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Refactor TWAI driver

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Theo Arends 2024-12-29 17:07:05 +01:00
parent 2d2c732e2e
commit 02225ea7c4
1 changed files with 181 additions and 149 deletions
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330
tasmota/tasmota_xdrv_driver/xdrv_91_esp32_twai.ino
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@ -12,16 +12,17 @@
* ESP32 Two-Wire Automotive Interface (TWAI) or Controller Area Network (CAN) - needs external tranceiver * ESP32 Two-Wire Automotive Interface (TWAI) or Controller Area Network (CAN) - needs external tranceiver
* *
* The TWAI controller is not compatible with ISO11898-1 FD Format frames, and will interpret such frames as errors. * The TWAI controller is not compatible with ISO11898-1 FD Format frames, and will interpret such frames as errors.
*
* CAN bus message format is 32-bit identifier and up to 8 bytes of data * CAN bus message format is 32-bit identifier and up to 8 bytes of data
* *
* For versalitlity decoding CAN-bus needs a berry script with class "can_bus" and function "decode" * You'll needs a berry driver with class "twai" and functions "config" and "decode" as shown below
\*********************************************************************************************/ \*********************************************************************************************/
#define XDRV_91 91 #define XDRV_91 91
#define TWAI_POLLING_RATE_MS 100 #define TWAI_POLLING_RATE_MS 100
#include "driver/twai.h"
enum TwaiSpeeds { TWAI_SPEED_25KBITS = 0, enum TwaiSpeeds { TWAI_SPEED_25KBITS = 0,
TWAI_SPEED_50KBITS, TWAI_SPEED_50KBITS,
TWAI_SPEED_100KBITS, TWAI_SPEED_100KBITS,
@ -32,20 +33,174 @@ enum TwaiSpeeds { TWAI_SPEED_25KBITS = 0,
TWAI_SPEED_1MBITS, TWAI_SPEED_1MBITS,
TWAI_SPEED_MAX }; TWAI_SPEED_MAX };
#include "driver/twai.h" const char kTwaiSpeeds[] PROGMEM = "25K|50K|100K|125K|250K|500K|800K|1M";
const char kTwaiModes[] PROGMEM = "Normal|No Ack|Listen Only";
struct TWAIs { struct TWAIs {
twai_mode_t mode;
uint8_t speed; uint8_t speed;
bool supported; bool supported;
bool installed; bool installed;
} Twai; } Twai;
#ifdef USE_BERRY
/*********************************************************************************************\ /*********************************************************************************************\
* Low level * Berry example code
\*********************************************************************************************/
/*
file twai.be contents:
tasmota.remove_driver(twai)
class twai_cls
var active # (bool)
var twai_speed, twai_mode # (int, int)
var am012_status, am014_substatus, am024_power # (int, int, int)
var pressure, setpoint, flow_temp # (float, float, float)
def init()
self.active = 0
self.twai_speed = 7 # 0 = 25K, 1 = 50K, 2 = 100K, 3 = 125K, 4 = 250K, 5 = 500K, 6 = 800K, 7 = 1Mbits
self.twai_mode = 2 # 0 = TWAI_MODE_NORMAL, 1 = TWAI_MODE_NO_ACK, 2 = TWAI_MODE_LISTEN_ONLY
self.am012_status = 0
self.am014_substatus = 0
self.am024_power = 0
self.pressure = 0
self.setpoint = 0
self.flow_temp = 0
end
def config()
return self.twai_mode << 3 | self.twai_speed
end
def decode(ident, data1, data2)
var id = ident & 0xfff
if id == 0x076
# tasmota.log(f"RMH: 0x{id:03x} Count {data1}", 3)
elif id == 0x100
var time = 441763200 + (data2 * 24 * 60 * 60) + (data1 / 1000)
# tasmota.log(f"RMH: 0x{id:03x} Time {tasmota.time_str(time)}", 3)
elif id == 0x1C1
if data1 & 0x3ff == 0x300
self.pressure = (data2 & 0xff00) / 2560.0
end
elif id == 0x382
self.am024_power = data1 & 0xff # Relative power
self.setpoint = (data1 & 0xffff00)/25600.0 # Setpoint
# tasmota.log(f"RMH: 0x{id:03x} Busy {self.am024_power}%, Setpoint {self.setpoint}", 3)
elif id == 0x282
self.flow_temp = (data1 & 0xffff00)/25600.0
# tasmota.log(f"RMH: 0x{id:03x} DHW temp {self.flow_temp}", 3)
elif id == 0x481
self.am012_status = data1 & 0xff
self.am014_substatus = (data1 & 0xff00)/256
else
return
end
self.active = 1 # At least one valid decode
end
#- add sensor value to teleperiod -#
def json_append()
if !self.active return nil end # Exit if never decoded something
import string
var msg = string.format(",\"Calenta\":{\"AM012\":%i,\"AM014\":%i,\"Pressure\":%.1f,\"Setpoint\":%.1f,\"Flow\":%.1f}",
self.am012_status, self.am014_substatus, self.pressure, self.setpoint, self.flow_temp)
tasmota.response_append(msg)
end
#- display sensor value in the web UI -#
def web_sensor()
if !self.active return nil end # Exit if never decoded something
import string
var msg = string.format("{s}AM012/AM014 State{m}%i/%i{e}"..
"{s}AM024 Relative Power{m}%i %%{e}"..
"{s}Pressure{m}%.1f{e}"..
"{s}Setpoint Temperature{m}%.1f{e}"..
"{s}Flow Temperature{m}%.1f{e}",
self.am012_status, self.am014_substatus, self.am024_power, self.pressure, self.setpoint, self.flow_temp)
tasmota.web_send_decimal(msg)
end
end
twai = twai_cls()
tasmota.add_driver(twai)
// *******************************************************************************************
file preinit.be contents:
load('twai.be')
*/
/*********************************************************************************************\
* Berry interface
\*********************************************************************************************/
bool TWAIBerryDecode(uint32_t identifier, uint32_t data_length_code, uint8_t *data) {
bvm *vm = berry.vm;
if (nullptr == vm) { return false; }
bool handled = false;
if (be_getglobal(vm, "twai")) { // Look for class
if (be_getmember(vm, 1, "decode")) { // and function
be_pushvalue(vm, -2);
uint32_t ident = identifier | data_length_code << 28;
uint32_t data1 = data[3] << 24 | data[2] << 16 | data[1] << 8 | data[0];
uint32_t data2 = data[7] << 24 | data[6] << 16 | data[5] << 8 | data[4];
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("TWA: ident %08X, data1 %08X, data2 %08X"), ident, data1, data2);
be_pushint(vm, ident);
be_pushint(vm, data1);
be_pushint(vm, data2);
int32_t ret = be_pcall(vm, 4); // Number of arguments, self, ident. data1, data2
if (ret != 0) {
be_error_pop_all(vm); // Clear Berry stack
}
handled = true;
}
}
be_pop(vm, be_top(vm)); // Clean
return handled;
}
/*********************************************************************************************/
bool TWAIBerryConfig(void) {
bvm *vm = berry.vm;
if (nullptr == vm) { return false; }
bool handled = false;
if (be_getglobal(vm, "twai")) { // Look for class
if (be_getmember(vm, 1, "config")) { // and function
be_pushvalue(vm, -2);
int32_t ret = be_pcall(vm, 1); // Number of arguments, self
if (ret != 0) {
be_error_pop_all(vm); // Clear Berry stack
}
be_pop(vm, 1);
if (be_isint(vm, -1)) {
uint32_t config = be_toint(vm, -1);
Twai.speed = config & 0x7; // User input check 0..7
uint32_t mode = config >> 3 & 0x3;
if (mode > 2) { mode = 2; } // User input check 0..2
Twai.mode = (twai_mode_t)mode;
handled = true;
}
}
}
be_pop(vm, be_top(vm)); // Clean
return handled;
}
#endif // USE_BERRY
/*********************************************************************************************\
* TWAI low level
\*********************************************************************************************/ \*********************************************************************************************/
bool TWAIStart(void) { bool TWAIStart(void) {
twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT((gpio_num_t)Pin(GPIO_TWAI_TX), (gpio_num_t)Pin(GPIO_TWAI_RX), TWAI_MODE_NORMAL); twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT((gpio_num_t)Pin(GPIO_TWAI_TX), (gpio_num_t)Pin(GPIO_TWAI_RX), Twai.mode);
g_config.rx_queue_len = 32; g_config.rx_queue_len = 32;
twai_timing_config_t t_config; twai_timing_config_t t_config;
@ -95,8 +250,13 @@ bool TWAIStart(void) {
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Failed to reconfigure CAN alerts")); AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Failed to reconfigure CAN alerts"));
return false; return false;
} }
Twai.installed = true; Twai.installed = true;
char smode[16];
GetTextIndexed(smode, sizeof(smode), Twai.mode, kTwaiModes);
char sspeed[16];
GetTextIndexed(sspeed, sizeof(sspeed), Twai.speed, kTwaiSpeeds);
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Started in %s Mode and %sbit/s"), smode, sspeed);
return true; return true;
} }
@ -107,6 +267,7 @@ void TWAIStop(void) {
twai_stop(); twai_stop();
twai_driver_uninstall(); twai_driver_uninstall();
Twai.installed = false; Twai.installed = false;
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Stopped"));
} }
} }
@ -123,7 +284,7 @@ uint32_t TWAICheckAlerts(void) {
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - Controller has become error passive")); AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - Controller has become error passive"));
} }
if (alerts_triggered & TWAI_ALERT_BUS_ERROR) { if (alerts_triggered & TWAI_ALERT_BUS_ERROR) {
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - A (Bit, Stuff, CRC, Form, ACK) error has occurred on the bus. Errors %d"), twaistatus.bus_error_count); AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - A Bit, Stuff, CRC, Form or ACK error has occurred on the bus. Errors %d"), twaistatus.bus_error_count);
} }
if (alerts_triggered & TWAI_ALERT_RX_QUEUE_FULL) { if (alerts_triggered & TWAI_ALERT_RX_QUEUE_FULL) {
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - The RX queue is full causing a received frame to be lost. Buffered %d, Missed %d, Overrun %d"), AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - The RX queue is full causing a received frame to be lost. Buffered %d, Missed %d, Overrun %d"),
@ -149,122 +310,14 @@ void TWAIRead(void) {
// One or more messages received. Handle all. // One or more messages received. Handle all.
twai_message_t message; twai_message_t message;
while (twai_receive(&message, 0) == ESP_OK) { while (twai_receive(&message, 0) == ESP_OK) {
TWAIDecode(message.identifier, message.data_length_code, message.data);
}
}
}
/*********************************************************************************************\
* Decoding
\*********************************************************************************************/
void TWAIDecode(uint32_t identifier, uint32_t data_length_code, uint8_t *data) {
#ifdef USE_BERRY #ifdef USE_BERRY
bvm *vm = berry.vm; if (TWAIBerryDecode(message.identifier, message.data_length_code, message.data)) { continue; }
if (nullptr != vm) {
if (be_getglobal(vm, "can_bus")) { // Look for class can_bus
if (be_getmember(vm, 1, "decode")) { // and function decode
be_pushvalue(vm, -2);
uint32_t ident = identifier | data_length_code << 28;
uint32_t data1 = data[3] << 24 | data[2] << 16 | data[1] << 8 | data[0];
uint32_t data2 = data[7] << 24 | data[6] << 16 | data[5] << 8 | data[4];
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("CAN: ident %08X, data1 %08X, data2 %08X"), ident, data1, data2);
be_pushint(vm, ident);
be_pushint(vm, data1);
be_pushint(vm, data2);
BrTimeoutStart();
int32_t ret = be_pcall(vm, 4); // number of arguments
BrTimeoutReset();
if (ret != 0) {
be_error_pop_all(vm); // clear Berry stack
}
be_pop(vm, be_top(vm)); // clean
return;
}
}
be_pop(vm, be_top(vm)); // clean
}
/*
file can_bus.be contents:
class can_bus_cls
var am012_status
var am014_substatus
var am024_power
var pressure
var setpoint
var flow_temp
def init()
self.am012_status = 0
self.am014_substatus = 0
self.am024_power = 0
self.pressure = 0
self.setpoint = 0
self.flow_temp = 0
end
def decode(ident, data1, data2)
var id = ident & 0xfff
if id == 0x076
# tasmota.log(f"RMH: 0x{id:03x} Count {data1}", 3)
elif id == 0x100
var time = 441763200 + (data2 * 24 * 60 * 60) + (data1 / 1000)
# tasmota.log(f"RMH: 0x{id:03x} Time {tasmota.time_str(time)}", 3)
elif id == 0x1C1
if data1 & 0x3ff == 0x300
self.pressure = (data2 & 0xff00) / 2560.0
end
elif id == 0x382
self.am024_power = data1 & 0xff # Relative power
self.setpoint = (data1 & 0xffff00)/25600.0 # Setpoint
# tasmota.log(f"RMH: 0x{id:03x} Busy {self.am024_power}%, Setpoint {self.setpoint}", 3)
elif id == 0x282
self.flow_temp = (data1 & 0xffff00)/25600.0
# tasmota.log(f"RMH: 0x{id:03x} DHW temp {self.flow_temp}", 3)
elif id == 0x481
self.am012_status = data1 & 0xff
self.am014_substatus = (data1 & 0xff00)/256
end
end
#- add sensor value to teleperiod -#
def json_append()
import string
var msg = string.format(",\"Calenta\":{\"AM012\":%i,\"AM014\":%i,\"Pressure\":%.1f,\"Setpoint\":%.1f,\"Flow\":%.1f}",
self.am012_status, self.am014_substatus, self.pressure, self.setpoint, self.flow_temp)
tasmota.response_append(msg)
end
#- display sensor value in the web UI -#
def web_sensor()
import string
var msg = string.format("{s}AM012/AM014 State{m}%i/%i{e}"..
"{s}AM024 Relative Power{m}%i %%{e}"..
"{s}Pressure{m}%.1f{e}"..
"{s}Setpoint Temperature{m}%.1f{e}"..
"{s}Flow Temperature{m}%.1f{e}",
self.am012_status, self.am014_substatus, self.am024_power, self.pressure, self.setpoint, self.flow_temp)
tasmota.web_send_decimal(msg)
end
end
can_bus = can_bus_cls()
tasmota.add_driver(can_bus)
// ****
file autoexec.be contents:
load('can_bus.be')
*/
#endif // USE_BERRY #endif // USE_BERRY
// Show log if no berry found (Messages come too fast for supporting MQTT at this time)
// Show log if no berry found (Messages come too fast for supporting MQTT at this time) AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("TWA: Id 0x%08X, Rcvd '%*_H'"),
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("TWA: Id 0x%08X, Rcvd '%*_H'"), identifier, data_length_code, data); message.identifier, message.data_length_code, message.data);
}
}
} }
/*********************************************************************************************\ /*********************************************************************************************\
@ -272,34 +325,16 @@ load('can_bus.be')
\*********************************************************************************************/ \*********************************************************************************************/
void TWAIInit(void) { void TWAIInit(void) {
if (!(PinUsed(GPIO_TWAI_TX) && PinUsed(GPIO_TWAI_RX))) { return; } if (!PinUsed(GPIO_TWAI_TX) || !PinUsed(GPIO_TWAI_RX)) { return; }
Twai.speed = TWAI_SPEED_1MBITS; Twai.speed = TWAI_SPEED_1MBITS;
if (!TWAIStart()) { return; } Twai.mode = TWAI_MODE_LISTEN_ONLY; // 0 = TWAI_MODE_NORMAL, 1 = TWAI_MODE_NO_ACK, 2 = TWAI_MODE_LISTEN_ONLY
#ifdef USE_BERRY
Twai.supported = true; TWAIBerryConfig();
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Started")); #endif // USE_BERRY
} if (TWAIStart()) {
Twai.supported = true;
/*********************************************************************************************\
* Commands
\*********************************************************************************************/
const char kTwaiCommands[] PROGMEM = "TWAI|" // Prefix
"Speed";
void (* const TwaiCommand[])(void) PROGMEM = {
&CmndTWAISpeed };
void CmndTWAISpeed(void) {
if ((XdrvMailbox.payload >= 0) && (XdrvMailbox.payload < TWAI_SPEED_MAX)) {
if (XdrvMailbox.payload != Twai.speed) {
Twai.speed = XdrvMailbox.payload;
TWAIStop();
TWAIStart();
}
} }
ResponseCmndNumber(Twai.speed);
} }
/*********************************************************************************************\ /*********************************************************************************************\
@ -319,9 +354,6 @@ bool Xdrv91(uint32_t function) {
TWAIRead(); TWAIRead();
} }
break; break;
case FUNC_COMMAND:
result = DecodeCommand(kTwaiCommands, TwaiCommand);
break;
} }
} }
return result; return result;