_check();
curr_can_state = get_can_state();
xSemaphoreTake(can_mutex, pdMS_TO_TICKS(200));
while(twai_receive(&rx_msg, 0) == ESP_OK) {
if (twai_read_alerts(&alerts, 0) == ESP_OK) {
if (alerts & TWAI_ALERT_BUS_OFF) {
ESP_LOGE(LOG_TAG, "CAN went bus-off!");
// ESP_ERROR_CHECK(twai_initiate_recovery());
}
if (alerts & TWAI_ALERT_BUS_RECOVERED) {
ESP_LOGI(LOG_TAG, "CAN recovered!");
// ESP_ERROR_CHECK(twai_start());
}
}
if (xSemaphoreTake(can_mutex, 0) == pdTRUE) {
if (twai_receive(&rx_msg, can_task_timeout) == 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);
vTaskDelay(pdMS_TO_TICKS(100));
} else vTaskDelay(can_task_timeout);
}
}

19
main/can.h
View file

@ -2,6 +2,7 @@
#define MAIN_CAN_H
#include "driver/twai.h"
#include "hal/twai_types.h"
#include "sdkconfig.h"
#include "freertos/semphr.h"
#include <stdint.h>
@ -36,29 +37,11 @@ typedef struct {
uint32_t bus_error_count; /**< Number of instances a bus error has occurred */
} can_status_t;
static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_125KBITS();
static const twai_general_config_t g_config = {
.mode = TWAI_MODE_NORMAL,
.tx_io = CONFIG_CAN_TX_GPIO,
.rx_io = CONFIG_CAN_RX_GPIO,
.clkout_io = TWAI_IO_UNUSED,
.bus_off_io = TWAI_IO_UNUSED,
.tx_queue_len = 5,
.rx_queue_len = 5,
.alerts_enabled = TWAI_ALERT_BUS_OFF | TWAI_ALERT_BUS_RECOVERED,
.clkout_divider = 0,
.intr_flags = ESP_INTR_FLAG_LEVEL1,
};
extern SemaphoreHandle_t can_mutex;
extern volatile can_status_t curr_can_state;
// functions
void can_init();
void can_stop();
void calculate_hw_can_filter(uint32_t device_id, twai_filter_config_t* filter, bool ota_mode);
void can_bus_off_check();
void can_task(void* arg);
void can_msg_to_str(twai_message_t *can_msg, char *out_str);

3
main/cmd_can.c
View file

@ -2,14 +2,11 @@
#include "esp_log.h"
#include "freertos/portmacro.h"
#include "inttypes.h"
#include "driver/twai.h"
#include "freertos/projdefs.h"
#include "hal/twai_types.h"
#include "string.h"
#include "esp_console.h"
#include "argtable3/argtable3.h"
#include "xvprintf.h"
#include "can.h"
#include <stddef.h>
#include <stdio.h>
#include <ctype.h>

16
main/cmd_can.h
View file

@ -1,6 +1,22 @@
#ifndef MAIN_CMD_CAN_H
#define MAIN_CMD_CAN_H
#include "can.h"
static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_125KBITS();
static const twai_general_config_t g_config = {
.mode = TWAI_MODE_NORMAL,
.tx_io = CONFIG_CAN_TX_GPIO,
.rx_io = CONFIG_CAN_RX_GPIO,
.clkout_io = TWAI_IO_UNUSED,
.bus_off_io = TWAI_IO_UNUSED,
.tx_queue_len = 5,
.rx_queue_len = 5,
.alerts_enabled = TWAI_ALERT_AND_LOG | TWAI_ALERT_ALL,
.clkout_divider = 0,
.intr_flags = ESP_INTR_FLAG_LEVEL1,
};
// functions