forked from test34/can_wizard
86 lines
2.7 KiB
C
86 lines
2.7 KiB
C
//
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// Created by okhsunrog on 8/17/23.
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//
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#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 "freertos/ringbuf.h"
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#include "xvprintf.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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.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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.alerts_enabled = TWAI_ALERT_BUS_OFF | TWAI_ALERT_BUS_RECOVERED,
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.clkout_divider = 0,
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.intr_flags = ESP_INTR_FLAG_LEVEL1,
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};
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static const char* LOG_TAG = "can";
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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_task(void* arg) {
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twai_message_t rx_msg;
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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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if (twai_receive(&rx_msg, pdMS_TO_TICKS(10)) != ESP_OK) continue;
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// TODO: add software filtering
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// if ((((rx_msg.identifier >> 8) & 0xFF) != CONFIG_DEVICE_ID) && (((rx_msg.identifier >> 8) & 0xFF) != 0xFF)) continue;
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// ESP_LOGI(LOG_TAG, "received can frame: %" PRIu32, rx_msg.identifier);
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xprintf("received can frame: %" PRIu32 "\n", rx_msg.identifier);
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}
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}
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