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Improve CAN handling

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Daniel Öster 2023-02-26 13:17:55 -08:00 • committed by GitHub
parent f8a6e176de
commit 2f7e5fb1fa
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3 changed files with 374 additions and 420 deletions
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193
Software/BYD-MODBUS-2-LEAF-CAN.ino
View file

@ -20,6 +20,10 @@ const int rx_queue_size = 10; // Receive Queue size
byte mprun10 = 0; //counter 0-3
byte mprun100 = 0; //counter 0-3
CAN_frame_t LEAF_1F2 = {.MsgID = 0x1F2, LEAF_1F2.FIR.B.DLC = 8, LEAF_1F2.FIR.B.FF = CAN_frame_std, LEAF_1F2.data.u8[0] = 0x64, LEAF_1F2.data.u8[1] = 0x64,LEAF_1F2.data.u8[2] = 0x32, LEAF_1F2.data.u8[3] = 0xA0,LEAF_1F2.data.u8[4] = 0x00,LEAF_1F2.data.u8[5] = 0x0A};
CAN_frame_t LEAF_50B = {.MsgID = 0x50B, LEAF_50B.FIR.B.DLC = 8, LEAF_50B.FIR.B.FF = CAN_frame_std, LEAF_50B.data.u8[0] = 0x00, LEAF_50B.data.u8[1] = 0x00,LEAF_50B.data.u8[2] = 0x06, LEAF_50B.data.u8[3] = 0xC0,LEAF_50B.data.u8[4] = 0x00,LEAF_50B.data.u8[5] = 0x00};
CAN_frame_t LEAF_50C = {.MsgID = 0x50C, LEAF_50C.FIR.B.DLC = 8, LEAF_50C.FIR.B.FF = CAN_frame_std, LEAF_50C.data.u8[0] = 0x00, LEAF_50C.data.u8[1] = 0x00,LEAF_50C.data.u8[2] = 0x00, LEAF_50C.data.u8[3] = 0x00,LEAF_50C.data.u8[4] = 0x00,LEAF_50C.data.u8[5] = 0x00};
//Nissan LEAF battery parameters from CAN
#define WH_PER_GID 77 //One GID is this amount of Watt hours
int LB_Discharge_Power_Limit = 0; //Limit in kW
@ -77,7 +81,6 @@ uint16_t p1001_data[] = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
};
uint16_t i;
static unsigned long currentMillis;
// Create a ModbusRTU server instance listening on Serial2 with 2000ms timeout
ModbusServerRTU MBserver(Serial2, 2000);
@ -129,12 +132,11 @@ void setup()
void loop()
{
handle_can();
update_values();
currentMillis = millis();
if (currentMillis - previousMillisModbus >= intervalModbusTask)
//every 10s
if (millis() - previousMillisModbus >= intervalModbusTask)
{
//every 10s
previousMillisModbus = currentMillis;
previousMillisModbus = millis();
update_values();
handle_UpdateDataModbus();
}
}
@ -206,19 +208,19 @@ void handle_UpdateDataModbus()
void handle_can()
{
CAN_frame_t rx_frame;
CAN_frame_t rx_frame;
unsigned long currentMillis = millis();
static unsigned long currentMillis = millis();
// Receive next CAN frame from queue
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE)
{
if (rx_frame.FIR.B.FF == CAN_frame_std)
{
//printf("New standard frame");
switch (rx_frame.MsgID)
// Receive next CAN frame from queue
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE)
{
if (rx_frame.FIR.B.FF == CAN_frame_std)
{
//printf("New standard frame");
switch (rx_frame.MsgID)
{
case 0x1DB:
case 0x1DB:
//printf("1DB \n");
LB_Current = (rx_frame.data.u8[0] << 3) | (rx_frame.data.u8[1] & 0xe0) >> 5;
LB_Total_Voltage = ((rx_frame.data.u8[2] << 2) | (rx_frame.data.u8[3] & 0xc0) >> 6) / 2;
break;
@ -245,135 +247,86 @@ void handle_can()
LB_Wh_Remaining = (LB_GIDS * WH_PER_GID);
}
break;
case 0x59E: //This message is only present on 2013+ AZE0 and upwards
default:
break;
case 0x5C0:
//todo read batt temp from here (or from active polling later)
break;
default:
break;
}
}
else
{
//printf("New extended frame");
}
// if (rx_frame.FIR.B.RTR == CAN_RTR)
// {
// printf(" RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
// }
// else
// {
// printf(" from 0x%08X, DLC %d, Data ", rx_frame.MsgID, rx_frame.FIR.B.DLC);
// for (int i = 0; i < rx_frame.FIR.B.DLC; i++)
// {
// printf("0x%02X ", rx_frame.data.u8[i]);
// }
// printf("\n");
// }
}
}
}
else
{
//printf("New extended frame");
}
}
// Send 100ms CAN Message
if (currentMillis - previousMillis100 >= interval100)
{
previousMillis100 = currentMillis;
ESP32Can.CANWriteFrame(&LEAF_50B); //Always send 50B as a static message
mprun100++;
if (mprun100 > 3)
{
mprun100 = 0;
}
CAN_frame_t tx_frame;
tx_frame.FIR.B.FF = CAN_frame_std;
tx_frame.MsgID = 0x50B;
tx_frame.FIR.B.DLC = 8;
tx_frame.data.u8[0] = 0x00;
tx_frame.data.u8[1] = 0x00;
tx_frame.data.u8[2] = 0x06;
tx_frame.data.u8[3] = 0xC0; //HCM_WakeUpSleepCmd = Wakeup
tx_frame.data.u8[4] = 0x00;
tx_frame.data.u8[5] = 0x00;
tx_frame.data.u8[6] = 0x00;
tx_frame.data.u8[7] = 0x00;
ESP32Can.CANWriteFrame(&tx_frame);
Serial.println("CAN send 50B done");
tx_frame.MsgID = 0x50C;
tx_frame.FIR.B.DLC = 8;
tx_frame.data.u8[0] = 0x00;
tx_frame.data.u8[1] = 0x00;
tx_frame.data.u8[2] = 0x00;
tx_frame.data.u8[3] = 0x00;
tx_frame.data.u8[4] = 0x00;
if (mprun100 == 0)
{
tx_frame.data.u8[5] = 0x00;
tx_frame.data.u8[6] = 0x5D;
tx_frame.data.u8[7] = 0xC8;
LEAF_50C.data.u8[5] = 0x00;
LEAF_50C.data.u8[6] = 0x5D;
LEAF_50C.data.u8[7] = 0xC8;
}
if (mprun100 == 1)
else if(mprun100 == 1)
{
tx_frame.data.u8[5] = 0x01;
tx_frame.data.u8[6] = 0x5D;
tx_frame.data.u8[7] = 0x5F;
LEAF_50C.data.u8[5] = 0x01;
LEAF_50C.data.u8[6] = 0x5D;
LEAF_50C.data.u8[7] = 0x5F;
}
if (mprun100 == 2)
else if(mprun100 == 2)
{
tx_frame.data.u8[5] = 0x02;
tx_frame.data.u8[6] = 0x5D;
tx_frame.data.u8[7] = 0x63;
LEAF_50C.data.u8[5] = 0x02;
LEAF_50C.data.u8[6] = 0x5D;
LEAF_50C.data.u8[7] = 0x63;
}
if (mprun100 == 3)
else if(mprun100 == 3)
{
tx_frame.data.u8[5] = 0x03;
tx_frame.data.u8[6] = 0x5D;
tx_frame.data.u8[7] = 0xF4;
LEAF_50C.data.u8[5] = 0x03;
LEAF_50C.data.u8[6] = 0x5D;
LEAF_50C.data.u8[7] = 0xF4;
}
ESP32Can.CANWriteFrame(&tx_frame);
Serial.println("CAN send 50C done");
ESP32Can.CANWriteFrame(&LEAF_50C);
}
//Send 10ms message
if (currentMillis - previousMillis10 >= interval10)
{
{
previousMillis10 = currentMillis;
if(mprun10 == 0)
{
LEAF_1F2.data.u8[6] = 0x00;
LEAF_1F2.data.u8[7] = 0x8F;
}
else if(mprun10 == 1)
{
LEAF_1F2.data.u8[6] = 0x01;
LEAF_1F2.data.u8[7] = 0x80;
}
else if(mprun10 == 2)
{
LEAF_1F2.data.u8[6] = 0x02;
LEAF_1F2.data.u8[7] = 0x81;
}
else if(mprun10 == 3)
{
LEAF_1F2.data.u8[6] = 0x03;
LEAF_1F2.data.u8[7] = 0x82;
}
ESP32Can.CANWriteFrame(&LEAF_1F2);
mprun10++;
if (mprun10 > 3)
{
mprun10 = 0;
}
CAN_frame_t tx_frame;
tx_frame.FIR.B.FF = CAN_frame_std;
tx_frame.MsgID = 0x1F2;
tx_frame.FIR.B.DLC = 8;
tx_frame.data.u8[0] = 0x64;
tx_frame.data.u8[1] = 0x64;
tx_frame.data.u8[2] = 0x32;
tx_frame.data.u8[3] = 0xA0;
tx_frame.data.u8[4] = 0x00;
tx_frame.data.u8[5] = 0x0A;
if (mprun10 == 0)
{
tx_frame.data.u8[6] = 0x00;
tx_frame.data.u8[7] = 0x8F;
}
if (mprun10 == 1)
{
tx_frame.data.u8[6] = 0x01;
tx_frame.data.u8[7] = 0x80;
}
if (mprun10 == 2)
{
tx_frame.data.u8[6] = 0x02;
tx_frame.data.u8[7] = 0x81;
}
if (mprun10 == 3)
{
tx_frame.data.u8[6] = 0x03;
tx_frame.data.u8[7] = 0x82;
}
ESP32Can.CANWriteFrame(&tx_frame);
Serial.println("CAN send 1F2 done");
//Serial.println("CAN 10ms done");
}
}
}

597
Software/CAN.c
View file

@ -1,299 +1,300 @@
/**
* @section License
*
* The MIT License (MIT)
*
* Copyright (c) 2017, Thomas Barth, barth-dev.de
* 2017, Jaime Breva, jbreva@nayarsystems.com
* 2018, Michael Wagner, mw@iot-make.de
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use, copy,
* modify, merge, publish, distribute, sublicense, and/or sell copies
* of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
*/
#include "CAN.h"
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"
#include "esp_intr.h"
#include "soc/dport_reg.h"
#include <math.h>
#include "driver/gpio.h"
#include "can_regdef.h"
#include "CAN_config.h"
// CAN Filter - no acceptance filter
static CAN_filter_t __filter = { Dual_Mode, 0, 0, 0, 0, 0Xff, 0Xff, 0Xff, 0Xff };
static void CAN_read_frame_phy();
static void CAN_isr(void *arg_p);
static int CAN_write_frame_phy(const CAN_frame_t *p_frame);
static SemaphoreHandle_t sem_tx_complete;
static void CAN_isr(void *arg_p) {
// Interrupt flag buffer
__CAN_IRQ_t interrupt;
BaseType_t higherPriorityTaskWoken = pdFALSE;
// Read interrupt status and clear flags
interrupt = MODULE_CAN->IR.U;
// Handle RX frame available interrupt
if ((interrupt & __CAN_IRQ_RX) != 0)
CAN_read_frame_phy(&higherPriorityTaskWoken);
// Handle TX complete interrupt
// Handle error interrupts.
if ((interrupt & (__CAN_IRQ_TX | __CAN_IRQ_ERR //0x4
| __CAN_IRQ_DATA_OVERRUN // 0x8
| __CAN_IRQ_WAKEUP // 0x10
| __CAN_IRQ_ERR_PASSIVE // 0x20
| __CAN_IRQ_ARB_LOST // 0x40
| __CAN_IRQ_BUS_ERR // 0x80
)) != 0) {
xSemaphoreGiveFromISR(sem_tx_complete, &higherPriorityTaskWoken);
}
// check if any higher priority task has been woken by any handler
if (higherPriorityTaskWoken)
portYIELD_FROM_ISR();
}
static void CAN_read_frame_phy(BaseType_t *higherPriorityTaskWoken) {
// byte iterator
uint8_t __byte_i;
// frame read buffer
CAN_frame_t __frame;
// check if we have a queue. If not, operation is aborted.
if (CAN_cfg.rx_queue == NULL) {
// Let the hardware know the frame has been read.
MODULE_CAN->CMR.B.RRB = 1;
return;
}
// get FIR
__frame.FIR.U = MODULE_CAN->MBX_CTRL.FCTRL.FIR.U;
// check if this is a standard or extended CAN frame
// standard frame
if (__frame.FIR.B.FF == CAN_frame_std) {
// Get Message ID
__frame.MsgID = _CAN_GET_STD_ID;
// deep copy data bytes
for (__byte_i = 0; __byte_i < __frame.FIR.B.DLC; __byte_i++)
__frame.data.u8[__byte_i] = MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.data[__byte_i];
}
// extended frame
else {
// Get Message ID
__frame.MsgID = _CAN_GET_EXT_ID;
// deep copy data bytes
for (__byte_i = 0; __byte_i < __frame.FIR.B.DLC; __byte_i++)
__frame.data.u8[__byte_i] = MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.data[__byte_i];
}
// send frame to input queue
xQueueSendToBackFromISR(CAN_cfg.rx_queue, &__frame, higherPriorityTaskWoken);
// Let the hardware know the frame has been read.
MODULE_CAN->CMR.B.RRB = 1;
}
static int CAN_write_frame_phy(const CAN_frame_t *p_frame) {
// byte iterator
uint8_t __byte_i;
// copy frame information record
MODULE_CAN->MBX_CTRL.FCTRL.FIR.U = p_frame->FIR.U;
// standard frame
if (p_frame->FIR.B.FF == CAN_frame_std) {
// Write message ID
_CAN_SET_STD_ID(p_frame->MsgID);
// Copy the frame data to the hardware
for (__byte_i = 0; __byte_i < p_frame->FIR.B.DLC; __byte_i++)
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.data[__byte_i] = p_frame->data.u8[__byte_i];
}
// extended frame
else {
// Write message ID
_CAN_SET_EXT_ID(p_frame->MsgID);
// Copy the frame data to the hardware
for (__byte_i = 0; __byte_i < p_frame->FIR.B.DLC; __byte_i++)
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.data[__byte_i] = p_frame->data.u8[__byte_i];
}
// Transmit frame
MODULE_CAN->CMR.B.TR = 1;
return 0;
}
int CAN_init() {
// Time quantum
double __tq;
// enable module
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
// configure TX pin
gpio_set_level(CAN_cfg.tx_pin_id, 1);
gpio_set_direction(CAN_cfg.tx_pin_id, GPIO_MODE_OUTPUT);
gpio_matrix_out(CAN_cfg.tx_pin_id, CAN_TX_IDX, 0, 0);
gpio_pad_select_gpio(CAN_cfg.tx_pin_id);
// configure RX pin
gpio_set_direction(CAN_cfg.rx_pin_id, GPIO_MODE_INPUT);
gpio_matrix_in(CAN_cfg.rx_pin_id, CAN_RX_IDX, 0);
gpio_pad_select_gpio(CAN_cfg.rx_pin_id);
// set to PELICAN mode
MODULE_CAN->CDR.B.CAN_M = 0x1;
// synchronization jump width is the same for all baud rates
MODULE_CAN->BTR0.B.SJW = 0x1;
// TSEG2 is the same for all baud rates
MODULE_CAN->BTR1.B.TSEG2 = 0x1;
// select time quantum and set TSEG1
switch (CAN_cfg.speed) {
case CAN_SPEED_1000KBPS:
MODULE_CAN->BTR1.B.TSEG1 = 0x4;
__tq = 0.125;
break;
case CAN_SPEED_800KBPS:
MODULE_CAN->BTR1.B.TSEG1 = 0x6;
__tq = 0.125;
break;
case CAN_SPEED_200KBPS:
MODULE_CAN->BTR1.B.TSEG1 = 0xc;
MODULE_CAN->BTR1.B.TSEG2 = 0x5;
__tq = 0.25;
break;
default:
MODULE_CAN->BTR1.B.TSEG1 = 0xc;
__tq = ((float) 1000 / CAN_cfg.speed) / 16;
}
// set baud rate prescaler
MODULE_CAN->BTR0.B.BRP = (uint8_t) round((((APB_CLK_FREQ * __tq) / 2) - 1) / 1000000) - 1;
/* Set sampling
* 1 -> triple; the bus is sampled three times; recommended for low/medium speed buses (class A and B) where
* filtering spikes on the bus line is beneficial 0 -> single; the bus is sampled once; recommended for high speed
* buses (SAE class C)*/
MODULE_CAN->BTR1.B.SAM = 0x1;
// enable all interrupts
MODULE_CAN->IER.U = 0xef; //ESP32 V3 0XEF ESP32 NOT V3 0XFF
// Set acceptance filter
MODULE_CAN->MOD.B.AFM = __filter.FM;
MODULE_CAN->MBX_CTRL.ACC.CODE[0] = __filter.ACR0;
MODULE_CAN->MBX_CTRL.ACC.CODE[1] = __filter.ACR1;
MODULE_CAN->MBX_CTRL.ACC.CODE[2] = __filter.ACR2;
MODULE_CAN->MBX_CTRL.ACC.CODE[3] = __filter.ACR3;
MODULE_CAN->MBX_CTRL.ACC.MASK[0] = __filter.AMR0;
MODULE_CAN->MBX_CTRL.ACC.MASK[1] = __filter.AMR1;
MODULE_CAN->MBX_CTRL.ACC.MASK[2] = __filter.AMR2;
MODULE_CAN->MBX_CTRL.ACC.MASK[3] = __filter.AMR3;
// set to normal mode
MODULE_CAN->OCR.B.OCMODE = __CAN_OC_NOM;
// clear error counters
MODULE_CAN->TXERR.U = 0;
MODULE_CAN->RXERR.U = 0;
(void) MODULE_CAN->ECC;
// clear interrupt flags
(void) MODULE_CAN->IR.U;
// install CAN ISR
esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, CAN_isr, NULL, NULL);
// allocate the tx complete semaphore
sem_tx_complete = xSemaphoreCreateBinary();
// Showtime. Release Reset Mode.
MODULE_CAN->MOD.B.RM = 0;
return 0;
}
int CAN_write_frame(const CAN_frame_t *p_frame) {
if (sem_tx_complete == NULL) {
return -1;
}
// Write the frame to the controller
CAN_write_frame_phy(p_frame);
// wait for the frame tx to complete
xSemaphoreTake(sem_tx_complete, portMAX_DELAY);
return 0;
}
int CAN_stop() {
// enter reset mode
MODULE_CAN->MOD.B.RM = 1;
return 0;
}
int CAN_config_filter(const CAN_filter_t* p_filter) {
__filter.FM = p_filter->FM;
__filter.ACR0 = p_filter->ACR0;
__filter.ACR1 = p_filter->ACR1;
__filter.ACR2 = p_filter->ACR2;
__filter.ACR3 = p_filter->ACR3;
__filter.AMR0 = p_filter->AMR0;
__filter.AMR1 = p_filter->AMR1;
__filter.AMR2 = p_filter->AMR2;
__filter.AMR3 = p_filter->AMR3;
return 0;
/**
* @section License
*
* The MIT License (MIT)
*
* Copyright (c) 2017, Thomas Barth, barth-dev.de
* 2017, Jaime Breva, jbreva@nayarsystems.com
* 2018, Michael Wagner, mw@iot-make.de
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use, copy,
* modify, merge, publish, distribute, sublicense, and/or sell copies
* of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
*/
#include "CAN.h"
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"
#include "esp_intr.h"
#include "soc/dport_reg.h"
#include <math.h>
#include "driver/gpio.h"
#include "can_regdef.h"
#include "CAN_config.h"
// CAN Filter - no acceptance filter
static CAN_filter_t __filter = { Dual_Mode, 0, 0, 0, 0, 0Xff, 0Xff, 0Xff, 0Xff };
static void CAN_read_frame_phy();
static void CAN_isr(void *arg_p);
static int CAN_write_frame_phy(const CAN_frame_t *p_frame);
static SemaphoreHandle_t sem_tx_complete;
static void CAN_isr(void *arg_p) {
// Interrupt flag buffer
__CAN_IRQ_t interrupt;
BaseType_t higherPriorityTaskWoken = pdFALSE;
// Read interrupt status and clear flags
interrupt = MODULE_CAN->IR.U;
// Handle RX frame available interrupt
if ((interrupt & __CAN_IRQ_RX) != 0)
CAN_read_frame_phy(&higherPriorityTaskWoken);
// Handle TX complete interrupt
// Handle error interrupts.
if ((interrupt & (__CAN_IRQ_TX | __CAN_IRQ_ERR //0x4
| __CAN_IRQ_DATA_OVERRUN // 0x8
| __CAN_IRQ_WAKEUP // 0x10
| __CAN_IRQ_ERR_PASSIVE // 0x20
| __CAN_IRQ_ARB_LOST // 0x40
| __CAN_IRQ_BUS_ERR // 0x80
)) != 0) {
xSemaphoreGiveFromISR(sem_tx_complete, &higherPriorityTaskWoken);
}
// check if any higher priority task has been woken by any handler
if (higherPriorityTaskWoken)
portYIELD_FROM_ISR();
}
static void CAN_read_frame_phy(BaseType_t *higherPriorityTaskWoken) {
// byte iterator
uint8_t __byte_i;
// frame read buffer
CAN_frame_t __frame;
// check if we have a queue. If not, operation is aborted.
if (CAN_cfg.rx_queue == NULL) {
// Let the hardware know the frame has been read.
MODULE_CAN->CMR.B.RRB = 1;
return;
}
// get FIR
__frame.FIR.U = MODULE_CAN->MBX_CTRL.FCTRL.FIR.U;
// check if this is a standard or extended CAN frame
// standard frame
if (__frame.FIR.B.FF == CAN_frame_std) {
// Get Message ID
__frame.MsgID = _CAN_GET_STD_ID;
// deep copy data bytes
for (__byte_i = 0; __byte_i < __frame.FIR.B.DLC; __byte_i++)
__frame.data.u8[__byte_i] = MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.data[__byte_i];
}
// extended frame
else {
// Get Message ID
__frame.MsgID = _CAN_GET_EXT_ID;
// deep copy data bytes
for (__byte_i = 0; __byte_i < __frame.FIR.B.DLC; __byte_i++)
__frame.data.u8[__byte_i] = MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.data[__byte_i];
}
// send frame to input queue
xQueueSendToBackFromISR(CAN_cfg.rx_queue, &__frame, higherPriorityTaskWoken);
// Let the hardware know the frame has been read.
MODULE_CAN->CMR.B.RRB = 1;
}
static int CAN_write_frame_phy(const CAN_frame_t *p_frame) {
// byte iterator
uint8_t __byte_i;
// copy frame information record
MODULE_CAN->MBX_CTRL.FCTRL.FIR.U = p_frame->FIR.U;
// standard frame
if (p_frame->FIR.B.FF == CAN_frame_std) {
// Write message ID
_CAN_SET_STD_ID(p_frame->MsgID);
// Copy the frame data to the hardware
for (__byte_i = 0; __byte_i < p_frame->FIR.B.DLC; __byte_i++)
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.data[__byte_i] = p_frame->data.u8[__byte_i];
}
// extended frame
else {
// Write message ID
_CAN_SET_EXT_ID(p_frame->MsgID);
// Copy the frame data to the hardware
for (__byte_i = 0; __byte_i < p_frame->FIR.B.DLC; __byte_i++)
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.data[__byte_i] = p_frame->data.u8[__byte_i];
}
// Transmit frame
MODULE_CAN->CMR.B.TR = 1;
return 0;
}
int CAN_init() {
// Time quantum
double __tq;
// enable module
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST); //Added https://github.com/miwagner/ESP32-Arduino-CAN/pull/37/commits/feccb722866fbdcc7628b941efe9f79295b0cf81
DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
// configure TX pin
gpio_set_level(CAN_cfg.tx_pin_id, 1);
gpio_set_direction(CAN_cfg.tx_pin_id, GPIO_MODE_OUTPUT);
gpio_matrix_out(CAN_cfg.tx_pin_id, CAN_TX_IDX, 0, 0);
gpio_pad_select_gpio(CAN_cfg.tx_pin_id);
// configure RX pin
gpio_set_direction(CAN_cfg.rx_pin_id, GPIO_MODE_INPUT);
gpio_matrix_in(CAN_cfg.rx_pin_id, CAN_RX_IDX, 0);
gpio_pad_select_gpio(CAN_cfg.rx_pin_id);
// set to PELICAN mode
MODULE_CAN->CDR.B.CAN_M = 0x1;
// synchronization jump width is the same for all baud rates
MODULE_CAN->BTR0.B.SJW = 0x1;
// TSEG2 is the same for all baud rates
MODULE_CAN->BTR1.B.TSEG2 = 0x1;
// select time quantum and set TSEG1
switch (CAN_cfg.speed) {
case CAN_SPEED_1000KBPS:
MODULE_CAN->BTR1.B.TSEG1 = 0x4;
__tq = 0.125;
break;
case CAN_SPEED_800KBPS:
MODULE_CAN->BTR1.B.TSEG1 = 0x6;
__tq = 0.125;
break;
case CAN_SPEED_200KBPS:
MODULE_CAN->BTR1.B.TSEG1 = 0xc;
MODULE_CAN->BTR1.B.TSEG2 = 0x5;
__tq = 0.25;
break;
default:
MODULE_CAN->BTR1.B.TSEG1 = 0xc;
__tq = ((float) 1000 / CAN_cfg.speed) / 16;
}
// set baud rate prescaler
MODULE_CAN->BTR0.B.BRP = (uint8_t) round((((APB_CLK_FREQ * __tq) / 2) - 1) / 1000000) - 1;
/* Set sampling
* 1 -> triple; the bus is sampled three times; recommended for low/medium speed buses (class A and B) where
* filtering spikes on the bus line is beneficial 0 -> single; the bus is sampled once; recommended for high speed
* buses (SAE class C)*/
MODULE_CAN->BTR1.B.SAM = 0x1;
// enable all interrupts
MODULE_CAN->IER.U = 0xef; //ESP32 V3 0XEF ESP32 NOT V3 0XFF
// Set acceptance filter
MODULE_CAN->MOD.B.AFM = __filter.FM;
MODULE_CAN->MBX_CTRL.ACC.CODE[0] = __filter.ACR0;
MODULE_CAN->MBX_CTRL.ACC.CODE[1] = __filter.ACR1;
MODULE_CAN->MBX_CTRL.ACC.CODE[2] = __filter.ACR2;
MODULE_CAN->MBX_CTRL.ACC.CODE[3] = __filter.ACR3;
MODULE_CAN->MBX_CTRL.ACC.MASK[0] = __filter.AMR0;
MODULE_CAN->MBX_CTRL.ACC.MASK[1] = __filter.AMR1;
MODULE_CAN->MBX_CTRL.ACC.MASK[2] = __filter.AMR2;
MODULE_CAN->MBX_CTRL.ACC.MASK[3] = __filter.AMR3;
// set to normal mode
MODULE_CAN->OCR.B.OCMODE = __CAN_OC_NOM;
// clear error counters
MODULE_CAN->TXERR.U = 0;
MODULE_CAN->RXERR.U = 0;
(void) MODULE_CAN->ECC;
// clear interrupt flags
(void) MODULE_CAN->IR.U;
// install CAN ISR
esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, CAN_isr, NULL, NULL);
// allocate the tx complete semaphore
sem_tx_complete = xSemaphoreCreateBinary();
// Showtime. Release Reset Mode.
MODULE_CAN->MOD.B.RM = 0;
return 0;
}
int CAN_write_frame(const CAN_frame_t *p_frame) {
if (sem_tx_complete == NULL) {
return -1;
}
// Write the frame to the controller
CAN_write_frame_phy(p_frame);
// wait for the frame tx to complete
xSemaphoreTake(sem_tx_complete, portMAX_DELAY);
return 0;
}
int CAN_stop() {
// enter reset mode
MODULE_CAN->MOD.B.RM = 1;
return 0;
}
int CAN_config_filter(const CAN_filter_t* p_filter) {
__filter.FM = p_filter->FM;
__filter.ACR0 = p_filter->ACR0;
__filter.ACR1 = p_filter->ACR1;
__filter.ACR2 = p_filter->ACR2;
__filter.ACR3 = p_filter->ACR3;
__filter.AMR0 = p_filter->AMR0;
__filter.AMR1 = p_filter->AMR1;
__filter.AMR2 = p_filter->AMR2;
__filter.AMR3 = p_filter->AMR3;
return 0;
}

4
Software/config.h
View file

@ -4,8 +4,8 @@
// PIN
#define PIN_5V_EN 16
#define CAN_TX_PIN 26
#define CAN_RX_PIN 27
#define CAN_TX_PIN 27
#define CAN_RX_PIN 26
#define CAN_SE_PIN 23
#define RS485_EN_PIN 17 // 17 /RE