can_wizard/main/can.c
Данила Горнушко ba67c741d9 adding can_mutex
2023-11-26 08:34:12 +03:00

107 lines
3.5 KiB
C

#include "can.h"
#include "esp_log.h"
#include "freertos/projdefs.h"
#include "hal/twai_types.h"
#include "sdkconfig.h"
#include <stddef.h>
#include <stdio.h>
#include <string.h>
#include "freertos/ringbuf.h"
#include "xvprintf.h"
static const char* LOG_TAG = "can";
bool is_error_passive = false;
SemaphoreHandle_t can_mutex;
can_status_t curr_can_state = { 0 };
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);
static twai_filter_config_t f_config = {.acceptance_code = 0, .acceptance_mask = 0xFFFFFFFF, .single_filter = true};
ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, &f_config));
ESP_LOGI(LOG_TAG, "CAN driver installed");
// Start CAN driver
ESP_ERROR_CHECK(twai_start());
ESP_LOGI(LOG_TAG, "CAN driver started");
}
void can_stop() {
// stop and uninstall twai driver to change hardware filters
ESP_ERROR_CHECK(twai_stop());
ESP_ERROR_CHECK(twai_driver_uninstall());
}
// filtering subset of CAN IDs with hardware filters, need more filtering in software
void calculate_hw_can_filter(uint32_t device_id, twai_filter_config_t* filter, bool ota_mode) {
filter->single_filter = true;
filter->acceptance_code = device_id << 11;
if (ota_mode) {
filter->acceptance_code += 0x100000 << 11;
filter->acceptance_mask = ~((0x1000FF) << 11);
} else {
filter->acceptance_mask = ~((device_id | 0x1F0000) << 11);
}
}
void can_bus_off_check() {
uint32_t alerts = 0;
if (twai_read_alerts(&alerts, 0) == ESP_OK) {
if (alerts & TWAI_ALERT_BUS_OFF) {
ESP_ERROR_CHECK(twai_initiate_recovery());
}
if (alerts & TWAI_ALERT_BUS_RECOVERED) {
ESP_ERROR_CHECK(twai_start());
}
}
}
void can_msg_to_str(twai_message_t *can_msg, char *out_str) {
char byte_str[3];
out_str[0] = '\0';
sprintf(out_str, "can frame: ID: %08X dlc: %d ", (int) can_msg->identifier, can_msg->data_length_code);
if (can_msg->data_length_code == 0) {
strcat(out_str, "(no data)");
} else {
strcat(out_str, "data: ");
for (int i = 0; i < can_msg->data_length_code; i++) {
sprintf(byte_str, "%02X", can_msg->data[i]);
strcat(out_str, byte_str);
}
}
}
void can_task(void* arg) {
can_mutex = xSemaphoreCreateMutex();
twai_message_t rx_msg;
char data_bytes_str[50];
// ESP_ERROR_CHECK(esp_task_wdt_add(NULL));
for (;;) { // A Task shall never return or exit.
// esp_task_wdt_reset();
can_bus_off_check();
if (twai_receive(&rx_msg, pdMS_TO_TICKS(1000)) != ESP_OK) continue;
// TODO: add software filtering
// if ((((rx_msg.identifier >> 8) & 0xFF) != CONFIG_DEVICE_ID) && (((rx_msg.identifier >> 8) & 0xFF) != 0xFF)) continue;
// ESP_LOGI(LOG_TAG, "received can frame: %" PRIu32, rx_msg.identifier);
can_msg_to_str(&rx_msg, data_bytes_str);
xprintf(LOG_COLOR(LOG_COLOR_BLUE) "recv %s\n" LOG_RESET_COLOR, data_bytes_str);
}
}