Changeset - 9785a2ea3aa8
Parent rev.
Child rev.
[Not reviewed]
default
0 4 2
Ethan Zonca - 17 months ago 2024-01-05 22:34:56
ez@ethanzonca.com
Add support for canbus
6 files changed with 104 insertions and 22 deletions:
main/CMakeLists.txt
1
1
main/can.c
67
main/can.h
6
main/main.c
5
7
main/usb_cdc.c
9
7
main/wifi.c
16
7
0 comments (0 inline, 0 general)
main/CMakeLists.txt
➞
Show inline comments
 
idf_component_register(SRCS "main.c" "wifi.c" "usb_cdc.c"
 
idf_component_register(SRCS "main.c" "wifi.c" "usb_cdc.c" "can.c"
 
                       INCLUDE_DIRS .)
main/can.c
➞
Show inline comments
 
new file 100644
 
//
 
// can
 
//
 

			




	
	
	
		
 
#include "can.h"

			




	
	
	
		
 
#include "esp_log.h"

			




	
	
	
		
 
#include "driver/twai.h"

			




	
	
	
		
 

			




	
	
	
		
 
// EMZ FIXME

			




	
	
	
		
 
#define TX_GPIO_NUM 5

			




	
	
	
		
 
#define RX_GPIO_NUM 6

			




	
	
	
		
 
#define RX_TASK_PRIO 3

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// Private variables

			




	
	
	
		
 
static const char *TAG = "canbus";

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// static QueueHandle_t tx_task_queue;

			




	
	
	
		
 
// static QueueHandle_t rx_task_queue;

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// Task for receiving CAN messages

			




	
	
	
		
 
static void twai_receive_task(void *arg)

			




	
	
	
		
 
{

			




	
	
	
		
 
    while (1) {

			




	
	
	
		
 
        twai_message_t rx_msg;

			




	
	
	
		
 
        twai_receive(&rx_msg, portMAX_DELAY);

			




	
	
	
		
 
        if (rx_msg.identifier == 0xdead) {

			




	
	
	
		
 
            ESP_LOGI(TAG, "Received data ");

			




	
	
	
		
 
        }

			




	
	
	
		
 

			




	
	
	
		
 
    }

			




	
	
	
		
 
    vTaskDelete(NULL);

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// Initialize the CAN bus

			




	
	
	
		
 
void can_init(void)

			




	
	
	
		
 
{

			




	
	
	
		
 
    // CAN bus configuration

			




	
	
	
		
 
    twai_timing_config_t t_config = TWAI_TIMING_CONFIG_125KBITS();

			




	
	
	
		
 
    twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();

			




	
	
	
		
 
    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(TX_GPIO_NUM, RX_GPIO_NUM, TWAI_MODE_NORMAL);

			




	
	
	
		
 
	

			




	
	
	
		
 
    // Move canbus irq to free up the default level 1 IRQ it will take up (processor panics if we don't do this)

			




	
	
	
		
 
    g_config.intr_flags = ESP_INTR_FLAG_LOWMED;

			




	
	
	
		
 

			




	
	
	
		
 
    // Install TWAI driver

			




	
	
	
		
 
    ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, &f_config));

			




	
	
	
		
 
    ESP_LOGI(TAG, "Driver installed");

			




	
	
	
		
 
    ESP_ERROR_CHECK(twai_start());

			




	
	
	
		
 
    ESP_LOGI(TAG, "Driver started");

			




	
	
	
		
 

			




	
	
	
		
 
    // rx_task_queue = xQueueCreate(1, sizeof(rx_task_action_t));

			




	
	
	
		
 
    // tx_task_queue = xQueueCreate(1, sizeof(tx_task_action_t));

			




	
	
	
		
 
    xTaskCreatePinnedToCore(twai_receive_task, "TWAI_rx", 4096, NULL, RX_TASK_PRIO, NULL, tskNO_AFFINITY);

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// Send message on the CAN bus

			




	
	
	
		
 
void can_send(uint32_t id, uint8_t* data, uint8_t len, uint32_t timeout)

			




	
	
	
		
 
{

			




	
	
	
		
 
    // Gross

			




	
	
	
		
 
    twai_message_t msg = { .identifier = id, .data_length_code = len, .ss = 1, .data = {data[0],data[1],data[2],data[3],data[4],data[5],data[6],data[7]} };

			




	
	
	
		
 
    twai_transmit(&msg, timeout);

			




	
	
	
		
 
}

			




	
	
		
 
\ No newline at end of file

			




        

    


    
    

    

        

                

                    main/can.h
                

                

                  
                      
                        

                      ➞

                      
                        
                  

                  
                      
                  
                      
                  
                      
                  
                      
                  
                  
                

                

                    Show inline comments
                    
                

        

        

            



	
	
		
 
new file 100644

			




	
	
	
		
 
#ifndef _CAN_H

			




	
	
	
		
 
#define _CAN_H

			




	
	
	
		
 

			




	
	
	
		
 
void can_init(void);

			




	
	
	
		
 

			




	
	
	
		
 
#endif

			




	
	
		
 
\ No newline at end of file

			




        

    


    
    

    

        

                

                    main/main.c
                

                

                  
                      
                        

                      ➞

                      
                        
                  

                  
                      
                  
                      
                  
                      
                  
                      
                  
                  
                

                

                    Show inline comments
                    
                

        

        

            



	
	
		
 
@@ -6,17 +6,15 @@

			




	
	
	
		
 
#include "freertos/FreeRTOS.h"

			




	
	
	
		
 
#include "freertos/task.h"

			




	
	
	
		
 
#include "freertos/event_groups.h"

			




	
	
	
		
 

			




	
	
	
		
 
#include "esp_system.h"

			




	
	
	
		
 
#include "esp_event.h"

			




	
	
	
		
 
#include "esp_log.h"

			




	
	
	
		
 
#include "nvs_flash.h"

			




	
	
	
		
 

			




	
	
	
		
 
// User defines from menuconfig

			




	
	
	
		
 
#include "sdkconfig.h"

			




	
	
	
		
 

			




	
	
	
		
 
#include "wifi.h"

			




	
	
	
		
 
#include "usb_cdc.h"

			




	
	
	
		
 
#include "can.h"

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// Private variables

			




	
	
		
 
@@ -29,12 +27,11 @@ void app_main(void)

			




	
	
	
		
 
    // Initialize usb-cdc interface

			




	
	
	
		
 
    usb_cdc_init();

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
    // Initialize NVS

			




	
	
	
		
 
    esp_err_t ret = nvs_flash_init();

			




	
	
	
		
 
    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {

			




	
	
	
		
 
      ESP_ERROR_CHECK(nvs_flash_erase());

			




	
	
	
		
 
      ret = nvs_flash_init();

			




	
	
	
		
 
        ESP_ERROR_CHECK(nvs_flash_erase());

			




	
	
	
		
 
        ret = nvs_flash_init();

			




	
	
	
		
 
    }

			




	
	
	
		
 
    ESP_ERROR_CHECK(ret);

			




	
	
	
		
 

			




	
	
		
 
@@ -42,6 +39,7 @@ void app_main(void)

			




	
	
	
		
 
    // Connect to wifi

			




	
	
	
		
 
    wifi_init();

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
    // Initialize canbus

			




	
	
	
		
 
    can_init();

			




	
	
	
		
 

			




	
	
	
		
 
}

			




        

    


    
    

    

        

                

                    main/usb_cdc.c
                

                

                  
                      
                        

                      ➞

                      
                        
                  

                  
                      
                  
                      
                  
                      
                  
                      
                  
                  
                

                

                    Show inline comments
                    
                

        

        

            



	
	
		
 
@@ -12,12 +12,11 @@

			




	
	
	
		
 

			




	
	
	
		
 
// Private variables

			




	
	
	
		
 
static const char *TAG = "main";

			




	
	
	
		
 
static uint8_t buf[CONFIG_TINYUSB_CDC_RX_BUFSIZE + 1];

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// ------------------------ USB CDC ----------------------------------------

			




	
	
	
		
 
static uint8_t buf[CONFIG_TINYUSB_CDC_RX_BUFSIZE + 1];

			




	
	
	
		
 

			




	
	
	
		
 
void tinyusb_cdc_rx_callback(int itf, cdcacm_event_t *event)

			




	
	
	
		
 
// Callback for received data

			




	
	
	
		
 
static void __cdc_rx_callback(int itf, cdcacm_event_t *event)

			




	
	
	
		
 
{

			




	
	
	
		
 
    /* initialization */

			




	
	
	
		
 
    size_t rx_size = 0;

			




	
	
		
 
@@ -36,7 +35,9 @@ void tinyusb_cdc_rx_callback(int itf, cd

			




	
	
	
		
 
    tinyusb_cdcacm_write_flush(itf, 0);

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 
void tinyusb_cdc_line_state_changed_callback(int itf, cdcacm_event_t *event)

			




	
	
	
		
 

			




	
	
	
		
 
// Callback for line state changed

			




	
	
	
		
 
void __cdc_line_state_changed_callback(int itf, cdcacm_event_t *event)

			




	
	
	
		
 
{

			




	
	
	
		
 
    int dtr = event->line_state_changed_data.dtr;

			




	
	
	
		
 
    int rts = event->line_state_changed_data.rts;

			




	
	
		
 
@@ -44,6 +45,7 @@ void tinyusb_cdc_line_state_changed_call

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// Initialize usb-cdc

			




	
	
	
		
 
void usb_cdc_init(void)

			




	
	
	
		
 
{

			




	
	
	
		
 
    ESP_LOGI(TAG, "USB initialization");

			




	
	
		
 
@@ -60,7 +62,7 @@ void usb_cdc_init(void)

			




	
	
	
		
 
        .usb_dev = TINYUSB_USBDEV_0,

			




	
	
	
		
 
        .cdc_port = TINYUSB_CDC_ACM_0,

			




	
	
	
		
 
        .rx_unread_buf_sz = 64,

			




	
	
	
		
 
        .callback_rx = &tinyusb_cdc_rx_callback, // the first way to register a callback

			




	
	
	
		
 
        .callback_rx = &__cdc_rx_callback, // the first way to register a callback

			




	
	
	
		
 
        .callback_rx_wanted_char = NULL,

			




	
	
	
		
 
        .callback_line_state_changed = NULL,

			




	
	
	
		
 
        .callback_line_coding_changed = NULL

			




	
	
		
 
@@ -71,7 +73,7 @@ void usb_cdc_init(void)

			




	
	
	
		
 
    ESP_ERROR_CHECK(tinyusb_cdcacm_register_callback(

			




	
	
	
		
 
                        TINYUSB_CDC_ACM_0,

			




	
	
	
		
 
                        CDC_EVENT_LINE_STATE_CHANGED,

			




	
	
	
		
 
                        &tinyusb_cdc_line_state_changed_callback));

			




	
	
	
		
 
                        &__cdc_line_state_changed_callback));

			




	
	
	
		
 

			




	
	
	
		
 
#if (CONFIG_TINYUSB_CDC_COUNT > 1)

			




	
	
	
		
 
    acm_cfg.cdc_port = TINYUSB_CDC_ACM_1;

			




        

    


    
    

    

        

                

                    main/wifi.c
                

                

                  
                      
                        

                      ➞

                      
                        
                  

                  
                      
                  
                      
                  
                      
                  
                      
                  
                  
                

                

                    Show inline comments
                    
                

        

        

            



	
	
		
 
@@ -10,29 +10,36 @@

			




	
	
	
		
 
#include "lwip/sys.h"

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// Private variables

			




	
	
	
		
 

			




	
	
	
		
 
// FreeRTOS event group to signal when we are connected

			




	
	
	
		
 
static EventGroupHandle_t s_wifi_event_group;

			




	
	
	
		
 

			




	
	
	
		
 
static const char *TAG = "wifi station";

			




	
	
	
		
 
static int s_retry_num = 0;

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
static void __event_handler(void* arg, esp_event_base_t event_base,

			




	
	
	
		
 
                                int32_t event_id, void* event_data)

			




	
	
	
		
 
// Handler for wifi events

			




	
	
	
		
 
static void __event_handler(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data)

			




	
	
	
		
 
{

			




	
	
	
		
 
    if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {

			




	
	
	
		
 
        esp_wifi_connect();

			




	
	
	
		
 
    } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {

			




	
	
	
		
 
        if (s_retry_num < EXAMPLE_ESP_MAXIMUM_RETRY) {

			




	
	
	
		
 
    }

			




	
	
	
		
 
    else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) 

			




	
	
	
		
 
    {

			




	
	
	
		
 
        if (s_retry_num < EXAMPLE_ESP_MAXIMUM_RETRY) 

			




	
	
	
		
 
        {

			




	
	
	
		
 
            esp_wifi_connect();

			




	
	
	
		
 
            s_retry_num++;

			




	
	
	
		
 
            ESP_LOGI(TAG, "retry to connect to the AP");

			




	
	
	
		
 
        } else {

			




	
	
	
		
 
        } 

			




	
	
	
		
 
        else 

			




	
	
	
		
 
        {

			




	
	
	
		
 
            xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT);

			




	
	
	
		
 
        }

			




	
	
	
		
 
        ESP_LOGI(TAG,"connect to the AP fail");

			




	
	
	
		
 
    } else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {

			




	
	
	
		
 
    } 

			




	
	
	
		
 
    else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) 

			




	
	
	
		
 
    {

			




	
	
	
		
 
        ip_event_got_ip_t* event = (ip_event_got_ip_t*) event_data;

			




	
	
	
		
 
        ESP_LOGI(TAG, "got ip:" IPSTR, IP2STR(&event->ip_info.ip));

			




	
	
	
		
 
        s_retry_num = 0;

			




	
	
		
 
@@ -40,6 +47,8 @@ static void __event_handler(void* arg, e

			




	
	
	
		
 
    }

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 

			




	
	
	
		
 
// Initialize wifi and connect to network

			




	
	
	
		
 
void wifi_init(void)

			




	
	
	
		
 
{

			




	
	
	
		
 
    s_wifi_event_group = xEventGroupCreate();

			




        

    



    


    



    



      

      





    
    0 comments (0 inline, 0 general)
    





    


  

  







  


    




    








    
        Server instance: zserverv-756375
    
    
        This site is powered by
            Kallithea,
        which is
        © 2010–2021 by various authors & licensed under GPLv3.
            – Support