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minimal can receive delay

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Данила Горнушко 2023-11-28 13:59:41 +03:00
parent c85792c265
commit ebca79b676
1 changed files with 10 additions and 4 deletions
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12
main/can.c
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@ -1,5 +1,6 @@
#include "can.h" #include "can.h"
#include "esp_log.h" #include "esp_log.h"
#include "freertos/portmacro.h"
#include "freertos/projdefs.h" #include "freertos/projdefs.h"
#include "sdkconfig.h" #include "sdkconfig.h"
#include <stddef.h> #include <stddef.h>
@ -65,8 +66,10 @@ void can_msg_to_str(twai_message_t *can_msg, char *start_str, char *out_str) {
// TODO: add software filtering // TODO: add software filtering
void can_task(void* arg) { void can_task(void* arg) {
static const TickType_t can_task_timeout = pdMS_TO_TICKS(10); static const TickType_t can_task_timeout = pdMS_TO_TICKS(100);
uint32_t alerts = 0; uint32_t alerts = 0;
esp_err_t ret = ESP_OK;
BaseType_t sem_res;
can_mutex = xSemaphoreCreateMutex(); can_mutex = xSemaphoreCreateMutex();
twai_message_t rx_msg; twai_message_t rx_msg;
char data_bytes_str[70]; char data_bytes_str[70];
@ -91,13 +94,16 @@ void can_task(void* arg) {
} }
} }
curr_can_state = get_can_state(); curr_can_state = get_can_state();
if (xSemaphoreTake(can_mutex, 0) == pdTRUE) { sem_res = xSemaphoreTake(can_mutex, 0);
while (twai_receive(&rx_msg, 0) == ESP_OK) { if (sem_res == pdTRUE) {
while ((ret = twai_receive(&rx_msg, can_task_timeout)) == ESP_OK) {
can_msg_to_str(&rx_msg, "recv ", data_bytes_str); can_msg_to_str(&rx_msg, "recv ", data_bytes_str);
print_w_clr_time(data_bytes_str, LOG_COLOR_BLUE, false); print_w_clr_time(data_bytes_str, LOG_COLOR_BLUE, false);
} }
xSemaphoreGive(can_mutex); xSemaphoreGive(can_mutex);
} }
if (sem_res != pdTRUE || ret == ESP_ERR_INVALID_STATE || ret == ESP_ERR_NOT_SUPPORTED) {
vTaskDelay(can_task_timeout); vTaskDelay(can_task_timeout);
} }
} }
}