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continue adding new commands

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Данила Горнушко 2023-11-25 11:01:19 +03:00
parent 423d1f172b
commit d651f083b9
3 changed files with 54 additions and 13 deletions
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32
main/can.c
View file

@ -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);

34
main/can.h
View file

@ -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

1
main/cmd_can.c
View file

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