forked from test34/can_wizard
128 lines
4.1 KiB
C
128 lines
4.1 KiB
C
#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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#include <string.h>
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#include "freertos/ringbuf.h"
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#include "xvprintf.h"
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static const char* LOG_TAG = "can";
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bool is_error_passive = false;
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SemaphoreHandle_t can_mutex;
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can_status_t curr_can_state = { 0 };
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static can_status_t get_can_state() {
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can_status_t result;
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twai_status_info_t status = { 0 };
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esp_err_t res = twai_get_status_info(&status);
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if (res != ESP_OK) {
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result.state = CAN_NOT_INSTALLED;
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return result;
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}
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result.msgs_to_rx = status.msgs_to_rx;
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result.msgs_to_tx = status.msgs_to_tx;
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result.arb_lost_count = status.arb_lost_count;
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result.bus_error_count = status.bus_error_count;
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result.tx_error_counter = status.tx_error_counter;
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result.rx_error_counter = status.rx_error_counter;
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result.tx_failed_count = status.tx_failed_count;
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result.rx_missed_count = status.rx_missed_count;
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result.rx_overrun_count = status.rx_overrun_count;
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switch (status.state) {
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case TWAI_STATE_STOPPED:
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result.state = CAN_STOPPED;
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break;
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case TWAI_STATE_BUS_OFF:
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result.state = CAN_BUF_OFF;
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break;
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case TWAI_STATE_RECOVERING:
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result.state = CAN_RECOVERING;
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break;
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default:
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if (is_error_passive) result.state = CAN_ERROR_PASSIVE;
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else result.state = CAN_ERROR_ACTIVE;
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break;
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}
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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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sprintf(out_str, "can frame: ID: %08X dlc: %d ", (int) can_msg->identifier, can_msg->data_length_code);
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if (can_msg->data_length_code == 0) {
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strcat(out_str, "(no data)");
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} else {
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strcat(out_str, "data: ");
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for (int i = 0; i < can_msg->data_length_code; i++) {
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sprintf(byte_str, "%02X", can_msg->data[i]);
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strcat(out_str, byte_str);
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}
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}
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}
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// TODO: add software filtering
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void can_task(void* arg) {
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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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}
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xSemaphoreGive(can_mutex);
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vTaskDelay(pdMS_TO_TICKS(100));
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}
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}
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