First Release

2021-06-30 06:52:43 +09:00
parent bbfdb0da2e
commit 0e9809c8b7
15 changed files with 1172 additions and 1 deletions
@@ -0,0 +1,103 @@
+/* TWAI Network Example
+
+   This example code is in the Public Domain (or CC0 licensed, at your option.)
+
+   Unless required by applicable law or agreed to in writing, this
+   software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+   CONDITIONS OF ANY KIND, either express or implied.
+*/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+#include "freertos/semphr.h"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "driver/twai.h" // Update from V4.2
+
+#include "twai.h"
+
+static const char *TAG = "TWAI";
+
+extern QueueHandle_t xQueue_http;
+//extern QueueHandle_t xQueue_twai_tx;
+
+extern TOPIC_t *publish;
+extern int16_t npublish;
+
+void dump_table(TOPIC_t *topics, int16_t ntopic);
+
+void twai_task(void *pvParameters)
+{
+	ESP_LOGI(TAG,"task start");
+	dump_table(publish, npublish);
+
+	twai_message_t rx_msg;
+	FRAME_t frameBuf;
+	while (1) {
+		esp_err_t ret = twai_receive(&rx_msg, pdMS_TO_TICKS(1));
+		if (ret == ESP_OK) {
+			ESP_LOGD(TAG,"twai_receive identifier=0x%x flags=0x%x data_length_code=%d",
+				rx_msg.identifier, rx_msg.flags, rx_msg.data_length_code);
+
+			int ext = rx_msg.flags & 0x01;
+			int rtr = rx_msg.flags & 0x02;
+			ESP_LOGD(TAG, "ext=%x rtr=%x", ext, rtr);
+
+#if CONFIG_ENABLE_PRINT
+			if (ext == 0) {
+				printf("Standard ID: 0x%03x     ", rx_msg.identifier);
+			} else {
+				printf("Extended ID: 0x%08x", rx_msg.identifier);
+			}
+			printf(" DLC: %d  Data: ", rx_msg.data_length_code);
+
+			if (rtr == 0) {
+				for (int i = 0; i < rx_msg.data_length_code; i++) {
+					printf("0x%02x ", rx_msg.data[i]);
+				}
+			} else {
+				printf("REMOTE REQUEST FRAME");
+
+			}
+			printf("\n");
+#endif
+
+			for(int index=0;index<npublish;index++) {
+				if (publish[index].frame != ext) continue;
+				if (publish[index].canid == rx_msg.identifier) {
+					ESP_LOGI(TAG, "publish[%d] frame=%d canid=0x%x topic=[%s] topic_len=%d",
+					index, publish[index].frame, publish[index].canid, publish[index].topic, publish[index].topic_len);
+					strcpy(frameBuf.topic, publish[index].topic);
+					frameBuf.topic_len = publish[index].topic_len;
+					frameBuf.canid = rx_msg.identifier;
+					frameBuf.ext = ext;
+					frameBuf.rtr = rtr;
+					if (rtr == 0) {
+						frameBuf.data_len = rx_msg.data_length_code;
+					} else {
+						frameBuf.data_len = 0;
+					}
+					for(int i=0;i<frameBuf.data_len;i++) {
+						frameBuf.data[i] = rx_msg.data[i];
+					}
+					if (xQueueSend(xQueue_http, &frameBuf, portMAX_DELAY) != pdPASS) {
+						ESP_LOGE(TAG, "xQueueSend Fail");
+					}
+				}
+			}
+
+		} else if (ret == ESP_ERR_TIMEOUT) {
+
+		} else {
+			ESP_LOGE(TAG, "twai_receive Fail %s", esp_err_to_name(ret));
+		}
+	}
+
+	// never reach
+	vTaskDelete(NULL);
+}
+