forked from test34/can_wizard
added corrent canup with parameters (speed, mode, autorecovery)
This commit is contained in:
Данила Горнушко
parent
de9ef8984b
commit
f28e4d953f
3 changed files with 112 additions and 26 deletions
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@ -1,6 +1,4 @@
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TODO:
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add caninstall and canstart
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canup/caninstall parameters (without filtering)
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add filtering (software and hardware)
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better history
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clear history and clear screen commands
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128
main/cmd_can.c
128
main/cmd_can.c
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@ -2,6 +2,7 @@
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#include "can.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "hal/twai_types.h"
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#include "inttypes.h"
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#include "freertos/projdefs.h"
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#include "string.h"
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@ -79,13 +80,13 @@ static int send_can_frame(int argc, char **argv) {
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print_w_clr_time(printf_str, NULL, true);
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break;
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case ESP_ERR_TIMEOUT:
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print_w_clr_time("Timeout!", LOG_COLOR_RED, false);
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print_w_clr_time("Timeout!", LOG_COLOR_RED, true);
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break;
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case ESP_ERR_NOT_SUPPORTED:
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print_w_clr_time("Can't sent in Listen-Only mode!", LOG_COLOR_RED, false);
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print_w_clr_time("Can't sent in Listen-Only mode!", LOG_COLOR_RED, true);
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break;
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default:
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print_w_clr_time("Invalid state!", LOG_COLOR_RED, false);
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print_w_clr_time("Invalid state!", LOG_COLOR_RED, true);
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break;
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}
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free(can_msg_str_buf);
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@ -98,9 +99,9 @@ invalid_args:
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static int canrecover(int argc, char **argv) {
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esp_err_t res = twai_initiate_recovery();
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if (res == ESP_OK) print_w_clr_time("Started CAN recovery.", LOG_COLOR_GREEN, false);
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else if (curr_can_state.state == CAN_NOT_INSTALLED) print_w_clr_time("CAN driver is not installed!", LOG_COLOR_RED, false);
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else print_w_clr_time("Can't start recovery - not in bus-off state!", LOG_COLOR_RED, false);
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if (res == ESP_OK) print_w_clr_time("Started CAN recovery.", LOG_COLOR_GREEN, true);
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else if (curr_can_state.state == CAN_NOT_INSTALLED) print_w_clr_time("CAN driver is not installed!", LOG_COLOR_RED, true);
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else print_w_clr_time("Can't start recovery - not in bus-off state!", LOG_COLOR_RED, true);
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return 0;
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}
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@ -129,26 +130,115 @@ static int canstats(int argc, char **argv) {
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return 0;
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}
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static const char* can_modes[] = {
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"normal",
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"no_ack",
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"listen_only",
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};
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static int canup(int argc, char **argv) {
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esp_err_t res;
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static twai_timing_config_t t_config;
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twai_general_config_t gen_cfg = default_g_config;
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// TODO: add CAN filtering
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twai_filter_config_t f_config = {.acceptance_code = 0, .acceptance_mask = 0xFFFFFFFF, .single_filter = true};
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esp_log_level_t prev_gpio_lvl = esp_log_level_get("gpio");
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int nerrors = arg_parse(argc, argv, (void **) &canup_args);
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if (nerrors != 0) {
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arg_print_errors(stderr, canup_args.end, argv[0]);
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return 1;
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}
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esp_log_level_set("gpio", ESP_LOG_ERROR);
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int mode = 0;
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if (canup_args.mode->count) {
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const char* mode_str = canup_args.mode->sval[0];
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while (mode < 4) {
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if (mode == 3) {
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print_w_clr_time("Unsupported mode!", LOG_COLOR_RED, true);
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return 1;
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}
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if (memcmp(mode_str, can_modes[mode], strlen(mode_str)) == 0) break;
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mode++;
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}
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}
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switch(mode) {
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case 1:
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gen_cfg.mode = TWAI_MODE_NO_ACK;
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print_w_clr_time("Starting CAN in No Ack Mode...", LOG_COLOR_BLUE, true);
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break;
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case 2:
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gen_cfg.mode = TWAI_MODE_LISTEN_ONLY;
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print_w_clr_time("Starting CAN in Listen Only Mode...", LOG_COLOR_BLUE, true);
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break;
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default: //0
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print_w_clr_time("Starting CAN in Normal Mode...", LOG_COLOR_BLUE, true);
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break;
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}
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switch (canup_args.speed->ival[0]) {
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case 1000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_1KBITS();
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break;
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case 5000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_5KBITS();
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break;
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case 10000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_10KBITS();
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break;
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case 12500:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_12_5KBITS();
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break;
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case 16000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_16KBITS();
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break;
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case 20000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_20KBITS();
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break;
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case 25000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_25KBITS();
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break;
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case 50000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_50KBITS();
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break;
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case 100000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_100KBITS();
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break;
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case 125000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_125KBITS();
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break;
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case 250000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_250KBITS();
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break;
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case 500000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_500KBITS();
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break;
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case 800000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_800KBITS();
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break;
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case 1000000:
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t_config = (twai_timing_config_t) TWAI_TIMING_CONFIG_1MBITS();
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break;
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default:
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print_w_clr_time("Unsupported speed!", LOG_COLOR_RED, true);
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return 1;
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}
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xSemaphoreTake(can_mutex, portMAX_DELAY);
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// TODO: add CAN filtering
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static twai_filter_config_t f_config = {.acceptance_code = 0, .acceptance_mask = 0xFFFFFFFF, .single_filter = true};
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res = twai_driver_install(&g_config, &t_config, &f_config);
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if (res != ESP_OK) {
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printf("Couldn't install CAN driver! Rebooting...\n");
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esp_log_level_set("gpio", ESP_LOG_ERROR);
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res = twai_driver_install(&gen_cfg, &t_config, &f_config);
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if (res == ESP_OK) {
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print_w_clr_time("CAN driver installed", LOG_COLOR_BLUE, true);
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if (canup_args.autorecover->count) {
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print_w_clr_time("Auto recovery is enabled!", LOG_COLOR_PURPLE, true);
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auto_recovery = true;
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} else auto_recovery = false;
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} else if (res == ESP_ERR_INVALID_STATE) {
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print_w_clr_time("Driver is already installed!", LOG_COLOR_BROWN, true);
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goto free_exit;
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} else {
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print_w_clr_time("Couldn't install CAN driver! Rebooting...", LOG_COLOR_RED, true);
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esp_restart();
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}
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printf("CAN driver installed\n");
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res = twai_start();
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printf("CAN driver started\n");
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ESP_ERROR_CHECK(twai_start());
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print_w_clr_time("CAN driver started", LOG_COLOR_BLUE, true);
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free_exit:
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xSemaphoreGive(can_mutex);
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esp_log_level_set("gpio", prev_gpio_lvl);
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return 0;
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@ -157,8 +247,8 @@ static int canup(int argc, char **argv) {
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static int canstart(int argc, char **argv) {
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xSemaphoreTake(can_mutex, portMAX_DELAY);
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esp_err_t res = twai_start();
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if (res == ESP_OK) print_w_clr_time("CAN driver started", LOG_COLOR_GREEN, false);
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else print_w_clr_time("Driver is not in stopped state, or is not installed.", LOG_COLOR_RED, false);
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if (res == ESP_OK) print_w_clr_time("CAN driver started", LOG_COLOR_GREEN, true);
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else print_w_clr_time("Driver is not in stopped state, or is not installed.", LOG_COLOR_RED, true);
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xSemaphoreGive(can_mutex);
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return 0;
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}
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@ -167,9 +257,9 @@ static int candown(int argc, char **argv) {
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xSemaphoreTake(can_mutex, portMAX_DELAY);
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if (curr_can_state.state != CAN_BUF_OFF) {
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esp_err_t res = twai_stop();
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if (res == ESP_OK) print_w_clr_time("CAN was stopped.", LOG_COLOR_GREEN, false);
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if (res == ESP_OK) print_w_clr_time("CAN was stopped.", LOG_COLOR_GREEN, true);
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else {
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print_w_clr_time("Driver is not in running state, or is not installed.", LOG_COLOR_RED, false);
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print_w_clr_time("Driver is not in running state, or is not installed.", LOG_COLOR_RED, true);
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xSemaphoreGive(can_mutex);
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return 1;
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}
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@ -3,16 +3,14 @@
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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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static const twai_general_config_t default_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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.tx_queue_len = 10,
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.rx_queue_len = 10,
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.alerts_enabled = TWAI_ALERT_ERR_ACTIVE | TWAI_ALERT_BUS_RECOVERED | TWAI_ALERT_BUS_ERROR | TWAI_ALERT_ERR_PASS | TWAI_ALERT_BUS_OFF,
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.clkout_divider = 0,
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.intr_flags = ESP_INTR_FLAG_LEVEL1,
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