From ae6e01ba51d18d64799114c6d6271aa951260241 Mon Sep 17 00:00:00 2001 From: Sam Perry <17242713+sdp8483@users.noreply.github.com> Date: Tue, 13 Dec 2022 19:13:24 -0500 Subject: [PATCH] updated V2 lib code --- src/ESP32CAN.cpp | 182 +++++++++++++++++++++++++++++++++++++++++++---- src/ESP32CAN.h | 63 +++++++++++++--- 2 files changed, 219 insertions(+), 26 deletions(-) diff --git a/src/ESP32CAN.cpp b/src/ESP32CAN.cpp index 1412b4a..501d9c5 100644 --- a/src/ESP32CAN.cpp +++ b/src/ESP32CAN.cpp @@ -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; diff --git a/src/ESP32CAN.h b/src/ESP32CAN.h index 0cbe156..b8bf099 100644 --- a/src/ESP32CAN.h +++ b/src/ESP32CAN.h @@ -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 +#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