protofusion-esp32-template Changeset - 9785a2ea3aa8

Changeset - 9785a2ea3aa8

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Ethan Zonca - 17 months ago 2024-01-05 22:34:56
ez@ethanzonca.com

Add support for canbus

6 files changed with 102 insertions and 20 deletions:

main/CMakeLists.txt

main/can.c

main/can.h

main/main.c

main/usb_cdc.c

main/wifi.c

0 comments (0 inline, 0 general)

main/CMakeLists.txt

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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

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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

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@@ new file 100644 @@
 #ifndef _CAN_H
 #define _CAN_H
 void can_init(void);
 #endif
@@ \ No newline at end of file @@

main/main.c

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Show inline comments

 //
 // Protofusion ESP32S3 Template
 //
 #include <stdint.h>
 #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
 static const char *TAG = "main";
 // Application entry point
 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(ret);
     // Connect to wifi
     wifi_init();
     // Initialize canbus
     can_init();
+}

main/usb_cdc.c

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 //
 // usb-cdc
 //
 #include "usb_cdc.h"
 #include "tinyusb.h"
 #include "tusb_cdc_acm.h"
 #include "sdkconfig.h"
 #include "esp_log.h"
 // 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;
     /* read */
     esp_err_t ret = tinyusb_cdcacm_read(itf, buf, CONFIG_TINYUSB_CDC_RX_BUFSIZE, &rx_size);
     if (ret == ESP_OK) {
         ESP_LOGI(TAG, "Data from channel %d:", itf);
         ESP_LOG_BUFFER_HEXDUMP(TAG, buf, rx_size, ESP_LOG_INFO);
     } else {
         ESP_LOGE(TAG, "Read error");
+    }
     /* write back */
     tinyusb_cdcacm_write_queue(itf, buf, rx_size);
     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;
     ESP_LOGI(TAG, "Line state changed on channel %d: DTR:%d, RTS:%d", itf, dtr, rts);
+}
 // Initialize usb-cdc
 void usb_cdc_init(void)
+{
     ESP_LOGI(TAG, "USB initialization");
     const tinyusb_config_t tusb_cfg = {
         .device_descriptor = NULL,
         .string_descriptor = NULL,
         .external_phy = false,
         .configuration_descriptor = NULL,
     };
     ESP_ERROR_CHECK(tinyusb_driver_install(&tusb_cfg));
     tinyusb_config_cdcacm_t acm_cfg = {
         .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
     };
     ESP_ERROR_CHECK(tusb_cdc_acm_init(&acm_cfg));
     /* the second way to register a callback */
     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;
     ESP_ERROR_CHECK(tusb_cdc_acm_init(&acm_cfg));
     ESP_ERROR_CHECK(tinyusb_cdcacm_register_callback(
                         TINYUSB_CDC_ACM_1,
                         CDC_EVENT_LINE_STATE_CHANGED,
                         &tinyusb_cdc_line_state_changed_callback));
 #endif
     ESP_LOGI(TAG, "USB initialization DONE");
+}
@@ \ No newline at end of file @@

main/wifi.c

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Show inline comments

 //
 // wifi
 //
 #include "wifi.h"
 #include "esp_wifi.h"
 #include "esp_event.h"
 #include "esp_log.h"
 #include "lwip/err.h"
 #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;
         xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
+    }
+}
 // Initialize wifi and connect to network
 void wifi_init(void)
+{
     s_wifi_event_group = xEventGroupCreate();
     ESP_ERROR_CHECK(esp_netif_init());
     ESP_ERROR_CHECK(esp_event_loop_create_default());
     esp_netif_create_default_wifi_sta();
     wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
     ESP_ERROR_CHECK(esp_wifi_init(&cfg));
     esp_event_handler_instance_t instance_any_id;
     esp_event_handler_instance_t instance_got_ip;
     ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT,
                                                         ESP_EVENT_ANY_ID,
                                                         &__event_handler,
                                                         NULL,
                                                         &instance_any_id));
     ESP_ERROR_CHECK(esp_event_handler_instance_register(IP_EVENT,
                                                         IP_EVENT_STA_GOT_IP,
                                                         &__event_handler,
                                                         NULL,
                                                         &instance_got_ip));

0 comments (0 inline, 0 general)