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Add berry control over TWAI rx queue size

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Theo Arends 2025-02-09 16:12:38 +01:00
parent 57e4d18d26
commit 99cbdf687d
1 changed files with 59 additions and 38 deletions
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97
tasmota/tasmota_xdrv_driver/xdrv_91_esp32_twai.ino
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@ -56,12 +56,14 @@ const char kTwaiSpeeds[] PROGMEM = "25K|50K|100K|125K|250K|500K|800K|1M";
const char kTwaiModes[] PROGMEM = "Normal|No Ack|Listen Only";
struct TWAIs {
twai_handle_t bus[MAX_TWAI];
twai_mode_t mode[MAX_TWAI];
uint8_t speed[MAX_TWAI];
bool installed[MAX_TWAI];
bool supported;
} Twai;
twai_handle_t bus;
twai_mode_t mode;
uint8_t rx_queue_len;
uint8_t speed;
bool installed;
} Twai[MAX_TWAI];
bool Twai_supported;
#ifdef USE_BERRY
/*********************************************************************************************\
@ -72,18 +74,28 @@ struct TWAIs {
file twai_minimal.be contents:
class twai_cls
var twai_speed, twai_mode # (int, int)
var twai_speed, twai_mode, twai_rx_queue_len # (int, int, int)
def init()
self.twai_speed = 4 # 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.twai_speed = 4 # 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.twai_rx_queue_len = 8 # 1 .. 64
if global.twai_driver
global.twai_driver.stop() # Let previous instance bail out cleanly
end
tasmota.add_driver(global.twai_driver := self)
end
def stop()
tasmota.remove_driver(self)
end
#----------------------------------------------------------------------------------------------
Allow TWAI driver configuration on restart (if this file is installed by preinit.be)
----------------------------------------------------------------------------------------------#
def config(bus) # This function name (config) is called by the TWAI driver!
return self.twai_mode << 3 | self.twai_speed # Initial configure TWAI driver
return (self.twai_rx_queue_len -1) << 5 | self.twai_mode << 3 | self.twai_speed # Initial configure TWAI driver
end
#----------------------------------------------------------------------------------------------
@ -99,7 +111,6 @@ class twai_cls
end
twai = twai_cls() # This class name (twai) is used by the TWAI driver!
tasmota.add_driver(twai)
// *******************************************************************************************
@ -158,10 +169,19 @@ bool TWAIBerryConfig(uint32_t bus) {
be_pop(vm, 2);
if (be_isint(vm, -1)) {
uint32_t config = be_toint(vm, -1);
Twai.speed[bus] = config & 0x7; // User input check 0..7
// 3322222222221111111111
// 10987654321098765432109876543210
// xxxxxxxxxxxxxxxxxxxxxxxxxxxxx111 = speed 0..7
// xxxxxxxxxxxxxxxxxxxxxxxxxxx11xxx = mode 0..2
// xxxxxxxxxxxxxxxxxxxxx111111xxxxx = rx_queue_len 0..63
Twai[bus].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[bus] = (twai_mode_t)mode;
Twai[bus].mode = (twai_mode_t)mode;
uint32_t rx_queue_len = config >> 5 & 0x3f;
rx_queue_len++; // Rx queue len 1..64
if (rx_queue_len < 8) { rx_queue_len = 8; } // User input check 8..64
Twai[bus].rx_queue_len = rx_queue_len;
handled = true;
}
}
@ -178,12 +198,12 @@ bool TWAIBerryConfig(uint32_t bus) {
bool TWAIStart(int tx, int rx, uint32_t bus = 0);
bool TWAIStart(int tx, int rx, uint32_t bus) {
twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT((gpio_num_t)tx, (gpio_num_t)rx, Twai.mode[bus]);
twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT((gpio_num_t)tx, (gpio_num_t)rx, Twai[bus].mode);
g_config.controller_id = bus;
g_config.rx_queue_len = 32;
g_config.rx_queue_len = Twai[bus].rx_queue_len;
twai_timing_config_t t_config;
switch (Twai.speed[bus]) {
switch (Twai[bus].speed) {
case 0:
t_config = TWAI_TIMING_CONFIG_25KBITS();
break;
@ -215,39 +235,39 @@ bool TWAIStart(int tx, int rx, uint32_t bus) {
twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
if (twai_driver_install_v2(&g_config, &t_config, &f_config, &Twai.bus[bus]) != ESP_OK) {
if (twai_driver_install_v2(&g_config, &t_config, &f_config, &Twai[bus].bus) != ESP_OK) {
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d Not installed"), bus +1);
return false;
}
if (twai_start_v2(Twai.bus[bus]) != ESP_OK) {
if (twai_start_v2(Twai[bus].bus) != ESP_OK) {
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d Not started"), bus +1);
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_v2(Twai.bus[bus], alerts_to_enable, NULL) != ESP_OK) {
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;
}
char smode[16];
GetTextIndexed(smode, sizeof(smode), Twai.mode[bus], kTwaiModes);
GetTextIndexed(smode, sizeof(smode), Twai[bus].mode, kTwaiModes);
char sspeed[16];
GetTextIndexed(sspeed, sizeof(sspeed), Twai.speed[bus], kTwaiSpeeds);
GetTextIndexed(sspeed, sizeof(sspeed), Twai[bus].speed, 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;
Twai[bus].installed = true;
return true;
}
/*********************************************************************************************/
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;
if (Twai[bus].installed) {
twai_stop_v2(Twai[bus].bus);
twai_driver_uninstall_v2(Twai[bus].bus);
Twai[bus].installed = false;
AddLog(LOG_LEVEL_DEBUG, PSTR("TWA: Bus%d stopped"), bus +1);
}
}
@ -256,9 +276,9 @@ void TWAIStop(uint32_t bus) {
uint32_t TWAICheckAlerts(uint32_t bus) {
uint32_t alerts_triggered;
twai_read_alerts_v2(Twai.bus[bus], &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_v2(Twai.bus[bus], &twaistatus);
twai_get_status_info_v2(Twai[bus].bus, &twaistatus);
// Handle alerts
if (alerts_triggered & TWAI_ALERT_ERR_PASS) {
@ -290,7 +310,7 @@ void TWAIRead(uint32_t bus) {
if (alerts_triggered & TWAI_ALERT_RX_DATA) {
// One or more messages received. Handle all.
twai_message_t message;
while (twai_receive_v2(Twai.bus[bus], &message, 0) == ESP_OK) {
while (twai_receive_v2(Twai[bus].bus, &message, 0) == ESP_OK) {
uint32_t identifier = message.identifier | message.extd << 31; // Add extended 29-bit flag
#ifdef USE_BERRY
if (TWAIBerryDecode(bus, identifier, message.data_length_code, message.data)) { continue; }
@ -307,16 +327,17 @@ void TWAIRead(uint32_t bus) {
\*********************************************************************************************/
void TWAIInit(void) {
Twai.supported = false;
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_100KBITS;
Twai.mode[bus] = TWAI_MODE_NORMAL; // 0 = TWAI_MODE_NORMAL, 1 = TWAI_MODE_NO_ACK, 2 = TWAI_MODE_LISTEN_ONLY
Twai[bus].speed = TWAI_SPEED_100KBITS;
Twai[bus].mode = TWAI_MODE_NORMAL; // 0 = TWAI_MODE_NORMAL, 1 = TWAI_MODE_NO_ACK, 2 = TWAI_MODE_LISTEN_ONLY
Twai[bus].rx_queue_len = 8;
#ifdef USE_BERRY
TWAIBerryConfig(bus);
#endif // USE_BERRY
if (TWAIStart(Pin(GPIO_TWAI_TX, bus), Pin(GPIO_TWAI_RX, bus), bus)) {
Twai.supported = true;
Twai_supported = true;
}
}
}
@ -341,7 +362,7 @@ void CmndTWAISend(void) {
// 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; }
if (!Twai[bus].installed) { return; }
uint32_t data[9] = { 0 }; // Accomodate identifier and 8 data bytes
uint32_t data_count = 0;
@ -381,9 +402,9 @@ void CmndTWAISend(void) {
message.data[i] = data[i +1]; // Payload
}
twai_clear_receive_queue_v2(Twai.bus[bus]);
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) {
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);
@ -402,11 +423,11 @@ bool Xdrv91(uint32_t function) {
if (FUNC_INIT == function) {
TWAIInit();
}
else if (Twai.supported) {
else if (Twai_supported) {
switch (function) {
case FUNC_LOOP:
for (uint32_t bus = 0; bus < MAX_TWAI; bus++) {
if (Twai.installed[bus]) {
if (Twai[bus].installed) {
TWAIRead(bus);
}
}