mirror of
https://github.com/dalathegreat/Battery-Emulator.git
synced 2025-10-03 09:49:32 +02:00
Improve CAN handling
This commit is contained in:
Daniel Öster
GitHub
parent
f8a6e176de
commit
2f7e5fb1fa
3 changed files with 374 additions and 420 deletions
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@ -20,6 +20,10 @@ const int rx_queue_size = 10; // Receive Queue size
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byte mprun10 = 0; //counter 0-3
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byte mprun10 = 0; //counter 0-3
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byte mprun100 = 0; //counter 0-3
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byte mprun100 = 0; //counter 0-3
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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};
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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};
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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};
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//Nissan LEAF battery parameters from CAN
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//Nissan LEAF battery parameters from CAN
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#define WH_PER_GID 77 //One GID is this amount of Watt hours
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#define WH_PER_GID 77 //One GID is this amount of Watt hours
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int LB_Discharge_Power_Limit = 0; //Limit in kW
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int LB_Discharge_Power_Limit = 0; //Limit in kW
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@ -77,7 +81,6 @@ uint16_t p1001_data[] = {
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
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};
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};
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uint16_t i;
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uint16_t i;
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static unsigned long currentMillis;
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// Create a ModbusRTU server instance listening on Serial2 with 2000ms timeout
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// Create a ModbusRTU server instance listening on Serial2 with 2000ms timeout
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ModbusServerRTU MBserver(Serial2, 2000);
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ModbusServerRTU MBserver(Serial2, 2000);
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@ -129,12 +132,11 @@ void setup()
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void loop()
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void loop()
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{
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{
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handle_can();
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handle_can();
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update_values();
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//every 10s
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currentMillis = millis();
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if (millis() - previousMillisModbus >= intervalModbusTask)
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if (currentMillis - previousMillisModbus >= intervalModbusTask)
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{
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{
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//every 10s
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previousMillisModbus = millis();
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previousMillisModbus = currentMillis;
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update_values();
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handle_UpdateDataModbus();
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handle_UpdateDataModbus();
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}
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}
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}
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}
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@ -206,19 +208,19 @@ void handle_UpdateDataModbus()
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void handle_can()
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void handle_can()
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{
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{
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CAN_frame_t rx_frame;
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CAN_frame_t rx_frame;
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unsigned long currentMillis = millis();
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static unsigned long currentMillis = millis();
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// Receive next CAN frame from queue
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if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE)
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// Receive next CAN frame from queue
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{
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if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE)
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if (rx_frame.FIR.B.FF == CAN_frame_std)
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{
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{
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if (rx_frame.FIR.B.FF == CAN_frame_std)
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//printf("New standard frame");
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{
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switch (rx_frame.MsgID)
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//printf("New standard frame");
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switch (rx_frame.MsgID)
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{
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{
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case 0x1DB:
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case 0x1DB:
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//printf("1DB \n");
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LB_Current = (rx_frame.data.u8[0] << 3) | (rx_frame.data.u8[1] & 0xe0) >> 5;
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LB_Current = (rx_frame.data.u8[0] << 3) | (rx_frame.data.u8[1] & 0xe0) >> 5;
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LB_Total_Voltage = ((rx_frame.data.u8[2] << 2) | (rx_frame.data.u8[3] & 0xc0) >> 6) / 2;
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LB_Total_Voltage = ((rx_frame.data.u8[2] << 2) | (rx_frame.data.u8[3] & 0xc0) >> 6) / 2;
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break;
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break;
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@ -245,135 +247,86 @@ void handle_can()
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LB_Wh_Remaining = (LB_GIDS * WH_PER_GID);
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LB_Wh_Remaining = (LB_GIDS * WH_PER_GID);
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}
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}
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break;
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break;
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case 0x59E: //This message is only present on 2013+ AZE0 and upwards
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default:
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break;
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break;
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case 0x5C0:
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}
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//todo read batt temp from here (or from active polling later)
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}
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break;
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else
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default:
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{
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break;
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//printf("New extended frame");
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}
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}
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}
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}
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else
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{
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//printf("New extended frame");
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}
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// if (rx_frame.FIR.B.RTR == CAN_RTR)
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// {
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// printf(" RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC);
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// }
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// else
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// {
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// printf(" from 0x%08X, DLC %d, Data ", rx_frame.MsgID, rx_frame.FIR.B.DLC);
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// for (int i = 0; i < rx_frame.FIR.B.DLC; i++)
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// {
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// printf("0x%02X ", rx_frame.data.u8[i]);
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// }
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// printf("\n");
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// }
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}
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// Send 100ms CAN Message
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// Send 100ms CAN Message
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if (currentMillis - previousMillis100 >= interval100)
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if (currentMillis - previousMillis100 >= interval100)
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{
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{
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previousMillis100 = currentMillis;
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previousMillis100 = currentMillis;
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ESP32Can.CANWriteFrame(&LEAF_50B); //Always send 50B as a static message
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mprun100++;
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mprun100++;
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if (mprun100 > 3)
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if (mprun100 > 3)
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{
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{
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mprun100 = 0;
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mprun100 = 0;
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}
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}
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CAN_frame_t tx_frame;
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tx_frame.FIR.B.FF = CAN_frame_std;
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tx_frame.MsgID = 0x50B;
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tx_frame.FIR.B.DLC = 8;
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tx_frame.data.u8[0] = 0x00;
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tx_frame.data.u8[1] = 0x00;
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tx_frame.data.u8[2] = 0x06;
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tx_frame.data.u8[3] = 0xC0; //HCM_WakeUpSleepCmd = Wakeup
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tx_frame.data.u8[4] = 0x00;
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tx_frame.data.u8[5] = 0x00;
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tx_frame.data.u8[6] = 0x00;
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tx_frame.data.u8[7] = 0x00;
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ESP32Can.CANWriteFrame(&tx_frame);
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Serial.println("CAN send 50B done");
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tx_frame.MsgID = 0x50C;
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tx_frame.FIR.B.DLC = 8;
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tx_frame.data.u8[0] = 0x00;
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tx_frame.data.u8[1] = 0x00;
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tx_frame.data.u8[2] = 0x00;
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tx_frame.data.u8[3] = 0x00;
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tx_frame.data.u8[4] = 0x00;
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if (mprun100 == 0)
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if (mprun100 == 0)
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{
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{
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tx_frame.data.u8[5] = 0x00;
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LEAF_50C.data.u8[5] = 0x00;
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tx_frame.data.u8[6] = 0x5D;
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LEAF_50C.data.u8[6] = 0x5D;
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tx_frame.data.u8[7] = 0xC8;
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LEAF_50C.data.u8[7] = 0xC8;
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}
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}
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if (mprun100 == 1)
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else if(mprun100 == 1)
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{
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{
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tx_frame.data.u8[5] = 0x01;
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LEAF_50C.data.u8[5] = 0x01;
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tx_frame.data.u8[6] = 0x5D;
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LEAF_50C.data.u8[6] = 0x5D;
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tx_frame.data.u8[7] = 0x5F;
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LEAF_50C.data.u8[7] = 0x5F;
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}
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}
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if (mprun100 == 2)
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else if(mprun100 == 2)
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{
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{
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tx_frame.data.u8[5] = 0x02;
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LEAF_50C.data.u8[5] = 0x02;
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tx_frame.data.u8[6] = 0x5D;
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LEAF_50C.data.u8[6] = 0x5D;
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tx_frame.data.u8[7] = 0x63;
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LEAF_50C.data.u8[7] = 0x63;
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}
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}
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if (mprun100 == 3)
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else if(mprun100 == 3)
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{
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{
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tx_frame.data.u8[5] = 0x03;
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LEAF_50C.data.u8[5] = 0x03;
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tx_frame.data.u8[6] = 0x5D;
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LEAF_50C.data.u8[6] = 0x5D;
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tx_frame.data.u8[7] = 0xF4;
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LEAF_50C.data.u8[7] = 0xF4;
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}
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}
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ESP32Can.CANWriteFrame(&tx_frame);
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ESP32Can.CANWriteFrame(&LEAF_50C);
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Serial.println("CAN send 50C done");
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}
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}
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//Send 10ms message
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if (currentMillis - previousMillis10 >= interval10)
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if (currentMillis - previousMillis10 >= interval10)
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{
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{
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previousMillis10 = currentMillis;
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previousMillis10 = currentMillis;
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if(mprun10 == 0)
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{
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LEAF_1F2.data.u8[6] = 0x00;
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LEAF_1F2.data.u8[7] = 0x8F;
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}
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else if(mprun10 == 1)
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{
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LEAF_1F2.data.u8[6] = 0x01;
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LEAF_1F2.data.u8[7] = 0x80;
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}
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else if(mprun10 == 2)
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{
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LEAF_1F2.data.u8[6] = 0x02;
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LEAF_1F2.data.u8[7] = 0x81;
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}
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else if(mprun10 == 3)
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{
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LEAF_1F2.data.u8[6] = 0x03;
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LEAF_1F2.data.u8[7] = 0x82;
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}
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ESP32Can.CANWriteFrame(&LEAF_1F2);
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mprun10++;
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mprun10++;
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if (mprun10 > 3)
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if (mprun10 > 3)
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{
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{
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mprun10 = 0;
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mprun10 = 0;
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}
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}
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//Serial.println("CAN 10ms done");
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CAN_frame_t tx_frame;
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tx_frame.FIR.B.FF = CAN_frame_std;
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tx_frame.MsgID = 0x1F2;
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tx_frame.FIR.B.DLC = 8;
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tx_frame.data.u8[0] = 0x64;
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tx_frame.data.u8[1] = 0x64;
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tx_frame.data.u8[2] = 0x32;
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tx_frame.data.u8[3] = 0xA0;
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tx_frame.data.u8[4] = 0x00;
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tx_frame.data.u8[5] = 0x0A;
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if (mprun10 == 0)
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{
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tx_frame.data.u8[6] = 0x00;
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tx_frame.data.u8[7] = 0x8F;
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}
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if (mprun10 == 1)
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{
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tx_frame.data.u8[6] = 0x01;
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tx_frame.data.u8[7] = 0x80;
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}
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if (mprun10 == 2)
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{
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tx_frame.data.u8[6] = 0x02;
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tx_frame.data.u8[7] = 0x81;
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}
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if (mprun10 == 3)
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{
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tx_frame.data.u8[6] = 0x03;
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tx_frame.data.u8[7] = 0x82;
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}
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ESP32Can.CANWriteFrame(&tx_frame);
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Serial.println("CAN send 1F2 done");
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}
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}
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}
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}
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597
Software/CAN.c
597
Software/CAN.c
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@ -1,299 +1,300 @@
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/**
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/**
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* @section License
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* @section License
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*
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*
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* The MIT License (MIT)
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* The MIT License (MIT)
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*
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*
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* Copyright (c) 2017, Thomas Barth, barth-dev.de
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* Copyright (c) 2017, Thomas Barth, barth-dev.de
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* 2017, Jaime Breva, jbreva@nayarsystems.com
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* 2017, Jaime Breva, jbreva@nayarsystems.com
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* 2018, Michael Wagner, mw@iot-make.de
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* 2018, Michael Wagner, mw@iot-make.de
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*
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*
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* Permission is hereby granted, free of charge, to any person
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use, copy,
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* restriction, including without limitation the rights to use, copy,
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* modify, merge, publish, distribute, sublicense, and/or sell copies
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* modify, merge, publish, distribute, sublicense, and/or sell copies
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* of the Software, and to permit persons to whom the Software is
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* of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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* furnished to do so, subject to the following conditions:
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*
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*
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* The above copyright notice and this permission notice shall be
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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* included in all copies or substantial portions of the Software.
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*
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
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* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
|
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
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||||||
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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* SOFTWARE.
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*
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*
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*/
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*/
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#include "CAN.h"
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#include "CAN.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/queue.h"
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#include "freertos/queue.h"
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#include "esp_intr.h"
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#include "esp_intr.h"
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#include "soc/dport_reg.h"
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#include "soc/dport_reg.h"
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#include <math.h>
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#include <math.h>
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#include "driver/gpio.h"
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#include "driver/gpio.h"
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#include "can_regdef.h"
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#include "can_regdef.h"
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#include "CAN_config.h"
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#include "CAN_config.h"
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// CAN Filter - no acceptance filter
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// CAN Filter - no acceptance filter
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static CAN_filter_t __filter = { Dual_Mode, 0, 0, 0, 0, 0Xff, 0Xff, 0Xff, 0Xff };
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static CAN_filter_t __filter = { Dual_Mode, 0, 0, 0, 0, 0Xff, 0Xff, 0Xff, 0Xff };
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static void CAN_read_frame_phy();
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static void CAN_read_frame_phy();
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static void CAN_isr(void *arg_p);
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static void CAN_isr(void *arg_p);
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static int CAN_write_frame_phy(const CAN_frame_t *p_frame);
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static int CAN_write_frame_phy(const CAN_frame_t *p_frame);
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||||||
static SemaphoreHandle_t sem_tx_complete;
|
static SemaphoreHandle_t sem_tx_complete;
|
||||||
|
|
||||||
static void CAN_isr(void *arg_p) {
|
static void CAN_isr(void *arg_p) {
|
||||||
|
|
||||||
// Interrupt flag buffer
|
// Interrupt flag buffer
|
||||||
__CAN_IRQ_t interrupt;
|
__CAN_IRQ_t interrupt;
|
||||||
BaseType_t higherPriorityTaskWoken = pdFALSE;
|
BaseType_t higherPriorityTaskWoken = pdFALSE;
|
||||||
|
|
||||||
// Read interrupt status and clear flags
|
// Read interrupt status and clear flags
|
||||||
interrupt = MODULE_CAN->IR.U;
|
interrupt = MODULE_CAN->IR.U;
|
||||||
|
|
||||||
// Handle RX frame available interrupt
|
// Handle RX frame available interrupt
|
||||||
if ((interrupt & __CAN_IRQ_RX) != 0)
|
if ((interrupt & __CAN_IRQ_RX) != 0)
|
||||||
CAN_read_frame_phy(&higherPriorityTaskWoken);
|
CAN_read_frame_phy(&higherPriorityTaskWoken);
|
||||||
|
|
||||||
// Handle TX complete interrupt
|
// Handle TX complete interrupt
|
||||||
// Handle error interrupts.
|
// Handle error interrupts.
|
||||||
if ((interrupt & (__CAN_IRQ_TX | __CAN_IRQ_ERR //0x4
|
if ((interrupt & (__CAN_IRQ_TX | __CAN_IRQ_ERR //0x4
|
||||||
| __CAN_IRQ_DATA_OVERRUN // 0x8
|
| __CAN_IRQ_DATA_OVERRUN // 0x8
|
||||||
| __CAN_IRQ_WAKEUP // 0x10
|
| __CAN_IRQ_WAKEUP // 0x10
|
||||||
| __CAN_IRQ_ERR_PASSIVE // 0x20
|
| __CAN_IRQ_ERR_PASSIVE // 0x20
|
||||||
| __CAN_IRQ_ARB_LOST // 0x40
|
| __CAN_IRQ_ARB_LOST // 0x40
|
||||||
| __CAN_IRQ_BUS_ERR // 0x80
|
| __CAN_IRQ_BUS_ERR // 0x80
|
||||||
)) != 0) {
|
)) != 0) {
|
||||||
xSemaphoreGiveFromISR(sem_tx_complete, &higherPriorityTaskWoken);
|
xSemaphoreGiveFromISR(sem_tx_complete, &higherPriorityTaskWoken);
|
||||||
}
|
}
|
||||||
|
|
||||||
// check if any higher priority task has been woken by any handler
|
// check if any higher priority task has been woken by any handler
|
||||||
if (higherPriorityTaskWoken)
|
if (higherPriorityTaskWoken)
|
||||||
portYIELD_FROM_ISR();
|
portYIELD_FROM_ISR();
|
||||||
}
|
}
|
||||||
|
|
||||||
static void CAN_read_frame_phy(BaseType_t *higherPriorityTaskWoken) {
|
static void CAN_read_frame_phy(BaseType_t *higherPriorityTaskWoken) {
|
||||||
|
|
||||||
// byte iterator
|
// byte iterator
|
||||||
uint8_t __byte_i;
|
uint8_t __byte_i;
|
||||||
|
|
||||||
// frame read buffer
|
// frame read buffer
|
||||||
CAN_frame_t __frame;
|
CAN_frame_t __frame;
|
||||||
|
|
||||||
// check if we have a queue. If not, operation is aborted.
|
// check if we have a queue. If not, operation is aborted.
|
||||||
if (CAN_cfg.rx_queue == NULL) {
|
if (CAN_cfg.rx_queue == NULL) {
|
||||||
// Let the hardware know the frame has been read.
|
// Let the hardware know the frame has been read.
|
||||||
MODULE_CAN->CMR.B.RRB = 1;
|
MODULE_CAN->CMR.B.RRB = 1;
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
// get FIR
|
// get FIR
|
||||||
__frame.FIR.U = MODULE_CAN->MBX_CTRL.FCTRL.FIR.U;
|
__frame.FIR.U = MODULE_CAN->MBX_CTRL.FCTRL.FIR.U;
|
||||||
|
|
||||||
// check if this is a standard or extended CAN frame
|
// check if this is a standard or extended CAN frame
|
||||||
// standard frame
|
// standard frame
|
||||||
if (__frame.FIR.B.FF == CAN_frame_std) {
|
if (__frame.FIR.B.FF == CAN_frame_std) {
|
||||||
|
|
||||||
// Get Message ID
|
// Get Message ID
|
||||||
__frame.MsgID = _CAN_GET_STD_ID;
|
__frame.MsgID = _CAN_GET_STD_ID;
|
||||||
|
|
||||||
// deep copy data bytes
|
// deep copy data bytes
|
||||||
for (__byte_i = 0; __byte_i < __frame.FIR.B.DLC; __byte_i++)
|
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];
|
__frame.data.u8[__byte_i] = MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.data[__byte_i];
|
||||||
}
|
}
|
||||||
// extended frame
|
// extended frame
|
||||||
else {
|
else {
|
||||||
|
|
||||||
// Get Message ID
|
// Get Message ID
|
||||||
__frame.MsgID = _CAN_GET_EXT_ID;
|
__frame.MsgID = _CAN_GET_EXT_ID;
|
||||||
|
|
||||||
// deep copy data bytes
|
// deep copy data bytes
|
||||||
for (__byte_i = 0; __byte_i < __frame.FIR.B.DLC; __byte_i++)
|
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];
|
__frame.data.u8[__byte_i] = MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.data[__byte_i];
|
||||||
}
|
}
|
||||||
|
|
||||||
// send frame to input queue
|
// send frame to input queue
|
||||||
xQueueSendToBackFromISR(CAN_cfg.rx_queue, &__frame, higherPriorityTaskWoken);
|
xQueueSendToBackFromISR(CAN_cfg.rx_queue, &__frame, higherPriorityTaskWoken);
|
||||||
|
|
||||||
// Let the hardware know the frame has been read.
|
// Let the hardware know the frame has been read.
|
||||||
MODULE_CAN->CMR.B.RRB = 1;
|
MODULE_CAN->CMR.B.RRB = 1;
|
||||||
}
|
}
|
||||||
|
|
||||||
static int CAN_write_frame_phy(const CAN_frame_t *p_frame) {
|
static int CAN_write_frame_phy(const CAN_frame_t *p_frame) {
|
||||||
|
|
||||||
// byte iterator
|
// byte iterator
|
||||||
uint8_t __byte_i;
|
uint8_t __byte_i;
|
||||||
|
|
||||||
// copy frame information record
|
// copy frame information record
|
||||||
MODULE_CAN->MBX_CTRL.FCTRL.FIR.U = p_frame->FIR.U;
|
MODULE_CAN->MBX_CTRL.FCTRL.FIR.U = p_frame->FIR.U;
|
||||||
|
|
||||||
// standard frame
|
// standard frame
|
||||||
if (p_frame->FIR.B.FF == CAN_frame_std) {
|
if (p_frame->FIR.B.FF == CAN_frame_std) {
|
||||||
|
|
||||||
// Write message ID
|
// Write message ID
|
||||||
_CAN_SET_STD_ID(p_frame->MsgID);
|
_CAN_SET_STD_ID(p_frame->MsgID);
|
||||||
|
|
||||||
// Copy the frame data to the hardware
|
// Copy the frame data to the hardware
|
||||||
for (__byte_i = 0; __byte_i < p_frame->FIR.B.DLC; __byte_i++)
|
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];
|
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.data[__byte_i] = p_frame->data.u8[__byte_i];
|
||||||
|
|
||||||
}
|
}
|
||||||
// extended frame
|
// extended frame
|
||||||
else {
|
else {
|
||||||
|
|
||||||
// Write message ID
|
// Write message ID
|
||||||
_CAN_SET_EXT_ID(p_frame->MsgID);
|
_CAN_SET_EXT_ID(p_frame->MsgID);
|
||||||
|
|
||||||
// Copy the frame data to the hardware
|
// Copy the frame data to the hardware
|
||||||
for (__byte_i = 0; __byte_i < p_frame->FIR.B.DLC; __byte_i++)
|
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];
|
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.data[__byte_i] = p_frame->data.u8[__byte_i];
|
||||||
}
|
}
|
||||||
|
|
||||||
// Transmit frame
|
// Transmit frame
|
||||||
MODULE_CAN->CMR.B.TR = 1;
|
MODULE_CAN->CMR.B.TR = 1;
|
||||||
|
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
int CAN_init() {
|
int CAN_init() {
|
||||||
|
|
||||||
// Time quantum
|
// Time quantum
|
||||||
double __tq;
|
double __tq;
|
||||||
|
|
||||||
// enable module
|
// enable module
|
||||||
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
|
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);
|
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);
|
// configure TX pin
|
||||||
gpio_set_direction(CAN_cfg.tx_pin_id, GPIO_MODE_OUTPUT);
|
gpio_set_level(CAN_cfg.tx_pin_id, 1);
|
||||||
gpio_matrix_out(CAN_cfg.tx_pin_id, CAN_TX_IDX, 0, 0);
|
gpio_set_direction(CAN_cfg.tx_pin_id, GPIO_MODE_OUTPUT);
|
||||||
gpio_pad_select_gpio(CAN_cfg.tx_pin_id);
|
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);
|
// configure RX pin
|
||||||
gpio_matrix_in(CAN_cfg.rx_pin_id, CAN_RX_IDX, 0);
|
gpio_set_direction(CAN_cfg.rx_pin_id, GPIO_MODE_INPUT);
|
||||||
gpio_pad_select_gpio(CAN_cfg.rx_pin_id);
|
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;
|
// 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;
|
// 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;
|
// TSEG2 is the same for all baud rates
|
||||||
|
MODULE_CAN->BTR1.B.TSEG2 = 0x1;
|
||||||
// select time quantum and set TSEG1
|
|
||||||
switch (CAN_cfg.speed) {
|
// select time quantum and set TSEG1
|
||||||
case CAN_SPEED_1000KBPS:
|
switch (CAN_cfg.speed) {
|
||||||
MODULE_CAN->BTR1.B.TSEG1 = 0x4;
|
case CAN_SPEED_1000KBPS:
|
||||||
__tq = 0.125;
|
MODULE_CAN->BTR1.B.TSEG1 = 0x4;
|
||||||
break;
|
__tq = 0.125;
|
||||||
|
break;
|
||||||
case CAN_SPEED_800KBPS:
|
|
||||||
MODULE_CAN->BTR1.B.TSEG1 = 0x6;
|
case CAN_SPEED_800KBPS:
|
||||||
__tq = 0.125;
|
MODULE_CAN->BTR1.B.TSEG1 = 0x6;
|
||||||
break;
|
__tq = 0.125;
|
||||||
|
break;
|
||||||
case CAN_SPEED_200KBPS:
|
|
||||||
MODULE_CAN->BTR1.B.TSEG1 = 0xc;
|
case CAN_SPEED_200KBPS:
|
||||||
MODULE_CAN->BTR1.B.TSEG2 = 0x5;
|
MODULE_CAN->BTR1.B.TSEG1 = 0xc;
|
||||||
__tq = 0.25;
|
MODULE_CAN->BTR1.B.TSEG2 = 0x5;
|
||||||
break;
|
__tq = 0.25;
|
||||||
|
break;
|
||||||
default:
|
|
||||||
MODULE_CAN->BTR1.B.TSEG1 = 0xc;
|
default:
|
||||||
__tq = ((float) 1000 / CAN_cfg.speed) / 16;
|
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 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
|
/* Set sampling
|
||||||
* filtering spikes on the bus line is beneficial 0 -> single; the bus is sampled once; recommended for high speed
|
* 1 -> triple; the bus is sampled three times; recommended for low/medium speed buses (class A and B) where
|
||||||
* buses (SAE class C)*/
|
* filtering spikes on the bus line is beneficial 0 -> single; the bus is sampled once; recommended for high speed
|
||||||
MODULE_CAN->BTR1.B.SAM = 0x1;
|
* 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
|
// 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;
|
// Set acceptance filter
|
||||||
MODULE_CAN->MBX_CTRL.ACC.CODE[0] = __filter.ACR0;
|
MODULE_CAN->MOD.B.AFM = __filter.FM;
|
||||||
MODULE_CAN->MBX_CTRL.ACC.CODE[1] = __filter.ACR1;
|
MODULE_CAN->MBX_CTRL.ACC.CODE[0] = __filter.ACR0;
|
||||||
MODULE_CAN->MBX_CTRL.ACC.CODE[2] = __filter.ACR2;
|
MODULE_CAN->MBX_CTRL.ACC.CODE[1] = __filter.ACR1;
|
||||||
MODULE_CAN->MBX_CTRL.ACC.CODE[3] = __filter.ACR3;
|
MODULE_CAN->MBX_CTRL.ACC.CODE[2] = __filter.ACR2;
|
||||||
MODULE_CAN->MBX_CTRL.ACC.MASK[0] = __filter.AMR0;
|
MODULE_CAN->MBX_CTRL.ACC.CODE[3] = __filter.ACR3;
|
||||||
MODULE_CAN->MBX_CTRL.ACC.MASK[1] = __filter.AMR1;
|
MODULE_CAN->MBX_CTRL.ACC.MASK[0] = __filter.AMR0;
|
||||||
MODULE_CAN->MBX_CTRL.ACC.MASK[2] = __filter.AMR2;
|
MODULE_CAN->MBX_CTRL.ACC.MASK[1] = __filter.AMR1;
|
||||||
MODULE_CAN->MBX_CTRL.ACC.MASK[3] = __filter.AMR3;
|
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;
|
// set to normal mode
|
||||||
|
MODULE_CAN->OCR.B.OCMODE = __CAN_OC_NOM;
|
||||||
// clear error counters
|
|
||||||
MODULE_CAN->TXERR.U = 0;
|
// clear error counters
|
||||||
MODULE_CAN->RXERR.U = 0;
|
MODULE_CAN->TXERR.U = 0;
|
||||||
(void) MODULE_CAN->ECC;
|
MODULE_CAN->RXERR.U = 0;
|
||||||
|
(void) MODULE_CAN->ECC;
|
||||||
// clear interrupt flags
|
|
||||||
(void) MODULE_CAN->IR.U;
|
// clear interrupt flags
|
||||||
|
(void) MODULE_CAN->IR.U;
|
||||||
// install CAN ISR
|
|
||||||
esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, CAN_isr, NULL, NULL);
|
// install CAN ISR
|
||||||
|
esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, CAN_isr, NULL, NULL);
|
||||||
// allocate the tx complete semaphore
|
|
||||||
sem_tx_complete = xSemaphoreCreateBinary();
|
// allocate the tx complete semaphore
|
||||||
|
sem_tx_complete = xSemaphoreCreateBinary();
|
||||||
// Showtime. Release Reset Mode.
|
|
||||||
MODULE_CAN->MOD.B.RM = 0;
|
// Showtime. Release Reset Mode.
|
||||||
|
MODULE_CAN->MOD.B.RM = 0;
|
||||||
return 0;
|
|
||||||
}
|
return 0;
|
||||||
|
}
|
||||||
int CAN_write_frame(const CAN_frame_t *p_frame) {
|
|
||||||
if (sem_tx_complete == NULL) {
|
int CAN_write_frame(const CAN_frame_t *p_frame) {
|
||||||
return -1;
|
if (sem_tx_complete == NULL) {
|
||||||
}
|
return -1;
|
||||||
|
}
|
||||||
// Write the frame to the controller
|
|
||||||
CAN_write_frame_phy(p_frame);
|
// 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);
|
// wait for the frame tx to complete
|
||||||
|
xSemaphoreTake(sem_tx_complete, portMAX_DELAY);
|
||||||
return 0;
|
|
||||||
}
|
return 0;
|
||||||
|
}
|
||||||
int CAN_stop() {
|
|
||||||
// enter reset mode
|
int CAN_stop() {
|
||||||
MODULE_CAN->MOD.B.RM = 1;
|
// enter reset mode
|
||||||
|
MODULE_CAN->MOD.B.RM = 1;
|
||||||
return 0;
|
|
||||||
}
|
return 0;
|
||||||
|
}
|
||||||
int CAN_config_filter(const CAN_filter_t* p_filter) {
|
|
||||||
|
int CAN_config_filter(const CAN_filter_t* p_filter) {
|
||||||
__filter.FM = p_filter->FM;
|
|
||||||
__filter.ACR0 = p_filter->ACR0;
|
__filter.FM = p_filter->FM;
|
||||||
__filter.ACR1 = p_filter->ACR1;
|
__filter.ACR0 = p_filter->ACR0;
|
||||||
__filter.ACR2 = p_filter->ACR2;
|
__filter.ACR1 = p_filter->ACR1;
|
||||||
__filter.ACR3 = p_filter->ACR3;
|
__filter.ACR2 = p_filter->ACR2;
|
||||||
__filter.AMR0 = p_filter->AMR0;
|
__filter.ACR3 = p_filter->ACR3;
|
||||||
__filter.AMR1 = p_filter->AMR1;
|
__filter.AMR0 = p_filter->AMR0;
|
||||||
__filter.AMR2 = p_filter->AMR2;
|
__filter.AMR1 = p_filter->AMR1;
|
||||||
__filter.AMR3 = p_filter->AMR3;
|
__filter.AMR2 = p_filter->AMR2;
|
||||||
|
__filter.AMR3 = p_filter->AMR3;
|
||||||
return 0;
|
|
||||||
|
return 0;
|
||||||
}
|
}
|
||||||
|
|
@ -4,8 +4,8 @@
|
||||||
// PIN
|
// PIN
|
||||||
#define PIN_5V_EN 16
|
#define PIN_5V_EN 16
|
||||||
|
|
||||||
#define CAN_TX_PIN 26
|
#define CAN_TX_PIN 27
|
||||||
#define CAN_RX_PIN 27
|
#define CAN_RX_PIN 26
|
||||||
#define CAN_SE_PIN 23
|
#define CAN_SE_PIN 23
|
||||||
|
|
||||||
#define RS485_EN_PIN 17 // 17 /RE
|
#define RS485_EN_PIN 17 // 17 /RE
|
||||||
|
|
|
||||||
Loading…
Add table
Add a link
Reference in a new issue