continue adding new commands

main/can.c

@@ -10,22 +10,28 @@
 #include "xvprintf.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_BUS_OFF | TWAI_ALERT_BUS_RECOVERED,
-    .clkout_divider = 0,
-    .intr_flags = ESP_INTR_FLAG_LEVEL1,
-};
 
 static const char* LOG_TAG = "can";
 
+bool is_error_passive = false;
+
+can_state_e get_can_state() {
+    twai_status_info_t status;
+    esp_err_t res = twai_get_status_info(&status);
+    if (res != ESP_OK) return CAN_NOT_INSTALLED;
+    switch (status.state) {
+        case TWAI_STATE_STOPPED:
+            return CAN_STOPPED;
+        case TWAI_STATE_BUS_OFF:
+            return CAN_BUF_OFF;
+        case TWAI_STATE_RECOVERING:
+            return CAN_RECOVERING;
+        default:
+            if (is_error_passive) return CAN_ERROR_PASSIVE;
+            else return CAN_ERROR_ACTIVE;
+    }
+}
+
 void can_init() {
     // Install CAN driver
     // calculate_hw_can_filter(CONFIG_DEVICE_ID, &f_config, false);

main/can.h

@@ -4,6 +4,39 @@
 #include "driver/twai.h"
 #include "sdkconfig.h"
 
+typedef struct {
+  char status[30];
+  int tec;
+  int rec;
+  int color;
+  bool extd;
+} can_prompt_t;
+
+typedef enum {
+  CAN_NOT_INSTALLED = 0,
+  CAN_STOPPED = 1,
+  CAN_ERROR_ACTIVE = 2,
+  CAN_ERROR_PASSIVE = 3,
+  CAN_BUF_OFF = 4,
+  CAN_RECOVERING = 5,
+} can_state_e;
+
+
+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,
+};
+
+
 // functions
 
 void can_init();
@@ -12,5 +45,6 @@ void calculate_hw_can_filter(uint32_t device_id, twai_filter_config_t* filter, b
 void can_bus_off_check();
 void can_task(void* arg);
 void can_msg_to_str(twai_message_t *can_msg, char *out_str);
+can_state_e get_can_state();
 
 #endif // MAIN_CAN_H

main/cmd_can.c

@@ -1,4 +1,5 @@
 #include "cmd_can.h"
+#include "inttypes.h"
 #include "driver/twai.h"
 #include "freertos/projdefs.h"
 #include "hal/twai_types.h"