updated V2 lib code

This commit is contained in:
Sam Perry 2022-12-13 19:13:24 -05:00
parent c3ff112f17
commit ae6e01ba51
2 changed files with 219 additions and 26 deletions

View file

@ -1,20 +1,172 @@
#include "ESP32CAN.h"
int ESP32CAN::CANInit()
{
return CAN_init();
}
int ESP32CAN::CANWriteFrame(const CAN_frame_t* p_frame)
{
return CAN_write_frame(p_frame);
}
int ESP32CAN::CANStop()
{
return CAN_stop();
}
int ESP32CAN::CANConfigFilter(const CAN_filter_t* p_filter)
{
return CAN_config_filter(p_filter);
ESP32CAN_status_t ESP32CAN::CANInit(gpio_num_t tx_pin, gpio_num_t rx_pin, ESP32CAN_timing_t baud) {
/* initialize configuration structures */
twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(tx_pin, rx_pin, TWAI_MODE_NORMAL);
twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
twai_timing_config_t t_config;
switch (baud) {
case ESP32CAN_SPEED_100KBPS:
t_config = TWAI_TIMING_CONFIG_100KBITS();
break;
case ESP32CAN_SPEED_125KBPS:
t_config = TWAI_TIMING_CONFIG_125KBITS();
break;
case ESP32CAN_SPEED_250KBPS:
t_config = TWAI_TIMING_CONFIG_250KBITS();
break;
case ESP32CAN_SPEED_500KBPS:
t_config = TWAI_TIMING_CONFIG_500KBITS();
break;
case ESP32CAN_SPEED_800KBPS:
t_config = TWAI_TIMING_CONFIG_800KBITS();
break;
case ESP32CAN_SPEED_1MBPS:
t_config = TWAI_TIMING_CONFIG_1MBITS();
break;
default:
debugPrintln("TWAI: undefined buad rate");
return ESP32CAN_NOK;
break;
}
/* install TWAI driver */
switch (twai_driver_install(&g_config, &t_config, &f_config)) {
case ESP_OK:
debugPrintln("TWAI INSTALL: ok");
break;
case ESP_ERR_INVALID_ARG:
debugPrintln("TWAI INSTALL: ESP_ERR_INVALID_ARG");
return ESP32CAN_NOK;
break;
case ESP_ERR_NO_MEM:
debugPrintln("TWAI INSTALL: ESP_ERR_NO_MEM");
return ESP32CAN_NOK;
break;
case ESP_ERR_INVALID_STATE:
debugPrintln("TWAI INSTALL: ESP_ERR_INVALID_STATE");
return ESP32CAN_NOK;
break;
default:
debugPrintln("TWAI INSTALL: uknown error");
return ESP32CAN_NOK;
break;
}
/* start TWAI driver */
switch (twai_start()) {
case ESP_OK:
debugPrintln("TWAI START: ok");
break;
case ESP_ERR_INVALID_STATE:
debugPrintln("TWAI START: ESP_ERR_INVALID_STATE");
return ESP32CAN_NOK;
break;
default:
debugPrintln("TWAI START: uknown error");
return ESP32CAN_NOK;
break;
}
return ESP32_CAN_OK;
}
ESP32CAN_status_t ESP32CAN::CANStop() {
/* stop the TWAI driver */
switch (twai_stop()) {
case ESP_OK:
debugPrintln("TWAI STOP: ok");
break;
case ESP_ERR_INVALID_STATE:
debugPrintln("TWAI STOP: ESP_ERR_INVALID_STATE");
return ESP32CAN_NOK;
break;
default:
debugPrintln("TWAI STOP: unknow error");
return ESP32CAN_NOK;
break;
}
/* uninstall TWAI driver */
switch (twai_driver_uninstall()) {
case ESP_OK:
debugPrintln("TWAI UNINSTALL: ok");
break;
case ESP_ERR_INVALID_STATE:
debugPrintln("TWAI UNINSTALL: ESP_ERR_INVALID_STATE");
return ESP32CAN_NOK;
break;
default:
break;
}
return ESP32CAN_OK;
}
ESP32CAN_status_t ESP32CAN::CANWriteFrame(const twai_message_t* p_frame) {
/* queue message for transmission */
switch (twai_transmit(p_frame, pdMS_TO_TICKS(10))) {
case ESP_OK:
break;
case ESP_ERR_INVALID_ARG:
debugPrintln("TWAI TX: ESP_ERR_INVALID_ARG");
return ESP32CAN_NOK;
break;
case ESP_ERR_TIMEOUT:
debugPrintln("TWAI TX: ESP_ERR_TIMEOUT");
return ESP32CAN_NOK;
break;
case ESP_FAIL:
debugPrintln("TWAI TX: ESP_FAIL");
return ESP32CAN_NOK;
break;
case ESP_ERR_INVALID_STATE:
debugPrintln("TWAI TX: ESP_ERR_INVALID_STATE");
return ESP32CAN_NOK;
break;
case ESP_ERR_NOT_SUPPORTED:
debugPrintln("TWAI TX: ESP_ERR_NOT_SUPPORTED");
return ESP32CAN_NOK;
break;
default:
debugPrintln("TWAI TX: unknow error");
return ESP32CAN_NOK;
break;
}
return ESP32CAN_OK;
}
ESP32CAN_status_t ESP32CAN::CANReadFrame(twai_message_t* p_frame) {
switch (twai_receive(p_frame, pdMS_TO_TICKS(10))) {
case ESP_OK:
break;
case ESP_ERR_TIMEOUT:
debugPrintln("TWAI RX: ESP_ERR_TIMEOUT");
return ESP32CAN_NOK;
break;
case ESP_ERR_INVALID_ARG:
debugPrintln("TWAI RX: ESP_ERR_INVALID_ARG");
return ESP32CAN_NOK;
break;
case ESP_ERR_INVALID_STATE:
debugPrintln("TWAI RX: ESP_ERR_INVALID_STATE");
return ESP32CAN_NOK;
break;
default:
debugPrintln("TWAI RX: unknow error");
return ESP32CAN_NOK;
break;
}
return ESP32CAN_OK;
}
// int ESP32CAN::CANConfigFilter(const CAN_filter_t* p_filter)
// {
// return CAN_config_filter(p_filter);
// }
ESP32CAN ESP32Can;

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@ -1,17 +1,58 @@
#ifndef ESP32CAN_H
#define ESP32CAN_H
#ifndef INC_ESP32CAN_H
#define INC_ESP32CAN_H
#include "CAN_config.h"
#include "CAN.h"
#include <Arduino.h>
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "driver/gpio.h"
#include "driver/twai.h"
/* Defines ------------------------------------------------------------------- */
#define ESP32CAN_DEBUG 1 /* 1 to serial print */
/* Macros -------------------------------------------------------------------- */
#if (ESP32CAN_DEBUG == 1)
#define debugPrint(x) Serial.print(x)
#define debugPrintln(x) Serial.println(x)
#else
#define debugPrint(x)
#define debugPrintln(x)
#endif
/* typedef ------------------------------------------------------------------- */
typedef enum {
ESP32CAN_NOK = 0, /* not ok, something is wrong */
ESP32CAN_OK = 1 /* ok, all seems well */
} ESP32CAN_status_t;
typedef enum {
ESP32CAN_SPEED_100KBPS = 100,
ESP32CAN_SPEED_125KBPS = 125,
ESP32CAN_SPEED_250KBPS = 250,
ESP32CAN_SPEED_500KBPS = 500,
ESP32CAN_SPEED_800KBPS = 800,
ESP32CAN_SPEED_1MBPS = 1000,
} ESP32CAN_timing_t;
/* Globals ------------------------------------------------------------------- */
/* Function Prototypes ------------------------------------------------------- */
/* Class --------------------------------------------------------------------- */
class ESP32CAN {
public:
ESP32CAN_status_t CANInit(gpio_num_t tx_pin, gpio_num_t rx_pin, ESP32CAN_timing_t baud);
ESP32CAN_status_t CANStop();
ESP32CAN_status_t CANWriteFrame(const twai_message_t* p_frame);
ESP32CAN_status_t CANReadFrame(twai_message_t* p_frame);
// int CANConfigFilter(const CAN_filter_t* p_filter);
private:
class ESP32CAN
{
public:
int CANInit();
int CANConfigFilter(const CAN_filter_t* p_filter);
int CANWriteFrame(const CAN_frame_t* p_frame);
int CANStop();
};
/* External Globals ---------------------------------------------------------- */
extern ESP32CAN ESP32Can;
#endif