File reorg, step1
This commit is contained in:
219
src/WS_CAN.cpp
219
src/WS_CAN.cpp
@@ -1,219 +0,0 @@
|
||||
#include "WS_CAN.h"
|
||||
|
||||
static bool driver_installed = false;
|
||||
|
||||
void CAN_Init(void)
|
||||
{ // Initializing serial port
|
||||
// Initialize configuration structures using macro initializers
|
||||
twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT((gpio_num_t)TXD1, (gpio_num_t)RXD1, TWAI_MODE_NORMAL);
|
||||
twai_timing_config_t t_config = TWAI_TIMING_CONFIG_250KBITS(); //Look in the api-reference for other speed sets.
|
||||
twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
|
||||
|
||||
// Install TWAI driver
|
||||
if (twai_driver_install(&g_config, &t_config, &f_config) == ESP_OK) {
|
||||
printf("Driver installed\r\n");
|
||||
} else {
|
||||
printf("Failed to install driver\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
// Start TWAI driver
|
||||
if (twai_start() == ESP_OK) {
|
||||
printf("Driver started\r\n");
|
||||
} else {
|
||||
printf("Failed to start driver\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
// Reconfigure alerts to detect TX alerts and Bus-Off errors
|
||||
uint32_t alerts_to_enable = TWAI_ALERT_RX_DATA | TWAI_ALERT_ERR_PASS | TWAI_ALERT_BUS_ERROR | TWAI_ALERT_RX_QUEUE_FULL | TWAI_ALERT_TX_IDLE | TWAI_ALERT_TX_SUCCESS | TWAI_ALERT_TX_FAILED;
|
||||
if (twai_reconfigure_alerts(alerts_to_enable, NULL) == ESP_OK) {
|
||||
printf("CAN Alerts reconfigured\r\n");
|
||||
} else {
|
||||
printf("Failed to reconfigure alerts\r\n");
|
||||
return;
|
||||
}
|
||||
|
||||
// TWAI driver is now successfully installed and started
|
||||
driver_installed = true;
|
||||
|
||||
xTaskCreatePinnedToCore(
|
||||
CANTask,
|
||||
"CANTask",
|
||||
4096,
|
||||
NULL,
|
||||
3,
|
||||
NULL,
|
||||
0
|
||||
);
|
||||
}
|
||||
|
||||
static void send_message_Test(void) {
|
||||
// Send message
|
||||
// Configure message to transmit
|
||||
twai_message_t message;
|
||||
message.identifier = 0x0F6;
|
||||
message.data_length_code = 4;
|
||||
for (int i = 0; i < 4; i++) {
|
||||
message.data[i] = i;
|
||||
}
|
||||
|
||||
// Queue message for transmission
|
||||
if (twai_transmit(&message, pdMS_TO_TICKS(1000)) == ESP_OK) {
|
||||
printf("Message queued for transmission\n");
|
||||
} else {
|
||||
printf("Failed to queue message for transmission\n");
|
||||
}
|
||||
}
|
||||
// Standard frames ID: 0x000 to 0x7FF
|
||||
// Extended frames ID: 0x00000000 to 0x1FFFFFFF
|
||||
// Frame_type : 1：Extended frames 0：Standard frames
|
||||
void send_message(uint32_t CAN_ID, uint8_t* Data, uint8_t Data_length, bool Frame_type) {
|
||||
// Send message
|
||||
// Configure message to transmit
|
||||
twai_message_t message;
|
||||
message.identifier = CAN_ID;
|
||||
message.rtr = 0; // Disable remote frame
|
||||
if(CAN_ID > 0x7FF){
|
||||
if(!Frame_type)
|
||||
printf("The frame type is set incorrectly and data will eventually be sent as an extended frame!!!!\r\n");
|
||||
message.extd = 1;
|
||||
}
|
||||
else
|
||||
message.extd = Frame_type;
|
||||
if(Data_length > 8){
|
||||
uint16_t Frame_count = (Data_length / 8);
|
||||
for (int i = 0; i < Frame_count; i++) {
|
||||
message.data_length_code = 8;
|
||||
for (int j = 0; j < 8; j++) {
|
||||
message.data[j] = Data[j + (i * 8)];
|
||||
}
|
||||
// Queue message for transmission
|
||||
if (twai_transmit(&message, pdMS_TO_TICKS(1000)) == ESP_OK) {
|
||||
printf("Message queued for transmission\n");
|
||||
} else {
|
||||
printf("Failed to queue message for transmission\n");
|
||||
}
|
||||
}
|
||||
if(Data_length % 8){
|
||||
uint8_t Data_length_Now = Data_length % 8;
|
||||
message.data_length_code = Data_length_Now;
|
||||
for (int k = 0; k < Data_length_Now; k++) {
|
||||
message.data[k] = Data[k + (Data_length - Data_length_Now)];
|
||||
}
|
||||
// Queue message for transmission
|
||||
if (twai_transmit(&message, pdMS_TO_TICKS(1000)) == ESP_OK) {
|
||||
printf("Message queued for transmission\n");
|
||||
} else {
|
||||
printf("Failed to queue message for transmission\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
else{
|
||||
message.data_length_code = Data_length;
|
||||
for (int i = 0; i < Data_length; i++) {
|
||||
message.data[i] = Data[i];
|
||||
}
|
||||
// Queue message for transmission
|
||||
if (twai_transmit(&message, pdMS_TO_TICKS(1000)) == ESP_OK) {
|
||||
printf("Message queued for transmission\n");
|
||||
} else {
|
||||
printf("Failed to queue message for transmission\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
static void handle_rx_message(twai_message_t &message) {
|
||||
// Process received message
|
||||
if (message.extd) {
|
||||
printf("Message is in Extended Format\r\n");
|
||||
} else {
|
||||
printf("Message is in Standard Format\r\n");
|
||||
}
|
||||
printf("ID: %lx\nByte:", message.identifier);
|
||||
if (!(message.rtr)) {
|
||||
if (message.data_length_code > 0) {
|
||||
printf(" Data: ");
|
||||
for (int i = 0; i < message.data_length_code; i++) {
|
||||
printf("%02x ", message.data[i]);
|
||||
}
|
||||
printf("\r\n");
|
||||
// printf("Send back the received data!\r\n");
|
||||
// send_message(message.identifier, message.data, message.data_length_code, message.extd);
|
||||
} else {
|
||||
printf(" No data available\r\n");
|
||||
}
|
||||
} else {
|
||||
printf("This is a Remote Transmission Request (RTR) frame.\r\n");
|
||||
}
|
||||
}
|
||||
|
||||
unsigned long previousMillis = 0; // will store last time a message was send
|
||||
#if Communication_failure_Enable
|
||||
static unsigned long previous_bus_error_time = 0; // To store the last time a BUS_ERROR was printed
|
||||
#endif
|
||||
void CAN_Loop(void)
|
||||
{
|
||||
if(driver_installed){
|
||||
// Check if an alert happened
|
||||
uint32_t alerts_triggered;
|
||||
twai_read_alerts(&alerts_triggered, pdMS_TO_TICKS(POLLING_RATE_MS));
|
||||
twai_status_info_t twaistatus;
|
||||
twai_get_status_info(&twaistatus);
|
||||
|
||||
// Handle alerts
|
||||
if (alerts_triggered & TWAI_ALERT_ERR_PASS) {
|
||||
printf("Alert: TWAI controller has become error passive.\r\n");
|
||||
}
|
||||
if (alerts_triggered & TWAI_ALERT_BUS_ERROR) {
|
||||
// printf("Alert: A (Bit, Stuff, CRC, Form, ACK) error has occurred on the bus.\r\n");
|
||||
// printf("Bus error count: %ld\n", twaistatus.bus_error_count);
|
||||
#if Communication_failure_Enable
|
||||
unsigned long currentMillis = millis();
|
||||
// Only print the message if more than 2 seconds have passed since the last time it was printed
|
||||
if (currentMillis - previous_bus_error_time >= BUS_ERROR_INTERVAL_MS) {
|
||||
printf("Note if there are other devices on the CAN bus (other devices must be present) and that the rate of the device is the same as set in this program\r\n");
|
||||
previous_bus_error_time = currentMillis; // Update the last print time
|
||||
}
|
||||
#endif
|
||||
}
|
||||
if (alerts_triggered & TWAI_ALERT_RX_QUEUE_FULL) {
|
||||
printf("Alert: The RX queue is full causing a received frame to be lost.\r\n");
|
||||
printf("RX buffered: %ld\t", twaistatus.msgs_to_rx);
|
||||
printf("RX missed: %ld\t", twaistatus.rx_missed_count);
|
||||
printf("RX overrun %ld\n", twaistatus.rx_overrun_count);
|
||||
}
|
||||
if (alerts_triggered & TWAI_ALERT_TX_FAILED) {
|
||||
printf("Alert: The Transmission failed.\r\n");
|
||||
printf("TX buffered: %ld\t", twaistatus.msgs_to_tx);
|
||||
printf("TX error: %ld\t", twaistatus.tx_error_counter);
|
||||
printf("TX failed: %ld\n", twaistatus.tx_failed_count);
|
||||
}
|
||||
if (alerts_triggered & TWAI_ALERT_TX_SUCCESS) {
|
||||
printf("Alert: The Transmission was successful.\r\n");
|
||||
printf("TX buffered: %ld\t \r\n", twaistatus.msgs_to_tx);
|
||||
}
|
||||
|
||||
// Receive messages if any are available
|
||||
if (alerts_triggered & TWAI_ALERT_RX_DATA) {
|
||||
// One or more messages received. Handle all.
|
||||
twai_message_t message; // This is the structure used to store the received CAN message.
|
||||
while (twai_receive(&message, 0) == ESP_OK) {
|
||||
handle_rx_message(message); // This function will process the received message.
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void CANTask(void *parameter) {
|
||||
// send_message_Test();
|
||||
// uint8_t Data[27]={0x80, 0x2A, 0xC3, 0x58, 0x17, 0x11, 0x4D, 0x3F, 0x3B, 0xCE, 0x0F, 0xFF, 0x79, 0x20, 0xB4, 0x40, 0x5D, 0x29, 0x05, 0x49, 0xE6, 0x12, 0x57, 0x0E, 0x6D, 0xC9, 0xAE};
|
||||
// send_message(0x079,Data,27);
|
||||
while(1){
|
||||
CAN_Loop();
|
||||
vTaskDelay(pdMS_TO_TICKS(50));
|
||||
}
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
22
src/WS_CAN.h
22
src/WS_CAN.h
@@ -1,22 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
#include "driver/twai.h"
|
||||
#include "WS_GPIO.h"
|
||||
|
||||
// Interval:
|
||||
#define TRANSMIT_RATE_MS 1000
|
||||
// Interval:
|
||||
#define POLLING_RATE_MS 1000
|
||||
|
||||
#define Communication_failure_Enable 0 // If the CAN bus is faulty for a long time, determine whether to forcibly exit
|
||||
|
||||
#if Communication_failure_Enable
|
||||
#define BUS_ERROR_INTERVAL_MS 5000 // Send a message every 2 seconds (2000 ms)
|
||||
#endif
|
||||
|
||||
|
||||
void CAN_Init(void);
|
||||
void CAN_Loop(void);
|
||||
void CANTask(void *parameter);
|
||||
|
||||
void send_message(uint32_t CAN_ID, uint8_t* Data, uint8_t Data_length);
|
||||
@@ -3,6 +3,6 @@ void Serial_Init()
|
||||
{
|
||||
if(RS485_CAN_Enable)
|
||||
RS485_Init();
|
||||
else
|
||||
CAN_Init();
|
||||
//else
|
||||
//CAN_Init();
|
||||
}
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
#include "WS_Information.h"
|
||||
#include "WS_RS485.h"
|
||||
#include "WS_CAN.h"
|
||||
//#include "WS_CAN.h"
|
||||
|
||||
void Serial_Init(); // Example Initialize the system serial port and RS485
|
||||
void Serial_Loop(); // Read RS485 data, parse and control relays
|
||||
|
||||
Reference in New Issue
Block a user