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Optimize CAN-Native driver and event handling

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This commit is contained in:
Daniel Öster 2025-03-06 19:01:13 +02:00
parent 5a43a70992
commit 8d21930101
7 changed files with 44 additions and 23 deletions
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4
Software/src/lib/miwagner-ESP32-Arduino-CAN/CAN.c
View file

@ -266,13 +266,13 @@ int CAN_init() {
int CAN_write_frame(const CAN_frame_t *p_frame) {
if (sem_tx_complete == NULL) {
return -1;
return 0;
}
// Write the frame to the controller
CAN_write_frame_phy(p_frame);
return xSemaphoreTake(sem_tx_complete, 20) == pdTRUE ? 0 : -1;
return xSemaphoreTake(sem_tx_complete, 20) == pdTRUE ? 1 : 0;
}
int CAN_stop() {

15
Software/src/lib/miwagner-ESP32-Arduino-CAN/ESP32CAN.cpp
View file

@ -5,20 +5,14 @@
int ESP32CAN::CANInit() {
return CAN_init();
}
int ESP32CAN::CANWriteFrame(const CAN_frame_t* p_frame) {
bool ESP32CAN::CANWriteFrame(const CAN_frame_t* p_frame) {
static unsigned long start_time;
int result = -1;
bool result = false;
if (tx_ok) {
result = CAN_write_frame(p_frame);
tx_ok = (result == 0) ? true : false;
if (tx_ok == false) {
#ifdef DEBUG_VIA_USB
Serial.println("CAN failure! Check wires");
#endif
set_event(EVENT_CAN_NATIVE_TX_FAILURE, 0);
tx_ok = result;
if (!tx_ok) {
start_time = millis();
} else {
clear_event(EVENT_CAN_NATIVE_TX_FAILURE);
}
} else {
if ((millis() - start_time) >= 20) {
@ -27,6 +21,7 @@ int ESP32CAN::CANWriteFrame(const CAN_frame_t* p_frame) {
}
return result;
}
int ESP32CAN::CANStop() {
return CAN_stop();
}

2
Software/src/lib/miwagner-ESP32-Arduino-CAN/ESP32CAN.h
View file

@ -9,7 +9,7 @@ class ESP32CAN {
bool tx_ok = true;
int CANInit();
int CANConfigFilter(const CAN_filter_t* p_filter);
int CANWriteFrame(const CAN_frame_t* p_frame);
bool CANWriteFrame(const CAN_frame_t* p_frame);
int CANStop();
void CANSetCfg(CAN_device_t* can_cfg);
};