forked from test34/can_wizard
refactoring
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parent
c3594ab41e
commit
d037b1412c
4 changed files with 35 additions and 72 deletions
69
main/can.c
69
main/can.c
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@ -1,7 +1,6 @@
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#include "can.h"
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#include "esp_log.h"
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#include "freertos/projdefs.h"
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#include "hal/twai_types.h"
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#include "sdkconfig.h"
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#include <stddef.h>
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#include <stdio.h>
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@ -51,47 +50,6 @@ static can_status_t get_can_state() {
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return result;
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}
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void can_init() {
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// Install CAN driver
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// calculate_hw_can_filter(CONFIG_DEVICE_ID, &f_config, false);
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static twai_filter_config_t f_config = {.acceptance_code = 0, .acceptance_mask = 0xFFFFFFFF, .single_filter = true};
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ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, &f_config));
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ESP_LOGI(LOG_TAG, "CAN driver installed");
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// Start CAN driver
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ESP_ERROR_CHECK(twai_start());
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ESP_LOGI(LOG_TAG, "CAN driver started");
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}
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void can_stop() {
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// stop and uninstall twai driver to change hardware filters
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ESP_ERROR_CHECK(twai_stop());
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ESP_ERROR_CHECK(twai_driver_uninstall());
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}
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// filtering subset of CAN IDs with hardware filters, need more filtering in software
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void calculate_hw_can_filter(uint32_t device_id, twai_filter_config_t* filter, bool ota_mode) {
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filter->single_filter = true;
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filter->acceptance_code = device_id << 11;
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if (ota_mode) {
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filter->acceptance_code += 0x100000 << 11;
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filter->acceptance_mask = ~((0x1000FF) << 11);
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} else {
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filter->acceptance_mask = ~((device_id | 0x1F0000) << 11);
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}
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}
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void can_bus_off_check() {
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uint32_t alerts = 0;
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if (twai_read_alerts(&alerts, 0) == ESP_OK) {
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if (alerts & TWAI_ALERT_BUS_OFF) {
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ESP_ERROR_CHECK(twai_initiate_recovery());
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}
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if (alerts & TWAI_ALERT_BUS_RECOVERED) {
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ESP_ERROR_CHECK(twai_start());
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}
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}
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}
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void can_msg_to_str(twai_message_t *can_msg, char *out_str) {
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char byte_str[3];
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out_str[0] = '\0';
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@ -109,20 +67,29 @@ void can_msg_to_str(twai_message_t *can_msg, char *out_str) {
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// TODO: add software filtering
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void can_task(void* arg) {
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static const TickType_t can_task_timeout = pdMS_TO_TICKS(100);
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uint32_t alerts = 0;
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can_mutex = xSemaphoreCreateMutex();
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twai_message_t rx_msg;
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char data_bytes_str[50];
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// ESP_ERROR_CHECK(esp_task_wdt_add(NULL));
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for (;;) { // A Task shall never return or exit.
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// esp_task_wdt_reset();
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// can_bus_off_check();
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curr_can_state = get_can_state();
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xSemaphoreTake(can_mutex, pdMS_TO_TICKS(200));
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while(twai_receive(&rx_msg, 0) == ESP_OK) {
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can_msg_to_str(&rx_msg, data_bytes_str);
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xprintf(LOG_COLOR(LOG_COLOR_BLUE) "recv %s\n" LOG_RESET_COLOR, data_bytes_str);
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if (twai_read_alerts(&alerts, 0) == ESP_OK) {
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if (alerts & TWAI_ALERT_BUS_OFF) {
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ESP_LOGE(LOG_TAG, "CAN went bus-off!");
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// ESP_ERROR_CHECK(twai_initiate_recovery());
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}
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if (alerts & TWAI_ALERT_BUS_RECOVERED) {
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ESP_LOGI(LOG_TAG, "CAN recovered!");
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// ESP_ERROR_CHECK(twai_start());
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}
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}
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xSemaphoreGive(can_mutex);
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vTaskDelay(pdMS_TO_TICKS(100));
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if (xSemaphoreTake(can_mutex, 0) == pdTRUE) {
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if (twai_receive(&rx_msg, can_task_timeout) == ESP_OK) {
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can_msg_to_str(&rx_msg, data_bytes_str);
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xprintf(LOG_COLOR(LOG_COLOR_BLUE) "recv %s\n" LOG_RESET_COLOR, data_bytes_str);
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}
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xSemaphoreGive(can_mutex);
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} else vTaskDelay(can_task_timeout);
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}
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}
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19
main/can.h
19
main/can.h
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@ -2,6 +2,7 @@
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#define MAIN_CAN_H
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#include "driver/twai.h"
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#include "hal/twai_types.h"
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#include "sdkconfig.h"
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#include "freertos/semphr.h"
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#include <stdint.h>
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@ -36,29 +37,11 @@ typedef struct {
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uint32_t bus_error_count; /**< Number of instances a bus error has occurred */
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} can_status_t;
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static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_125KBITS();
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static const twai_general_config_t g_config = {
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.mode = TWAI_MODE_NORMAL,
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.tx_io = CONFIG_CAN_TX_GPIO,
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.rx_io = CONFIG_CAN_RX_GPIO,
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.clkout_io = TWAI_IO_UNUSED,
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.bus_off_io = TWAI_IO_UNUSED,
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.tx_queue_len = 5,
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.rx_queue_len = 5,
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.alerts_enabled = TWAI_ALERT_BUS_OFF | TWAI_ALERT_BUS_RECOVERED,
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.clkout_divider = 0,
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.intr_flags = ESP_INTR_FLAG_LEVEL1,
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};
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extern SemaphoreHandle_t can_mutex;
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extern volatile can_status_t curr_can_state;
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// functions
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void can_init();
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void can_stop();
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void calculate_hw_can_filter(uint32_t device_id, twai_filter_config_t* filter, bool ota_mode);
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void can_bus_off_check();
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void can_task(void* arg);
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void can_msg_to_str(twai_message_t *can_msg, char *out_str);
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@ -2,14 +2,11 @@
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#include "esp_log.h"
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#include "freertos/portmacro.h"
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#include "inttypes.h"
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#include "driver/twai.h"
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#include "freertos/projdefs.h"
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#include "hal/twai_types.h"
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#include "string.h"
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#include "esp_console.h"
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#include "argtable3/argtable3.h"
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#include "xvprintf.h"
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#include "can.h"
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#include <stddef.h>
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#include <stdio.h>
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#include <ctype.h>
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@ -1,6 +1,22 @@
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#ifndef MAIN_CMD_CAN_H
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#define MAIN_CMD_CAN_H
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#include "can.h"
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static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_125KBITS();
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static const twai_general_config_t g_config = {
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.mode = TWAI_MODE_NORMAL,
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.tx_io = CONFIG_CAN_TX_GPIO,
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.rx_io = CONFIG_CAN_RX_GPIO,
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.clkout_io = TWAI_IO_UNUSED,
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.bus_off_io = TWAI_IO_UNUSED,
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.tx_queue_len = 5,
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.rx_queue_len = 5,
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.alerts_enabled = TWAI_ALERT_AND_LOG | TWAI_ALERT_ALL,
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.clkout_divider = 0,
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.intr_flags = ESP_INTR_FLAG_LEVEL1,
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};
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// functions
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