forked from test34/can_wizard
103 lines
3.4 KiB
C
103 lines
3.4 KiB
C
//
|
|
// Created by okhsunrog on 8/17/23.
|
|
//
|
|
|
|
#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 twai_timing_config_t t_config = TWAI_TIMING_CONFIG_125KBITS();
|
|
static const twai_general_config_t g_config = {
|
|
.mode = TWAI_MODE_NORMAL,
|
|
.tx_io = CONFIG_CAN_TX_GPIO,
|
|
.rx_io = CONFIG_CAN_RX_GPIO,
|
|
.clkout_io = TWAI_IO_UNUSED,
|
|
.bus_off_io = TWAI_IO_UNUSED,
|
|
.tx_queue_len = 5,
|
|
.rx_queue_len = 5,
|
|
.alerts_enabled = TWAI_ALERT_BUS_OFF | TWAI_ALERT_BUS_RECOVERED,
|
|
.clkout_divider = 0,
|
|
.intr_flags = ESP_INTR_FLAG_LEVEL1,
|
|
};
|
|
|
|
static const char* LOG_TAG = "can";
|
|
|
|
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) {
|
|
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(10)) != 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);
|
|
}
|
|
}
|