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Add initial files
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Daniel Öster
GitHub
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commit
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11 changed files with 47187 additions and 0 deletions
227
Software/BYD-MODBUS-2-LEAF-CAN.ino
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227
Software/BYD-MODBUS-2-LEAF-CAN.ino
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@ -0,0 +1,227 @@
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//This software converts the LEAF CAN into Modbus RTU registers understood by solar inverters that take the BYD 11kWh HVM battery
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//This code runs on the LilyGo ESP32 T-CAN485 devboard
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#include <Arduino.h>
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#include "config.h"
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#include <HardwareSerial.h>
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#include "ESP32CAN.h"
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#include "CAN_config.h"
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//CAN sending parameters
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CAN_device_t CAN_cfg; // CAN Config
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unsigned long previousMillis10 = 0; // will store last time a 10ms CAN Message was send
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unsigned long previousMillis100 = 0; // will store last time a 100ms CAN Message was send
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const int interval10 = 10; // interval (ms) at which send CAN Messages
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const int interval100 = 100; // interval (ms) at which send CAN Messages
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const int rx_queue_size = 10; // Receive Queue size
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byte mprun10 = 0; //counter 0-3
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byte mprun100 = 0; //counter 0-3
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//Nissan LEAF battery parameters
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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_MAX_POWER_FOR_CHARGER = 0; //Limit in kW
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int LB_SOC = 0; //0 - 100.0 % (0-1000)
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int LB_kWh = 0; //Amount of energy in battery, in kWh
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long LB_Wh = 0; //Amount of energy in battery, in Wh
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int LB_GIDS = 0;
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int LB_max_gids = 0;
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int LB_Current = 0; //Current in kW going in/out of battery
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int LB_Total_Voltage = 0; //Battery voltage (0-450V)
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void setup()
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{
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pinMode(PIN_5V_EN, OUTPUT);
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digitalWrite(PIN_5V_EN, HIGH);
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pinMode(CAN_SE_PIN, OUTPUT);
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digitalWrite(CAN_SE_PIN, LOW);
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Serial.begin(115200);
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//SD_test(); //SD card
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Serial.println("Startup in progress...");
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CAN_cfg.speed = CAN_SPEED_500KBPS;
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CAN_cfg.tx_pin_id = GPIO_NUM_27;
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CAN_cfg.rx_pin_id = GPIO_NUM_26;
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CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t));
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// Init CAN Module
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ESP32Can.CANInit();
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Serial.print("CAN SPEED :");
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Serial.println(CAN_cfg.speed);
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// put your setup code here, to run once:
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}
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void loop()
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{
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CAN_frame_t rx_frame;
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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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{
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if (rx_frame.FIR.B.FF == CAN_frame_std)
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{
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//printf("New standard frame");
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switch (rx_frame.MsgID) {
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case 0x1DB:
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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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break;
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case 0x1DC:
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LB_Discharge_Power_Limit = ( ( rx_frame.data.u8[0] << 2 | rx_frame.data.u8[1] >> 6 ) / 4.0 );
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LB_MAX_POWER_FOR_CHARGER = ( ( ( (rx_frame.data.u8[2] & 0x0F) << 6 | rx_frame.data.u8[3] >> 2 ) / 10.0 ) - 10); //check if -10 is correct offset
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break;
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case 0x55B:
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LB_SOC = (rx_frame.data.u8[0] << 2 | rx_frame.data.u8[1] >> 6);
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break;
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case 0x5BC:
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LB_max_gids = ((rx_frame.data.u8[5] & 0x10) >> 4);
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if(LB_max_gids)
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{
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//Max gids active, do nothing
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//Only the 30/40/62kWh packs have this mux
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}
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else
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{ //Normal current GIDS value is transmitted
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LB_GIDS = (rx_frame.data.u8[0] << 2) | ((rx_frame.data.u8[1] & 0xC0) >> 6);
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LB_Wh = (LB_GIDS * WH_PER_GID);
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LB_kWh = ((LB_Wh) / 1000);
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}
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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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break;
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case 0x5C0:
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break;
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default:
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break;
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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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if (currentMillis - previousMillis100 >= interval100)
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{
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previousMillis100 = currentMillis;
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mprun100++;
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if(mprun100 > 3)
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{
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mprun100 = 0;
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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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{
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tx_frame.data.u8[5] = 0x00;
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tx_frame.data.u8[6] = 0x5D;
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tx_frame.data.u8[7] = 0xC8;
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}
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if(mprun100 == 1)
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{
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tx_frame.data.u8[5] = 0x01;
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tx_frame.data.u8[6] = 0x5D;
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tx_frame.data.u8[7] = 0x5F;
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}
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if(mprun100 == 2)
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{
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tx_frame.data.u8[5] = 0x02;
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tx_frame.data.u8[6] = 0x5D;
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tx_frame.data.u8[7] = 0x63;
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}
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if(mprun100 == 3)
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{
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tx_frame.data.u8[5] = 0x03;
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tx_frame.data.u8[6] = 0x5D;
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tx_frame.data.u8[7] = 0xF4;
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}
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ESP32Can.CANWriteFrame(&tx_frame);
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Serial.println("CAN send 50C done");
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}
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if (currentMillis - previousMillis10 >= interval10)
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{
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previousMillis10 = currentMillis;
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mprun10++;
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if(mprun10 > 3)
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{
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mprun10 = 0;
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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 = 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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299
Software/CAN.c
Normal file
299
Software/CAN.c
Normal file
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@ -0,0 +1,299 @@
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/**
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* @section License
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*
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* The MIT License (MIT)
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*
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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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* 2018, Michael Wagner, mw@iot-make.de
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*
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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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* 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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* 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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* furnished to do so, subject to the following conditions:
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*
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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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*
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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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* 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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* 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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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*
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*/
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#include "CAN.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/queue.h"
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#include "esp_intr.h"
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#include "soc/dport_reg.h"
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#include <math.h>
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#include "driver/gpio.h"
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#include "can_regdef.h"
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#include "CAN_config.h"
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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 void CAN_read_frame_phy();
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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 SemaphoreHandle_t sem_tx_complete;
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static void CAN_isr(void *arg_p) {
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// Interrupt flag buffer
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__CAN_IRQ_t interrupt;
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BaseType_t higherPriorityTaskWoken = pdFALSE;
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// Read interrupt status and clear flags
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interrupt = MODULE_CAN->IR.U;
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// Handle RX frame available interrupt
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if ((interrupt & __CAN_IRQ_RX) != 0)
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CAN_read_frame_phy(&higherPriorityTaskWoken);
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// Handle TX complete interrupt
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// Handle error interrupts.
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if ((interrupt & (__CAN_IRQ_TX | __CAN_IRQ_ERR //0x4
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| __CAN_IRQ_DATA_OVERRUN // 0x8
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| __CAN_IRQ_WAKEUP // 0x10
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| __CAN_IRQ_ERR_PASSIVE // 0x20
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| __CAN_IRQ_ARB_LOST // 0x40
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| __CAN_IRQ_BUS_ERR // 0x80
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)) != 0) {
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xSemaphoreGiveFromISR(sem_tx_complete, &higherPriorityTaskWoken);
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}
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// check if any higher priority task has been woken by any handler
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if (higherPriorityTaskWoken)
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portYIELD_FROM_ISR();
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}
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static void CAN_read_frame_phy(BaseType_t *higherPriorityTaskWoken) {
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// byte iterator
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uint8_t __byte_i;
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// frame read buffer
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CAN_frame_t __frame;
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// check if we have a queue. If not, operation is aborted.
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if (CAN_cfg.rx_queue == NULL) {
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// Let the hardware know the frame has been read.
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MODULE_CAN->CMR.B.RRB = 1;
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return;
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}
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// get FIR
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__frame.FIR.U = MODULE_CAN->MBX_CTRL.FCTRL.FIR.U;
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// check if this is a standard or extended CAN frame
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// standard frame
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if (__frame.FIR.B.FF == CAN_frame_std) {
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// Get Message ID
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__frame.MsgID = _CAN_GET_STD_ID;
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// deep copy data bytes
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for (__byte_i = 0; __byte_i < __frame.FIR.B.DLC; __byte_i++)
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__frame.data.u8[__byte_i] = MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.data[__byte_i];
|
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|
}
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// extended frame
|
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else {
|
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||||||
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// Get Message ID
|
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__frame.MsgID = _CAN_GET_EXT_ID;
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// deep copy data bytes
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for (__byte_i = 0; __byte_i < __frame.FIR.B.DLC; __byte_i++)
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__frame.data.u8[__byte_i] = MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.data[__byte_i];
|
||||||
|
}
|
||||||
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// send frame to input queue
|
||||||
|
xQueueSendToBackFromISR(CAN_cfg.rx_queue, &__frame, higherPriorityTaskWoken);
|
||||||
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|
||||||
|
// 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;
|
||||||
|
}
|
||||||
131
Software/CAN.h
Normal file
131
Software/CAN.h
Normal file
|
|
@ -0,0 +1,131 @@
|
||||||
|
/**
|
||||||
|
* @section License
|
||||||
|
*
|
||||||
|
* The MIT License (MIT)
|
||||||
|
*
|
||||||
|
* Copyright (c) 2017, Thomas Barth, barth-dev.de
|
||||||
|
* 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.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef __DRIVERS_CAN_H__
|
||||||
|
#define __DRIVERS_CAN_H__
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
#include "CAN_config.h"
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief CAN frame type (standard/extended)
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
CAN_frame_std = 0, /**< Standard frame, using 11 bit identifer. */
|
||||||
|
CAN_frame_ext = 1 /**< Extended frame, using 29 bit identifer. */
|
||||||
|
} CAN_frame_format_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief CAN RTR
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
CAN_no_RTR = 0, /**< No RTR frame. */
|
||||||
|
CAN_RTR = 1 /**< RTR frame. */
|
||||||
|
} CAN_RTR_t;
|
||||||
|
|
||||||
|
/** \brief Frame information record type */
|
||||||
|
typedef union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
uint8_t DLC : 4; /**< \brief [3:0] DLC, Data length container */
|
||||||
|
unsigned int unknown_2 : 2; /**< \brief \internal unknown */
|
||||||
|
CAN_RTR_t RTR : 1; /**< \brief [6:6] RTR, Remote Transmission Request */
|
||||||
|
CAN_frame_format_t FF : 1; /**< \brief [7:7] Frame Format, see# CAN_frame_format_t*/
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} CAN_FIR_t;
|
||||||
|
|
||||||
|
/** \brief CAN Frame structure */
|
||||||
|
typedef struct {
|
||||||
|
CAN_FIR_t FIR; /**< \brief Frame information record*/
|
||||||
|
uint32_t MsgID; /**< \brief Message ID */
|
||||||
|
union {
|
||||||
|
uint8_t u8[8]; /**< \brief Payload byte access*/
|
||||||
|
uint32_t u32[2]; /**< \brief Payload u32 access*/
|
||||||
|
uint64_t u64; /**< \brief Payload u64 access*/
|
||||||
|
} data;
|
||||||
|
} CAN_frame_t;
|
||||||
|
|
||||||
|
typedef enum {
|
||||||
|
Dual_Mode=0, /**< \brief The dual acceptance filter option is enabled (two filters, each with the length of 16 bit are active) */
|
||||||
|
Single_Mode=1 /**< \brief The single acceptance filter option is enabled (one filter with the length of 32 bit is active) */
|
||||||
|
} CAN_filter_mode_t;
|
||||||
|
|
||||||
|
/** \brief CAN Filter structure */
|
||||||
|
typedef struct {
|
||||||
|
CAN_filter_mode_t FM:1; /**< \brief [0:0] Filter Mode */
|
||||||
|
uint8_t ACR0; /**< \brief Acceptance Code Register ACR0 */
|
||||||
|
uint8_t ACR1; /**< \brief Acceptance Code Register ACR1 */
|
||||||
|
uint8_t ACR2; /**< \brief Acceptance Code Register ACR2 */
|
||||||
|
uint8_t ACR3; /**< \brief Acceptance Code Register ACR3 */
|
||||||
|
uint8_t AMR0; /**< \brief Acceptance Mask Register AMR0 */
|
||||||
|
uint8_t AMR1; /**< \brief Acceptance Mask Register AMR1 */
|
||||||
|
uint8_t AMR2; /**< \brief Acceptance Mask Register AMR2 */
|
||||||
|
uint8_t AMR3; /**< \brief Acceptance Mask Register AMR3 */
|
||||||
|
} CAN_filter_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Initialize the CAN Module
|
||||||
|
*
|
||||||
|
* \return 0 CAN Module had been initialized
|
||||||
|
*/
|
||||||
|
int CAN_init(void);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Send a can frame
|
||||||
|
*
|
||||||
|
* \param p_frame Pointer to the frame to be send, see #CAN_frame_t
|
||||||
|
* \return 0 Frame has been written to the module
|
||||||
|
*/
|
||||||
|
int CAN_write_frame(const CAN_frame_t *p_frame);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Stops the CAN Module
|
||||||
|
*
|
||||||
|
* \return 0 CAN Module was stopped
|
||||||
|
*/
|
||||||
|
int CAN_stop(void);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Config CAN Filter, must call before CANInit()
|
||||||
|
*
|
||||||
|
* \param p_filter Pointer to the filter, see #CAN_filter_t
|
||||||
|
* \return 0 CAN Filter had been initialized
|
||||||
|
*/
|
||||||
|
int CAN_config_filter(const CAN_filter_t* p_filter);
|
||||||
|
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif
|
||||||
71
Software/CAN_config.h
Normal file
71
Software/CAN_config.h
Normal file
|
|
@ -0,0 +1,71 @@
|
||||||
|
/**
|
||||||
|
* @section License
|
||||||
|
*
|
||||||
|
* The MIT License (MIT)
|
||||||
|
*
|
||||||
|
* Copyright (c) 2017, Thomas Barth, barth-dev.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.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef __DRIVERS_CAN_CFG_H__
|
||||||
|
#define __DRIVERS_CAN_CFG_H__
|
||||||
|
|
||||||
|
#include "freertos/FreeRTOS.h"
|
||||||
|
#include "freertos/queue.h"
|
||||||
|
#include "freertos/task.h"
|
||||||
|
#include "driver/gpio.h"
|
||||||
|
#include "freertos/semphr.h"
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/** \brief CAN Node Bus speed */
|
||||||
|
typedef enum {
|
||||||
|
CAN_SPEED_100KBPS = 100, /**< \brief CAN Node runs at 100kBit/s. */
|
||||||
|
CAN_SPEED_125KBPS = 125, /**< \brief CAN Node runs at 125kBit/s. */
|
||||||
|
CAN_SPEED_200KBPS = 200, /**< \brief CAN Node runs at 250kBit/s. */
|
||||||
|
CAN_SPEED_250KBPS = 250, /**< \brief CAN Node runs at 250kBit/s. */
|
||||||
|
CAN_SPEED_500KBPS = 500, /**< \brief CAN Node runs at 500kBit/s. */
|
||||||
|
CAN_SPEED_800KBPS = 800, /**< \brief CAN Node runs at 800kBit/s. */
|
||||||
|
CAN_SPEED_1000KBPS = 1000 /**< \brief CAN Node runs at 1000kBit/s. */
|
||||||
|
} CAN_speed_t;
|
||||||
|
|
||||||
|
/** \brief CAN configuration structure */
|
||||||
|
typedef struct {
|
||||||
|
CAN_speed_t speed; /**< \brief CAN speed. */
|
||||||
|
gpio_num_t tx_pin_id; /**< \brief TX pin. */
|
||||||
|
gpio_num_t rx_pin_id; /**< \brief RX pin. */
|
||||||
|
QueueHandle_t rx_queue; /**< \brief Handler to FreeRTOS RX queue. */
|
||||||
|
QueueHandle_t tx_queue; /**< \brief Handler to FreeRTOS TX queue. */
|
||||||
|
TaskHandle_t tx_handle; /**< \brief Handler to FreeRTOS TX task. */
|
||||||
|
TaskHandle_t rx_handle; /**< \brief Handler to FreeRTOS RX task. */
|
||||||
|
} CAN_device_t;
|
||||||
|
|
||||||
|
/** \brief CAN configuration reference */
|
||||||
|
extern CAN_device_t CAN_cfg;
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* __DRIVERS_CAN_CFG_H__ */
|
||||||
20
Software/ESP32CAN.cpp
Normal file
20
Software/ESP32CAN.cpp
Normal file
|
|
@ -0,0 +1,20 @@
|
||||||
|
#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 ESP32Can;
|
||||||
17
Software/ESP32CAN.h
Normal file
17
Software/ESP32CAN.h
Normal file
|
|
@ -0,0 +1,17 @@
|
||||||
|
#ifndef ESP32CAN_H
|
||||||
|
#define ESP32CAN_H
|
||||||
|
|
||||||
|
#include "CAN_config.h"
|
||||||
|
#include "CAN.h"
|
||||||
|
|
||||||
|
class ESP32CAN
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
int CANInit();
|
||||||
|
int CANConfigFilter(const CAN_filter_t* p_filter);
|
||||||
|
int CANWriteFrame(const CAN_frame_t* p_frame);
|
||||||
|
int CANStop();
|
||||||
|
};
|
||||||
|
|
||||||
|
extern ESP32CAN ESP32Can;
|
||||||
|
#endif
|
||||||
279
Software/can_regdef.h
Normal file
279
Software/can_regdef.h
Normal file
|
|
@ -0,0 +1,279 @@
|
||||||
|
/**
|
||||||
|
* @section License
|
||||||
|
*
|
||||||
|
* The MIT License (MIT)
|
||||||
|
*
|
||||||
|
* Copyright (c) 2017, Thomas Barth, barth-dev.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.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef __DRIVERS_CAN_REGDEF_H_
|
||||||
|
#define __DRIVERS_CAN_REGDEF_H_
|
||||||
|
|
||||||
|
#include "CAN.h" //CAN_FIR_t
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/** \brief Start address of CAN registers */
|
||||||
|
#define MODULE_CAN ((volatile CAN_Module_t *) 0x3ff6b000)
|
||||||
|
|
||||||
|
/** \brief Get standard message ID */
|
||||||
|
#define _CAN_GET_STD_ID \
|
||||||
|
(((uint32_t) MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[0] << 3) | (MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[1] >> 5))
|
||||||
|
|
||||||
|
/** \brief Get extended message ID */
|
||||||
|
#define _CAN_GET_EXT_ID \
|
||||||
|
(((uint32_t) MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[0] << 21) | \
|
||||||
|
(MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[1] << 13) | (MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[2] << 5) | \
|
||||||
|
(MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[3] >> 3))
|
||||||
|
|
||||||
|
/** \brief Set standard message ID */
|
||||||
|
#define _CAN_SET_STD_ID(x) \
|
||||||
|
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[0] = ((x) >> 3); \
|
||||||
|
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[1] = ((x) << 5);
|
||||||
|
|
||||||
|
/** \brief Set extended message ID */
|
||||||
|
#define _CAN_SET_EXT_ID(x) \
|
||||||
|
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[0] = ((x) >> 21); \
|
||||||
|
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[1] = ((x) >> 13); \
|
||||||
|
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[2] = ((x) >> 5); \
|
||||||
|
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[3] = ((x) << 3);
|
||||||
|
|
||||||
|
/** \brief Interrupt status register */
|
||||||
|
typedef enum {
|
||||||
|
__CAN_IRQ_RX = BIT(0), /**< \brief RX Interrupt */
|
||||||
|
__CAN_IRQ_TX = BIT(1), /**< \brief TX Interrupt */
|
||||||
|
__CAN_IRQ_ERR = BIT(2), /**< \brief Error Interrupt */
|
||||||
|
__CAN_IRQ_DATA_OVERRUN = BIT(3), /**< \brief Data Overrun Interrupt */
|
||||||
|
__CAN_IRQ_WAKEUP = BIT(4), /**< \brief Wakeup Interrupt */
|
||||||
|
__CAN_IRQ_ERR_PASSIVE = BIT(5), /**< \brief Passive Error Interrupt */
|
||||||
|
__CAN_IRQ_ARB_LOST = BIT(6), /**< \brief Arbitration lost interrupt */
|
||||||
|
__CAN_IRQ_BUS_ERR = BIT(7), /**< \brief Bus error Interrupt */
|
||||||
|
} __CAN_IRQ_t;
|
||||||
|
|
||||||
|
/** \brief OCMODE options. */
|
||||||
|
typedef enum {
|
||||||
|
__CAN_OC_BOM = 0b00, /**< \brief bi-phase output mode */
|
||||||
|
__CAN_OC_TOM = 0b01, /**< \brief test output mode */
|
||||||
|
__CAN_OC_NOM = 0b10, /**< \brief normal output mode */
|
||||||
|
__CAN_OC_COM = 0b11, /**< \brief clock output mode */
|
||||||
|
} __CAN_OCMODE_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* CAN controller (SJA1000).
|
||||||
|
*/
|
||||||
|
typedef struct {
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int RM : 1; /**< \brief MOD.0 Reset Mode */
|
||||||
|
unsigned int LOM : 1; /**< \brief MOD.1 Listen Only Mode */
|
||||||
|
unsigned int STM : 1; /**< \brief MOD.2 Self Test Mode */
|
||||||
|
unsigned int AFM : 1; /**< \brief MOD.3 Acceptance Filter Mode */
|
||||||
|
unsigned int SM : 1; /**< \brief MOD.4 Sleep Mode */
|
||||||
|
unsigned int reserved_27 : 27; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} MOD;
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int TR : 1; /**< \brief CMR.0 Transmission Request */
|
||||||
|
unsigned int AT : 1; /**< \brief CMR.1 Abort Transmission */
|
||||||
|
unsigned int RRB : 1; /**< \brief CMR.2 Release Receive Buffer */
|
||||||
|
unsigned int CDO : 1; /**< \brief CMR.3 Clear Data Overrun */
|
||||||
|
unsigned int GTS : 1; /**< \brief CMR.4 Go To Sleep */
|
||||||
|
unsigned int reserved_27 : 27; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} CMR;
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int RBS : 1; /**< \brief SR.0 Receive Buffer Status */
|
||||||
|
unsigned int DOS : 1; /**< \brief SR.1 Data Overrun Status */
|
||||||
|
unsigned int TBS : 1; /**< \brief SR.2 Transmit Buffer Status */
|
||||||
|
unsigned int TCS : 1; /**< \brief SR.3 Transmission Complete Status */
|
||||||
|
unsigned int RS : 1; /**< \brief SR.4 Receive Status */
|
||||||
|
unsigned int TS : 1; /**< \brief SR.5 Transmit Status */
|
||||||
|
unsigned int ES : 1; /**< \brief SR.6 Error Status */
|
||||||
|
unsigned int BS : 1; /**< \brief SR.7 Bus Status */
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} SR;
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int RI : 1; /**< \brief IR.0 Receive Interrupt */
|
||||||
|
unsigned int TI : 1; /**< \brief IR.1 Transmit Interrupt */
|
||||||
|
unsigned int EI : 1; /**< \brief IR.2 Error Interrupt */
|
||||||
|
unsigned int DOI : 1; /**< \brief IR.3 Data Overrun Interrupt */
|
||||||
|
unsigned int WUI : 1; /**< \brief IR.4 Wake-Up Interrupt */
|
||||||
|
unsigned int EPI : 1; /**< \brief IR.5 Error Passive Interrupt */
|
||||||
|
unsigned int ALI : 1; /**< \brief IR.6 Arbitration Lost Interrupt */
|
||||||
|
unsigned int BEI : 1; /**< \brief IR.7 Bus Error Interrupt */
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} IR;
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int RIE : 1; /**< \brief IER.0 Receive Interrupt Enable */
|
||||||
|
unsigned int TIE : 1; /**< \brief IER.1 Transmit Interrupt Enable */
|
||||||
|
unsigned int EIE : 1; /**< \brief IER.2 Error Interrupt Enable */
|
||||||
|
unsigned int DOIE : 1; /**< \brief IER.3 Data Overrun Interrupt Enable */
|
||||||
|
unsigned int WUIE : 1; /**< \brief IER.4 Wake-Up Interrupt Enable */
|
||||||
|
unsigned int EPIE : 1; /**< \brief IER.5 Error Passive Interrupt Enable */
|
||||||
|
unsigned int ALIE : 1; /**< \brief IER.6 Arbitration Lost Interrupt Enable */
|
||||||
|
unsigned int BEIE : 1; /**< \brief IER.7 Bus Error Interrupt Enable */
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} IER;
|
||||||
|
uint32_t RESERVED0;
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int BRP : 6; /**< \brief BTR0[5:0] Baud Rate Prescaler */
|
||||||
|
unsigned int SJW : 2; /**< \brief BTR0[7:6] Synchronization Jump Width*/
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} BTR0;
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int TSEG1 : 4; /**< \brief BTR1[3:0] Timing Segment 1 */
|
||||||
|
unsigned int TSEG2 : 3; /**< \brief BTR1[6:4] Timing Segment 2*/
|
||||||
|
unsigned int SAM : 1; /**< \brief BTR1.7 Sampling*/
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} BTR1;
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int OCMODE : 2; /**< \brief OCR[1:0] Output Control Mode, see # */
|
||||||
|
unsigned int OCPOL0 : 1; /**< \brief OCR.2 Output Control Polarity 0 */
|
||||||
|
unsigned int OCTN0 : 1; /**< \brief OCR.3 Output Control Transistor N0 */
|
||||||
|
unsigned int OCTP0 : 1; /**< \brief OCR.4 Output Control Transistor P0 */
|
||||||
|
unsigned int OCPOL1 : 1; /**< \brief OCR.5 Output Control Polarity 1 */
|
||||||
|
unsigned int OCTN1 : 1; /**< \brief OCR.6 Output Control Transistor N1 */
|
||||||
|
unsigned int OCTP1 : 1; /**< \brief OCR.7 Output Control Transistor P1 */
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} OCR;
|
||||||
|
uint32_t RESERVED1[2];
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int ALC : 8; /**< \brief ALC[7:0] Arbitration Lost Capture */
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} ALC;
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int ECC : 8; /**< \brief ECC[7:0] Error Code Capture */
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} ECC;
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int EWLR : 8; /**< \brief EWLR[7:0] Error Warning Limit */
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} EWLR;
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int RXERR : 8; /**< \brief RXERR[7:0] Receive Error Counter */
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} RXERR;
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int TXERR : 8; /**< \brief TXERR[7:0] Transmit Error Counter */
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} TXERR;
|
||||||
|
|
||||||
|
union {
|
||||||
|
struct {
|
||||||
|
uint32_t CODE[4]; /**< \brief Acceptance Message ID */
|
||||||
|
uint32_t MASK[4]; /**< \brief Acceptance Mask */
|
||||||
|
uint32_t RESERVED2[5];
|
||||||
|
} ACC; /**< \brief Acceptance filtering */
|
||||||
|
struct {
|
||||||
|
CAN_FIR_t FIR; /**< \brief Frame information record */
|
||||||
|
union {
|
||||||
|
struct {
|
||||||
|
uint32_t ID[2]; /**< \brief Standard frame message-ID*/
|
||||||
|
uint32_t data[8]; /**< \brief Standard frame payload */
|
||||||
|
uint32_t reserved[2];
|
||||||
|
} STD; /**< \brief Standard frame format */
|
||||||
|
struct {
|
||||||
|
uint32_t ID[4]; /**< \brief Extended frame message-ID*/
|
||||||
|
uint32_t data[8]; /**< \brief Extended frame payload */
|
||||||
|
} EXT; /**< \brief Extended frame format */
|
||||||
|
} TX_RX; /**< \brief RX/TX interface */
|
||||||
|
} FCTRL; /**< \brief Function control regs */
|
||||||
|
} MBX_CTRL; /**< \brief Mailbox control */
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int RMC : 8; /**< \brief RMC[7:0] RX Message Counter */
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved Enable */
|
||||||
|
} B;
|
||||||
|
} RMC;
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int RBSA : 8; /**< \brief RBSA[7:0] RX Buffer Start Address */
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved Enable */
|
||||||
|
} B;
|
||||||
|
} RBSA;
|
||||||
|
union {
|
||||||
|
uint32_t U; /**< \brief Unsigned access */
|
||||||
|
struct {
|
||||||
|
unsigned int COD : 3; /**< \brief CDR[2:0] CLKOUT frequency selector based of fOSC*/
|
||||||
|
unsigned int COFF : 1; /**< \brief CDR.3 CLKOUT off*/
|
||||||
|
unsigned int reserved_1 : 1; /**< \brief \internal Reserved */
|
||||||
|
unsigned int
|
||||||
|
RXINTEN : 1; /**< \brief CDR.5 This bit allows the TX1 output to be used as a dedicated receive interrupt
|
||||||
|
output*/
|
||||||
|
unsigned int
|
||||||
|
CBP : 1; /**< \brief CDR.6 allows to bypass the CAN input comparator and is only possible in reset mode.*/
|
||||||
|
unsigned int
|
||||||
|
CAN_M : 1; /**< \brief CDR.7 If CDR.7 is at logic 0 the CAN controller operates in BasicCAN mode. If set to
|
||||||
|
logic 1 the CAN controller operates in PeliCAN mode. Write access is only possible in reset
|
||||||
|
mode*/
|
||||||
|
unsigned int reserved_24 : 24; /**< \brief \internal Reserved */
|
||||||
|
} B;
|
||||||
|
} CDR;
|
||||||
|
uint32_t IRAM[2];
|
||||||
|
} CAN_Module_t;
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* __DRIVERS_CAN_REGDEF_H_ */
|
||||||
23
Software/config.h
Normal file
23
Software/config.h
Normal file
|
|
@ -0,0 +1,23 @@
|
||||||
|
#ifndef __CONFIG_H__
|
||||||
|
#define __CONFIG_H__
|
||||||
|
|
||||||
|
// PIN
|
||||||
|
#define PIN_5V_EN 16
|
||||||
|
|
||||||
|
#define CAN_TX_PIN 26
|
||||||
|
#define CAN_RX_PIN 27
|
||||||
|
#define CAN_SE_PIN 23
|
||||||
|
|
||||||
|
#define RS485_EN_PIN 17 // 17 /RE
|
||||||
|
#define RS485_TX_PIN 22 // 21
|
||||||
|
#define RS485_RX_PIN 21 // 22
|
||||||
|
#define RS485_SE_PIN 19 // 22 /SHDN
|
||||||
|
|
||||||
|
#define SD_MISO_PIN 2
|
||||||
|
#define SD_MOSI_PIN 15
|
||||||
|
#define SD_SCLK_PIN 14
|
||||||
|
#define SD_CS_PIN 13
|
||||||
|
|
||||||
|
#define WS2812_PIN 4
|
||||||
|
|
||||||
|
#endif
|
||||||
14
Software/debug.cfg
Normal file
14
Software/debug.cfg
Normal file
|
|
@ -0,0 +1,14 @@
|
||||||
|
# SPDX-License-Identifier: GPL-2.0-or-later
|
||||||
|
#
|
||||||
|
# Example OpenOCD configuration file for ESP32-WROVER-KIT board.
|
||||||
|
#
|
||||||
|
# For example, OpenOCD can be started for ESP32 debugging on
|
||||||
|
#
|
||||||
|
# openocd -f board/esp32-wrover-kit-3.3v.cfg
|
||||||
|
#
|
||||||
|
|
||||||
|
# Source the JTAG interface configuration file
|
||||||
|
source [find interface/ftdi/esp32_devkitj_v1.cfg]
|
||||||
|
set ESP32_FLASH_VOLTAGE 3.3
|
||||||
|
# Source the ESP32 configuration file
|
||||||
|
source [find target/esp32.cfg]
|
||||||
19
Software/debug_custom.json
Normal file
19
Software/debug_custom.json
Normal file
|
|
@ -0,0 +1,19 @@
|
||||||
|
{
|
||||||
|
"name":"Arduino on ESP32",
|
||||||
|
"toolchainPrefix":"xtensa-esp32-elf",
|
||||||
|
"svdFile":"esp32.svd",
|
||||||
|
"request":"attach",
|
||||||
|
"postAttachCommands":[
|
||||||
|
"set remote hardware-watchpoint-limit 2",
|
||||||
|
"monitor reset halt",
|
||||||
|
"monitor gdb_sync",
|
||||||
|
"thb setup",
|
||||||
|
"c"
|
||||||
|
],
|
||||||
|
"overrideRestartCommands":[
|
||||||
|
"monitor reset halt",
|
||||||
|
"monitor gdb_sync",
|
||||||
|
"thb setup",
|
||||||
|
"c"
|
||||||
|
]
|
||||||
|
}
|
||||||
46087
Software/esp32.svd
Normal file
46087
Software/esp32.svd
Normal file
File diff suppressed because it is too large
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Add a link
Reference in a new issue