forked from test34/can_wizard
66 lines
2.1 KiB
C
66 lines
2.1 KiB
C
#ifndef MAIN_CAN_H
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#define MAIN_CAN_H
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#include "driver/twai.h"
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#include "sdkconfig.h"
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#include "freertos/semphr.h"
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#include <stdint.h>
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typedef struct {
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char status[30];
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int tec;
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int rec;
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int color;
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bool extd;
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} can_prompt_t;
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typedef enum {
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CAN_NOT_INSTALLED = 0,
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CAN_STOPPED = 1,
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CAN_ERROR_ACTIVE = 2,
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CAN_ERROR_PASSIVE = 3,
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CAN_BUF_OFF = 4,
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CAN_RECOVERING = 5,
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} can_state_e;
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typedef struct {
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can_state_e state;
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uint32_t msgs_to_tx; /**< Number of messages queued for transmission or awaiting transmission completion */
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uint32_t msgs_to_rx; /**< Number of messages in RX queue waiting to be read */
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uint32_t tx_error_counter; /**< Current value of Transmit Error Counter */
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uint32_t rx_error_counter; /**< Current value of Receive Error Counter */
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uint32_t tx_failed_count; /**< Number of messages that failed transmissions */
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uint32_t rx_missed_count; /**< Number of messages that were lost due to a full RX queue (or errata workaround if enabled) */
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uint32_t rx_overrun_count; /**< Number of messages that were lost due to a RX FIFO overrun */
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uint32_t arb_lost_count; /**< Number of instances arbitration was lost */
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uint32_t bus_error_count; /**< Number of instances a bus error has occurred */
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} can_status_t;
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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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extern SemaphoreHandle_t can_mutex;
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extern can_status_t curr_can_state;
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// functions
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void can_init();
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void can_stop();
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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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void can_bus_off_check();
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void can_task(void* arg);
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void can_msg_to_str(twai_message_t *can_msg, char *out_str);
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can_state_e get_can_state();
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#endif // MAIN_CAN_H
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