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Create xdrv_91_esp32_twai.ino
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Theo Arends
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commit
2d2c732e2e
331
tasmota/tasmota_xdrv_driver/xdrv_91_esp32_twai.ino
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331
tasmota/tasmota_xdrv_driver/xdrv_91_esp32_twai.ino
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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-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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/*********************************************************************************************\
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* ESP32 Two-Wire Automotive Interface (TWAI) or Controller Area Network (CAN) - needs external tranceiver
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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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*
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* CAN bus message format is 32-bit identifier and up to 8 bytes of data
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*
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* For versalitlity decoding CAN-bus needs a berry script with class "can_bus" and function "decode"
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\*********************************************************************************************/
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#define XDRV_91 91
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#define TWAI_POLLING_RATE_MS 100
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enum TwaiSpeeds { TWAI_SPEED_25KBITS = 0,
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TWAI_SPEED_50KBITS,
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TWAI_SPEED_100KBITS,
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TWAI_SPEED_125KBITS,
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TWAI_SPEED_250KBITS,
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TWAI_SPEED_500KBITS,
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TWAI_SPEED_800KBITS,
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TWAI_SPEED_1MBITS,
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TWAI_SPEED_MAX };
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#include "driver/twai.h"
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struct TWAIs {
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uint8_t speed;
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bool supported;
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bool installed;
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} Twai;
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/*********************************************************************************************\
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* 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_NORMAL);
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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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case 0:
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t_config = TWAI_TIMING_CONFIG_25KBITS();
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break;
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case 1:
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t_config = TWAI_TIMING_CONFIG_50KBITS();
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break;
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case 2:
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t_config = TWAI_TIMING_CONFIG_100KBITS();
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break;
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case 3:
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t_config = TWAI_TIMING_CONFIG_125KBITS();
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break;
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case 4:
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t_config = TWAI_TIMING_CONFIG_250KBITS();
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break;
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case 5:
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t_config = TWAI_TIMING_CONFIG_500KBITS();
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break;
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case 6:
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t_config = TWAI_TIMING_CONFIG_800KBITS();
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break;
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case 7:
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t_config = TWAI_TIMING_CONFIG_1MBITS();
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break;
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default:
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t_config = TWAI_TIMING_CONFIG_125KBITS();
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break;
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}
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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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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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return false;
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}
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// Reconfigure alerts to detect frame receive, Bus-Off error and RX queue full states
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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;
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if (twai_reconfigure_alerts(alerts_to_enable, NULL) != ESP_OK) {
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AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Failed to reconfigure CAN alerts"));
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return false;
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}
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Twai.installed = true;
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return true;
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}
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/*********************************************************************************************/
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void TWAIStop(void) {
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if (Twai.installed) {
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twai_stop();
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twai_driver_uninstall();
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Twai.installed = false;
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}
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}
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/*********************************************************************************************/
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uint32_t TWAICheckAlerts(void) {
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uint32_t alerts_triggered;
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twai_read_alerts(&alerts_triggered, pdMS_TO_TICKS(TWAI_POLLING_RATE_MS));
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twai_status_info_t twaistatus;
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twai_get_status_info(&twaistatus);
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// Handle alerts
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if (alerts_triggered & TWAI_ALERT_ERR_PASS) {
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AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - Controller has become error passive"));
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}
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if (alerts_triggered & TWAI_ALERT_BUS_ERROR) {
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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);
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}
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if (alerts_triggered & TWAI_ALERT_RX_QUEUE_FULL) {
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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"),
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twaistatus.msgs_to_rx, twaistatus.rx_missed_count, twaistatus.rx_overrun_count);
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}
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if (alerts_triggered & TWAI_ALERT_TX_FAILED) {
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AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - The Transmission failed. Buffered %d, Error %d, Failed %d"),
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twaistatus.msgs_to_tx, twaistatus.tx_error_counter, twaistatus.tx_failed_count);
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}
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if (alerts_triggered & TWAI_ALERT_TX_SUCCESS) {
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AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Alert - The Transmission was successful. Buffered %d"), twaistatus.msgs_to_tx);
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}
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return alerts_triggered;
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}
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/*********************************************************************************************/
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void TWAIRead(void) {
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uint32_t alerts_triggered = TWAICheckAlerts();
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// Check if message is received
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if (alerts_triggered & TWAI_ALERT_RX_DATA) {
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// One or more messages received. Handle all.
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twai_message_t message;
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while (twai_receive(&message, 0) == ESP_OK) {
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TWAIDecode(message.identifier, message.data_length_code, message.data);
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}
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}
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}
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/*********************************************************************************************\
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* Decoding
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\*********************************************************************************************/
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void TWAIDecode(uint32_t identifier, uint32_t data_length_code, uint8_t *data) {
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#ifdef USE_BERRY
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bvm *vm = berry.vm;
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if (nullptr != vm) {
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if (be_getglobal(vm, "can_bus")) { // Look for class can_bus
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if (be_getmember(vm, 1, "decode")) { // and function decode
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be_pushvalue(vm, -2);
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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("CAN: ident %08X, data1 %08X, data2 %08X"), ident, data1, data2);
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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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BrTimeoutStart();
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int32_t ret = be_pcall(vm, 4); // number of arguments
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BrTimeoutReset();
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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, be_top(vm)); // clean
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return;
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}
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}
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be_pop(vm, be_top(vm)); // clean
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}
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/*
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file can_bus.be contents:
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class can_bus_cls
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var am012_status
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var am014_substatus
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var am024_power
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var pressure
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var setpoint
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var flow_temp
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def init()
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self.am012_status = 0
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self.am014_substatus = 0
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self.am024_power = 0
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self.pressure = 0
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self.setpoint = 0
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self.flow_temp = 0
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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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# 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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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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# 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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self.am012_status = data1 & 0xff
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self.am014_substatus = (data1 & 0xff00)/256
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end
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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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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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#- display sensor value in the web UI -#
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def web_sensor()
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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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"{s}Pressure{m}%.1f{e}"..
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"{s}Setpoint Temperature{m}%.1f{e}"..
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"{s}Flow Temperature{m}%.1f{e}",
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self.am012_status, self.am014_substatus, self.am024_power, self.pressure, self.setpoint, self.flow_temp)
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tasmota.web_send_decimal(msg)
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end
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end
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can_bus = can_bus_cls()
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tasmota.add_driver(can_bus)
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// ****
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file autoexec.be contents:
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load('can_bus.be')
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*/
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#endif // USE_BERRY
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// Show log if no berry found (Messages come too fast for supporting MQTT at this time)
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AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("TWA: Id 0x%08X, Rcvd '%*_H'"), identifier, data_length_code, data);
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}
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/*********************************************************************************************\
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* Initialization
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\*********************************************************************************************/
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void TWAIInit(void) {
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if (!(PinUsed(GPIO_TWAI_TX) && PinUsed(GPIO_TWAI_RX))) { return; }
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Twai.speed = TWAI_SPEED_1MBITS;
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if (!TWAIStart()) { return; }
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Twai.supported = true;
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AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Started"));
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}
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/*********************************************************************************************\
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* Commands
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\*********************************************************************************************/
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const char kTwaiCommands[] PROGMEM = "TWAI|" // Prefix
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"Speed";
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void (* const TwaiCommand[])(void) PROGMEM = {
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&CmndTWAISpeed };
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void CmndTWAISpeed(void) {
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if ((XdrvMailbox.payload >= 0) && (XdrvMailbox.payload < TWAI_SPEED_MAX)) {
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if (XdrvMailbox.payload != Twai.speed) {
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Twai.speed = XdrvMailbox.payload;
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TWAIStop();
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TWAIStart();
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}
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}
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ResponseCmndNumber(Twai.speed);
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}
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/*********************************************************************************************\
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* Interface
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\*********************************************************************************************/
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bool Xdrv91(uint32_t function) {
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bool result = false;
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if (FUNC_INIT == function) {
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TWAIInit();
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}
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else if (Twai.supported) {
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switch (function) {
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case FUNC_LOOP:
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if (Twai.installed) {
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TWAIRead();
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}
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break;
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case FUNC_COMMAND:
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result = DecodeCommand(kTwaiCommands, TwaiCommand);
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break;
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}
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}
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return result;
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}
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#endif // USE_ESP32_TWAI
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#endif // ESP32
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