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Add support for ESP32 Two-Wire Automotive Interface (TWAI) or Controller Area Network (CAN) busses
- Bump version V14.4.1.2
This commit is contained in:
Theo Arends
parent
5f95b33220
commit
1a482364bc
20
CHANGELOG.md
20
CHANGELOG.md
@ -3,7 +3,20 @@ All notable changes to this project will be documented in this file.
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## [Unreleased] - Development
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## [14.4.1.1]
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## [14.4.1.2]
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### Added
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- Support for ESP32 Two-Wire Automotive Interface (TWAI) or Controller Area Network (CAN) busses
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### Breaking Changed
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### Changed
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### Fixed
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### Removed
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## [14.4.1.1] 20241231
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### Added
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- Command ``SetOption163 1`` to disable display of Device name in GUI header
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- Berry `animate.crenel` primitive (#22673)
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@ -15,8 +28,6 @@ All notable changes to this project will be documented in this file.
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- Berry driver for M5Stack 8encoder (#22724)
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- Support for PCF85063 RTC (#22727)
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### Breaking Changed
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### Changed
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- ESP32 disable PSRAM check (and on restart some relay toggles) with `#define DISABLE_PSRAMCHECK true` (#21266)
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- TLS disable ECDSA for MQTT to ensure we don't break fingerprints after #22649
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@ -32,9 +43,6 @@ All notable changes to this project will be documented in this file.
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- LVGL updated `Antiburn.tapp` (#22699)
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- Matter Air Quality sensor (#22708)
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### Removed
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## [Released]
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## [14.4.1] 20241215
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@ -114,10 +114,11 @@ The latter links can be used for OTA upgrades too like ``OtaUrl https://ota.tasm
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[Complete list](BUILDS.md) of available feature and sensors.
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## Changelog v14.4.1.1
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## Changelog v14.4.1.2
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### Added
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- Command ``SetOption163 1`` to disable display of Device name in GUI header
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- Support for PCF85063 RTC [#22727](https://github.com/arendst/Tasmota/issues/22727)
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- Support for ESP32 Two-Wire Automotive Interface (TWAI) or Controller Area Network (CAN) busses
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- Berry `animate.crenel` primitive [#22673](https://github.com/arendst/Tasmota/issues/22673)
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- Berry scroll to Leds_matrix [#22693](https://github.com/arendst/Tasmota/issues/22693)
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- Berry add unicode encoding to string parsing [#22713](https://github.com/arendst/Tasmota/issues/22713)
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@ -532,6 +532,7 @@ const char kSensorNamesFixed[] PROGMEM =
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#define MAX_BL0906_RX 6 // Model number of phases, 2 (EM2), 6 (EM6)
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#define MAX_BL0942_RX 8 // Baudrates 1/5 (4800), 2/6 (9600), 3/7 (19200), 4/8 (38400), Support Positive values only 1..4, Support also negative values 5..8
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#define MAX_CSE7761 2 // Model 1/2 (DUALR3), 2/2 (POWCT)
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#define MAX_TWAI SOC_TWAI_CONTROLLER_NUM
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const uint16_t kGpioNiceList[] PROGMEM = {
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GPIO_NONE, // Not used
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@ -1139,11 +1140,16 @@ const uint16_t kGpioNiceList[] PROGMEM = {
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#ifdef USE_WOOLIIS
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AGPIO(GPIO_WOOLIIS_RX), // Wooliis Battery capacity monitor Serial interface
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#endif
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#ifdef ESP32
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#ifdef USE_ESP32_TWAI
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AGPIO(GPIO_TWAI_TX), // ESP32 TWAI serial interface
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AGPIO(GPIO_TWAI_RX),
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AGPIO(GPIO_TWAI_BO),
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AGPIO(GPIO_TWAI_CLK),
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#if SOC_TWAI_SUPPORTED
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AGPIO(GPIO_TWAI_TX) + AGMAX(MAX_TWAI), // ESP32 TWAI serial interface
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AGPIO(GPIO_TWAI_RX) + AGMAX(MAX_TWAI),
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AGPIO(GPIO_TWAI_BO) + AGMAX(MAX_TWAI),
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AGPIO(GPIO_TWAI_CLK) + AGMAX(MAX_TWAI),
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#endif
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#endif
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#endif
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/*-------------------------------------------------------------------------------------------*\
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@ -22,6 +22,6 @@
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#define TASMOTA_SHA_SHORT // Filled by Github sed
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const uint32_t TASMOTA_VERSION = 0x0E040101; // 14.4.1.1
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const uint32_t TASMOTA_VERSION = 0x0E040102; // 14.4.1.2
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#endif // _TASMOTA_VERSION_H_
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@ -1,20 +1,37 @@
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/*
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xdrv_91_esp32_twai.ino - ESP32 TWAI support for Tasmota
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SPDX-FileCopyrightText: 2024 Theo Arends
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SPDX-FileCopyrightText: 2025 Theo Arends
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SPDX-License-Identifier: GPL-3.0-only
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*/
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#ifdef ESP32
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#ifdef USE_ESP32_TWAI
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#if SOC_TWAI_SUPPORTED
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/*********************************************************************************************\
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* ESP32 Two-Wire Automotive Interface (TWAI) or Controller Area Network (CAN) - needs external tranceiver
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* ESP32 Two-Wire Automotive Interface (TWAI) or Controller Area Network (CAN) busses.
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* - Supports all TWAI busses provided by different ESP32 architectures.
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* - Needs external tranceiver like M5Unit Mini CAN (not isolated!) or M5Unit CANBus (isolated).
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*
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* The TWAI controller is not compatible with ISO11898-1 FD Format frames, and will interpret such frames as errors.
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* CAN bus message format is 32-bit identifier and up to 8 bytes of data
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* The TWAI controller is not compatible with ISO11898-1 FD Format frames, and will interpret
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* such frames as errors. CAN bus message format is 32-bit identifier and up to 8 bytes of data
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*
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* You'll needs a berry driver with class "twai" and functions "config" and "decode" as shown below
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* Due to the CAN-bus nature of many received datagrams you'll needs a berry driver with
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* class "twai" and functions "config" and "decode".
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* - See example below.
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* - When executed by `preinit.be` it allows to configure the TWAI driver mode and speed
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*
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* Supported command:
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* TwaiSend[<bus>] <identifier>[[[[[[[[<data1>],<data2>],<data3>],<data4>],<data5>],<data6>],<data7>],<data8>]
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* TwaiSend[<bus>] {"ID":<identifier>,["DATA":[[[[[[[<data1>],<data2>],<data3>],<data4>],<data5>],<data6>],<data7>],<data8>]]}
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* - An <identifier> with bit 31 set (0x80000000) is a 29-bit identifier
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* - All <data> is optional
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*
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* Examples:
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* TwaiSend1 0x481,0x03,0x1E,0xFF,0xFF,0xFF,0x01,0x21
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* TwaiSend1 {"ID":0x481,"DATA":[0x03,0x1E,0xFF,0xFF,0xFF,0x01,0x21]}
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* TwaiSend2 {"ID":0x80000481,"DATA":[0x03,0x1E,0xFF,0xFF,0xFF,0x01,0x21]}
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\*********************************************************************************************/
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#define XDRV_91 91
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@ -37,10 +54,11 @@ const char kTwaiSpeeds[] PROGMEM = "25K|50K|100K|125K|250K|500K|800K|1M";
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const char kTwaiModes[] PROGMEM = "Normal|No Ack|Listen Only";
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struct TWAIs {
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twai_mode_t mode;
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uint8_t speed;
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twai_handle_t bus[MAX_TWAI];
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twai_mode_t mode[MAX_TWAI];
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uint8_t speed[MAX_TWAI];
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bool installed[MAX_TWAI];
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bool supported;
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bool installed;
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} Twai;
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#ifdef USE_BERRY
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@ -51,69 +69,105 @@ struct TWAIs {
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/*
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file twai.be contents:
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tasmota.remove_driver(twai)
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class twai_cls
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var active # (bool)
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var twai_speed, twai_mode # (int, int)
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var am012_status, am014_substatus, am024_power # (int, int, int)
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var pressure, setpoint, flow_temp # (float, float, float)
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var active, pressure_next # (bool, bool)
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var twai_speed, twai_mode # (int, int)
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var am012_status, am014_substatus, am024_power # (int, int, int)
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var dz_am012_status, dz_am014_substatus # (int, int)
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var pressure, setpoint, flow_temp # (float, float, float)
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var dz_pressure, dz_flow_temp # (float, float)
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def init()
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self.active = 0
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self.twai_speed = 7 # 0 = 25K, 1 = 50K, 2 = 100K, 3 = 125K, 4 = 250K, 5 = 500K, 6 = 800K, 7 = 1Mbits
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self.twai_mode = 2 # 0 = TWAI_MODE_NORMAL, 1 = TWAI_MODE_NO_ACK, 2 = TWAI_MODE_LISTEN_ONLY
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self.active = 0
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self.am012_status = 0
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self.am014_substatus = 0
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self.dz_am012_status = 0
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self.dz_am014_substatus = 0
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self.am024_power = 0
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self.pressure_next = 0
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self.pressure = 0
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self.dz_pressure = 0
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self.setpoint = 0
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self.flow_temp = 0
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self.dz_flow_temp = 0
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end
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def config()
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return self.twai_mode << 3 | self.twai_speed
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def config(bus)
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# if bus != 1 return nil end # Exit if not my bus
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return self.twai_mode << 3 | self.twai_speed # Initial configure TWAI driver
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end
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def decode(ident, data1, data2)
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var id = ident & 0xfff
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if id == 0x076
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def decode(bus, ident, data1, data2)
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# if bus != 1 return nil end # Exit if not my bus
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var id = ident & 0x7ff # Remeha uses 11 bit Standard Frame Format
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if id == 0x076 # Incremental counter from 0 to 255
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# tasmota.log(f"RMH: 0x{id:03x} Count {data1}", 3)
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elif id == 0x100
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var time = 441763200 + (data2 * 24 * 60 * 60) + (data1 / 1000)
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# tasmota.log(f"RMH: 0x{id:03x} Time {tasmota.time_str(time)}", 3)
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elif id == 0x1C1
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if data1 & 0x3ff == 0x300
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self.pressure = (data2 & 0xff00) / 2560.0
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elif id == 0x100 # Date and Time
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var epoch = 441763200 + (data2 * 24 * 60 * 60) + (data1 / 1000)
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# tasmota.log(f"RMH: 0x{id:03x} Time {tasmota.time_str(epoch)}", 3)
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elif id == 0x1C1 # Many different data1/2
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if data1 & 0x00ffffff == 0x503f41 # Next time it's pressure
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self.pressure_next = 1
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elif self.pressure_next == 1
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self.pressure = (data2 & 0xff00)/2560.0 # This must be pressure
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self.pressure_next = 0
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end
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elif id == 0x382
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self.am024_power = data1 & 0xff # Relative power
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self.setpoint = (data1 & 0xffff00)/25600.0 # Setpoint
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self.am024_power = data1 & 0xff # Relative power
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self.setpoint = (data1 & 0xffff00)/25600.0 # Setpoint
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# tasmota.log(f"RMH: 0x{id:03x} Busy {self.am024_power}%, Setpoint {self.setpoint}", 3)
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elif id == 0x282
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self.flow_temp = (data1 & 0xffff00)/25600.0
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# tasmota.log(f"RMH: 0x{id:03x} DHW temp {self.flow_temp}", 3)
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elif id == 0x481
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elif id == 0x481 # Status information
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self.am012_status = data1 & 0xff
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self.am014_substatus = (data1 & 0xff00)/256
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else
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return
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end
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self.active = 1 # At least one valid decode
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self.active = 1 # At least one valid decode
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end
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#- add sensor value to teleperiod -#
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def json_append()
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if !self.active return nil end # Exit if never decoded something
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if !self.active return nil end # Exit if never decoded something
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import string
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var msg = string.format(",\"Calenta\":{\"AM012\":%i,\"AM014\":%i,\"Pressure\":%.1f,\"Setpoint\":%.1f,\"Flow\":%.1f}",
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self.am012_status, self.am014_substatus, self.pressure, self.setpoint, self.flow_temp)
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tasmota.response_append(msg)
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end
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#- perform action just after teleperiod -#
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# def after_teleperiod()
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#- perform action every second -#
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def every_second()
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# Only send if changed to reduce TWAI wait time
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if self.dz_pressure != self.pressure
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tasmota.cmd('_DzSend1 523,' .. self.pressure) # Send pressure to Domoticz
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end
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self.dz_pressure = self.pressure
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if self.dz_flow_temp != self.flow_temp
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tasmota.cmd('_DzSend1 526,' .. self.flow_temp) # Send flow temp to Domoticz
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end
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self.dz_flow_temp = self.flow_temp
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if self.dz_am012_status != self.am012_status
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tasmota.cmd('_DzSend1 536,' .. self.am012_status) # Send status to Domoticz
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end
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self.dz_am012_status = self.am012_status
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if self.dz_am014_substatus != self.am014_substatus
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tasmota.cmd('_DzSend1 537,' .. self.am014_substatus) # Send substatus to Domoticz
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end
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self.dz_am014_substatus = self.am014_substatus
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end
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#- display sensor value in the web UI -#
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def web_sensor()
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if !self.active return nil end # Exit if never decoded something
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if !self.active return nil end # Exit if never decoded something
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import string
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var msg = string.format("{s}AM012/AM014 State{m}%i/%i{e}"..
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"{s}AM024 Relative Power{m}%i %%{e}"..
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@ -138,7 +192,7 @@ load('twai.be')
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* Berry interface
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\*********************************************************************************************/
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bool TWAIBerryDecode(uint32_t identifier, uint32_t data_length_code, uint8_t *data) {
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bool TWAIBerryDecode(uint32_t bus, uint32_t identifier, uint32_t data_length_code, uint8_t *data) {
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bvm *vm = berry.vm;
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if (nullptr == vm) { return false; }
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bool handled = false;
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@ -149,12 +203,13 @@ bool TWAIBerryDecode(uint32_t identifier, uint32_t data_length_code, uint8_t *da
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uint32_t ident = identifier | data_length_code << 28;
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uint32_t data1 = data[3] << 24 | data[2] << 16 | data[1] << 8 | data[0];
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uint32_t data2 = data[7] << 24 | data[6] << 16 | data[5] << 8 | data[4];
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AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("TWA: ident %08X, data1 %08X, data2 %08X"), ident, data1, data2);
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AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("TWA: Bus%d ident %08X, data1 %08X, data2 %08X"), bus +1, ident, data1, data2);
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be_pushint(vm, bus +1); // Bus 1, 2 or 3
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be_pushint(vm, ident);
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be_pushint(vm, data1);
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be_pushint(vm, data2);
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int32_t ret = be_pcall(vm, 4); // Number of arguments, self, ident. data1, data2
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int32_t ret = be_pcall(vm, 5); // Number of arguments, self, bus, ident. data1, data2
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if (ret != 0) {
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be_error_pop_all(vm); // Clear Berry stack
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}
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@ -167,24 +222,25 @@ bool TWAIBerryDecode(uint32_t identifier, uint32_t data_length_code, uint8_t *da
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/*********************************************************************************************/
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bool TWAIBerryConfig(void) {
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bool TWAIBerryConfig(uint32_t bus) {
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bvm *vm = berry.vm;
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if (nullptr == vm) { return false; }
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bool handled = false;
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if (be_getglobal(vm, "twai")) { // Look for class
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if (be_getmember(vm, 1, "config")) { // and function
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be_pushvalue(vm, -2);
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int32_t ret = be_pcall(vm, 1); // Number of arguments, self
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be_pushint(vm, bus +1); // Bus 1, 2 or 3
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int32_t ret = be_pcall(vm, 2); // Number of arguments, self, bus
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if (ret != 0) {
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be_error_pop_all(vm); // Clear Berry stack
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}
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be_pop(vm, 1);
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be_pop(vm, 2);
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if (be_isint(vm, -1)) {
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uint32_t config = be_toint(vm, -1);
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Twai.speed = config & 0x7; // User input check 0..7
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Twai.speed[bus] = config & 0x7; // User input check 0..7
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uint32_t mode = config >> 3 & 0x3;
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if (mode > 2) { mode = 2; } // User input check 0..2
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Twai.mode = (twai_mode_t)mode;
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Twai.mode[bus] = (twai_mode_t)mode;
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handled = true;
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}
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}
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@ -199,12 +255,14 @@ bool TWAIBerryConfig(void) {
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* TWAI low level
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\*********************************************************************************************/
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bool TWAIStart(void) {
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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);
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bool TWAIStart(int tx, int rx, uint32_t bus = 0);
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bool TWAIStart(int tx, int rx, uint32_t bus) {
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twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT((gpio_num_t)tx, (gpio_num_t)rx, Twai.mode[bus]);
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g_config.controller_id = bus;
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g_config.rx_queue_len = 32;
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twai_timing_config_t t_config;
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switch (Twai.speed) {
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switch (Twai.speed[bus]) {
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case 0:
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t_config = TWAI_TIMING_CONFIG_25KBITS();
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break;
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@ -236,86 +294,88 @@ bool TWAIStart(void) {
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twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
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if (twai_driver_install(&g_config, &t_config, &f_config) != ESP_OK) {
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AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Not installed"));
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if (twai_driver_install_v2(&g_config, &t_config, &f_config, &Twai.bus[bus]) != ESP_OK) {
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AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d Not installed"), bus +1);
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return false;
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}
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if (twai_start() != ESP_OK) {
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AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Not started"));
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if (twai_start_v2(Twai.bus[bus]) != ESP_OK) {
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AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d Not started"), bus +1);
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return false;
|
||||
}
|
||||
// Reconfigure alerts to detect frame receive, Bus-Off error and RX queue full states
|
||||
uint32_t alerts_to_enable = TWAI_ALERT_RX_DATA | TWAI_ALERT_RX_QUEUE_FULL | TWAI_ALERT_TX_IDLE | TWAI_ALERT_TX_SUCCESS | TWAI_ALERT_TX_FAILED | TWAI_ALERT_ERR_PASS | TWAI_ALERT_BUS_ERROR;
|
||||
if (twai_reconfigure_alerts(alerts_to_enable, NULL) != ESP_OK) {
|
||||
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Failed to reconfigure CAN alerts"));
|
||||
if (twai_reconfigure_alerts_v2(Twai.bus[bus], alerts_to_enable, NULL) != ESP_OK) {
|
||||
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d Failed to reconfigure CAN alerts"), bus +1);
|
||||
return false;
|
||||
}
|
||||
Twai.installed = true;
|
||||
|
||||
char smode[16];
|
||||
GetTextIndexed(smode, sizeof(smode), Twai.mode, kTwaiModes);
|
||||
GetTextIndexed(smode, sizeof(smode), Twai.mode[bus], 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);
|
||||
GetTextIndexed(sspeed, sizeof(sspeed), Twai.speed[bus], kTwaiSpeeds);
|
||||
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d using GPIO%02d(Tx) and GPIO%02d(Rx) started in %s Mode and %sbit/s"),
|
||||
bus +1, tx, rx, smode, sspeed);
|
||||
|
||||
Twai.installed[bus] = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
/*********************************************************************************************/
|
||||
|
||||
void TWAIStop(void) {
|
||||
if (Twai.installed) {
|
||||
twai_stop();
|
||||
twai_driver_uninstall();
|
||||
Twai.installed = false;
|
||||
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Stopped"));
|
||||
void TWAIStop(uint32_t bus) {
|
||||
if (Twai.installed[bus]) {
|
||||
twai_stop_v2(Twai.bus[bus]);
|
||||
twai_driver_uninstall_v2(Twai.bus[bus]);
|
||||
Twai.installed[bus] = false;
|
||||
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d stopped"), bus +1);
|
||||
}
|
||||
}
|
||||
|
||||
/*********************************************************************************************/
|
||||
|
||||
uint32_t TWAICheckAlerts(void) {
|
||||
uint32_t TWAICheckAlerts(uint32_t bus) {
|
||||
uint32_t alerts_triggered;
|
||||
twai_read_alerts(&alerts_triggered, pdMS_TO_TICKS(TWAI_POLLING_RATE_MS));
|
||||
twai_read_alerts_v2(Twai.bus[bus], &alerts_triggered, pdMS_TO_TICKS(TWAI_POLLING_RATE_MS));
|
||||
twai_status_info_t twaistatus;
|
||||
twai_get_status_info(&twaistatus);
|
||||
twai_get_status_info_v2(Twai.bus[bus], &twaistatus);
|
||||
|
||||
// Handle alerts
|
||||
if (alerts_triggered & TWAI_ALERT_ERR_PASS) {
|
||||
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - Controller has become error passive"));
|
||||
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d Alert - Controller has become error passive"), bus +1);
|
||||
}
|
||||
if (alerts_triggered & TWAI_ALERT_BUS_ERROR) {
|
||||
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);
|
||||
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d Alert - A Bit, Stuff, CRC, Form or ACK error has occurred on the bus. Errors %d"), bus +1, twaistatus.bus_error_count);
|
||||
}
|
||||
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"),
|
||||
twaistatus.msgs_to_rx, twaistatus.rx_missed_count, twaistatus.rx_overrun_count);
|
||||
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d Alert - RX queue is full causing a received frame to be lost. Buffered %d, Missed %d, Overrun %d"),
|
||||
bus +1, twaistatus.msgs_to_rx, twaistatus.rx_missed_count, twaistatus.rx_overrun_count);
|
||||
}
|
||||
if (alerts_triggered & TWAI_ALERT_TX_FAILED) {
|
||||
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - The Transmission failed. Buffered %d, Error %d, Failed %d"),
|
||||
twaistatus.msgs_to_tx, twaistatus.tx_error_counter, twaistatus.tx_failed_count);
|
||||
}
|
||||
if (alerts_triggered & TWAI_ALERT_TX_SUCCESS) {
|
||||
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - The Transmission was successful. Buffered %d"), twaistatus.msgs_to_tx);
|
||||
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d Alert - Transmission failed. Buffered %d, Error %d, Failed %d"),
|
||||
bus +1, twaistatus.msgs_to_tx, twaistatus.tx_error_counter, twaistatus.tx_failed_count);
|
||||
}
|
||||
// if (alerts_triggered & TWAI_ALERT_TX_SUCCESS) {
|
||||
// AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d Transmission successful. Buffered %d"), bus +1, twaistatus.msgs_to_tx);
|
||||
// }
|
||||
|
||||
return alerts_triggered;
|
||||
}
|
||||
|
||||
/*********************************************************************************************/
|
||||
|
||||
void TWAIRead(void) {
|
||||
uint32_t alerts_triggered = TWAICheckAlerts();
|
||||
void TWAIRead(uint32_t bus) {
|
||||
uint32_t alerts_triggered = TWAICheckAlerts(bus);
|
||||
// Check if message is received
|
||||
if (alerts_triggered & TWAI_ALERT_RX_DATA) {
|
||||
// One or more messages received. Handle all.
|
||||
twai_message_t message;
|
||||
while (twai_receive(&message, 0) == ESP_OK) {
|
||||
while (twai_receive_v2(Twai.bus[bus], &message, 0) == ESP_OK) {
|
||||
#ifdef USE_BERRY
|
||||
if (TWAIBerryDecode(message.identifier, message.data_length_code, message.data)) { continue; }
|
||||
if (TWAIBerryDecode(bus, message.identifier, message.data_length_code, message.data)) { continue; }
|
||||
#endif // USE_BERRY
|
||||
// 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'"),
|
||||
message.identifier, message.data_length_code, message.data);
|
||||
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("TWA: Bus%d Id 0x%08X, Rcvd '%*_H'"),
|
||||
bus +1, message.identifier, message.data_length_code, message.data);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -325,15 +385,88 @@ void TWAIRead(void) {
|
||||
\*********************************************************************************************/
|
||||
|
||||
void TWAIInit(void) {
|
||||
if (!PinUsed(GPIO_TWAI_TX) || !PinUsed(GPIO_TWAI_RX)) { return; }
|
||||
|
||||
Twai.speed = TWAI_SPEED_1MBITS;
|
||||
Twai.mode = TWAI_MODE_LISTEN_ONLY; // 0 = TWAI_MODE_NORMAL, 1 = TWAI_MODE_NO_ACK, 2 = TWAI_MODE_LISTEN_ONLY
|
||||
Twai.supported = false;
|
||||
for (uint32_t bus = 0; bus < MAX_TWAI; bus++) {
|
||||
if (PinUsed(GPIO_TWAI_TX, bus) && PinUsed(GPIO_TWAI_RX, bus)) {
|
||||
Twai.speed[bus] = TWAI_SPEED_1MBITS;
|
||||
Twai.mode[bus] = TWAI_MODE_LISTEN_ONLY; // 0 = TWAI_MODE_NORMAL, 1 = TWAI_MODE_NO_ACK, 2 = TWAI_MODE_LISTEN_ONLY
|
||||
#ifdef USE_BERRY
|
||||
TWAIBerryConfig();
|
||||
TWAIBerryConfig(bus);
|
||||
#endif // USE_BERRY
|
||||
if (TWAIStart()) {
|
||||
Twai.supported = true;
|
||||
if (TWAIStart(Pin(GPIO_TWAI_TX, bus), Pin(GPIO_TWAI_RX, bus), bus)) {
|
||||
Twai.supported = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*********************************************************************************************\
|
||||
* Commands
|
||||
\*********************************************************************************************/
|
||||
|
||||
const char kTwaiCommands[] PROGMEM = "TWAI|" // Prefix
|
||||
"Send";
|
||||
|
||||
void (* const TwaiCommand[])(void) PROGMEM = {
|
||||
&CmndTWAISend };
|
||||
|
||||
void CmndTWAISend(void) {
|
||||
// TwaiSend<bus> <identifier>[[[[[[[[<data1>],<data2>],<data3>],<data4>],<data5>],<data6>],<data7>],<data8>]
|
||||
// TwaiSend<bus> {"ID":<identifier>,"DATA":[[[[[[[[<data1>],<data2>],<data3>],<data4>],<data5>],<data6>],<data7>],<data8>]]}
|
||||
// An identifier with bit 32 set (0x80000000) is a 29-bit identifier
|
||||
// TwaiSend1 0x481,0x03,0x1E,0xFF,0xFF,0xFF,0x01,0x21
|
||||
// TwaiSend1 {"ID":0x481,"DATA":[0x03,0x1E,0xFF,0xFF,0xFF,0x01,0x21]}
|
||||
// TwaiSend2 {"ID":0x80000481,"DATA":[0x03,0x1E,0xFF,0xFF,0xFF,0x01,0x21]}
|
||||
if ((XdrvMailbox.index > 0) && (XdrvMailbox.index <= MAX_TWAI) && (XdrvMailbox.data_len > 0)) {
|
||||
uint32_t bus = XdrvMailbox.index -1;
|
||||
if (!Twai.installed[bus]) { return; }
|
||||
|
||||
uint32_t data[9] = { 0 }; // Accomodate identifier and 8 data bytes
|
||||
uint32_t data_count = 0;
|
||||
if (XdrvMailbox.data[0] == ('{')) {
|
||||
// parse JSON
|
||||
JsonParser parser(XdrvMailbox.data);
|
||||
JsonParserObject root = parser.getRootObject();
|
||||
if (!root) { return; } // No valid JSON
|
||||
|
||||
JsonParserToken val = root[PSTR("ID")];
|
||||
if (!val) { return; } // We need at least an identifier
|
||||
|
||||
data[0] = val.getUInt();
|
||||
data_count = 1;
|
||||
JsonParserArray arr = root[PSTR("DATA")];
|
||||
for (auto value : arr) { // All data is optional
|
||||
data[data_count] = value.getUInt();
|
||||
data_count++;
|
||||
if (9 == data_count) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
// parse comma separated values
|
||||
data_count = ParseParameters(9, data);
|
||||
}
|
||||
|
||||
twai_message_t message;
|
||||
message.extd = (data[0] & 0x80000000) ? 1 : 0; // Standard (0) vs extended (1) format
|
||||
message.rtr = 0, // Data (0) vs RTR (1) frame
|
||||
message.ss = 0, // Whether the message is single shot (1) (i.e., does not repeat on error)
|
||||
message.self = 0, // Whether the message is a self reception request (1) (loopback)
|
||||
message.dlc_non_comp = 0, // DLC is less than 8 (0)
|
||||
message.identifier = data[0] & 0x1FFFFFFF; // Message ID (11-bits or 29-bits)
|
||||
message.data_length_code = data_count -1; // Payload length (0..8)
|
||||
for (uint8_t i = 0; i < message.data_length_code; i++) {
|
||||
message.data[i] = data[i +1]; // Payload
|
||||
}
|
||||
|
||||
twai_clear_receive_queue_v2(Twai.bus[bus]);
|
||||
//Queue message for transmission
|
||||
if (twai_transmit_v2(Twai.bus[bus], &message, pdMS_TO_TICKS(TWAI_POLLING_RATE_MS)) == ESP_OK) {
|
||||
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("TWA: Bus%d Message queued for transmission"), bus +1);
|
||||
} else {
|
||||
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d Alert - Failed to queue message for transmission"), bus +1);
|
||||
}
|
||||
ResponseCmndDone();
|
||||
}
|
||||
}
|
||||
|
||||
@ -350,14 +483,20 @@ bool Xdrv91(uint32_t function) {
|
||||
else if (Twai.supported) {
|
||||
switch (function) {
|
||||
case FUNC_LOOP:
|
||||
if (Twai.installed) {
|
||||
TWAIRead();
|
||||
for (uint32_t bus = 0; bus < MAX_TWAI; bus++) {
|
||||
if (Twai.installed[bus]) {
|
||||
TWAIRead(bus);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case FUNC_COMMAND:
|
||||
result = DecodeCommand(kTwaiCommands, TwaiCommand);
|
||||
break;
|
||||
}
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
#endif // SOC_TWAI_SUPPORTED
|
||||
#endif // USE_ESP32_TWAI
|
||||
#endif // ESP32
|
||||
Loading…
x
Reference in New Issue
Block a user