nopnop2002
126 lines
3.7 KiB
C
126 lines
3.7 KiB
C
/* TWAI Network Example
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This example code is in the Public Domain (or CC0 licensed, at your option.)
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Unless required by applicable law or agreed to in writing, this
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software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
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CONDITIONS OF ANY KIND, either express or implied.
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*/
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#include <stdio.h>
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#include <inttypes.h>
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#include <stdlib.h>
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#include <string.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "freertos/semphr.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "driver/twai.h" // Update from V4.2
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#include "twai.h"
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static const char *TAG = "TWAI";
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extern QueueHandle_t xQueue_http_client;
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extern QueueHandle_t xQueue_twai_tx;
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extern TOPIC_t *publish;
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extern int16_t npublish;
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void dump_table(TOPIC_t *topics, int16_t ntopic);
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void twai_task(void *pvParameters)
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{
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ESP_LOGI(TAG,"task start");
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dump_table(publish, npublish);
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twai_message_t rx_msg;
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twai_message_t tx_msg;
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FRAME_t frameBuf;
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while (1) {
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esp_err_t ret = twai_receive(&rx_msg, pdMS_TO_TICKS(10));
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if (ret == ESP_OK) {
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ESP_LOGD(TAG,"twai_receive identifier=0x%"PRIx32" flags=0x%"PRIx32" data_length_code=%d",
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rx_msg.identifier, rx_msg.flags, rx_msg.data_length_code);
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int ext = rx_msg.flags & 0x01;
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int rtr = rx_msg.flags & 0x02;
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ESP_LOGD(TAG, "ext=%x rtr=%x", ext, rtr);
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#if CONFIG_ENABLE_PRINT
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if (ext == STANDARD_FRAME) {
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printf("Standard ID: 0x%03"PRIx32" ", rx_msg.identifier);
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} else {
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printf("Extended ID: 0x%08"PRIx32, rx_msg.identifier);
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}
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printf(" DLC: %d Data: ", rx_msg.data_length_code);
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if (rtr == 0) {
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for (int i = 0; i < rx_msg.data_length_code; i++) {
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printf("0x%02x ", rx_msg.data[i]);
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}
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} else {
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printf("REMOTE REQUEST FRAME");
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}
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printf("\n");
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#endif
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for(int index=0;index<npublish;index++) {
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if (publish[index].frame != ext) continue;
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if (publish[index].canid == rx_msg.identifier) {
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ESP_LOGI(TAG, "publish[%d] frame=%d canid=0x%"PRIx32" topic=[%s] topic_len=%d",
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index, publish[index].frame, publish[index].canid, publish[index].topic, publish[index].topic_len);
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strcpy(frameBuf.topic, publish[index].topic);
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frameBuf.command = CMD_RECEIVE;
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frameBuf.topic_len = publish[index].topic_len;
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frameBuf.canid = rx_msg.identifier;
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frameBuf.ext = ext;
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frameBuf.rtr = rtr;
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if (rtr == 0) {
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frameBuf.data_len = rx_msg.data_length_code;
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} else {
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frameBuf.data_len = 0;
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}
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for(int i=0;i<frameBuf.data_len;i++) {
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frameBuf.data[i] = rx_msg.data[i];
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}
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if (xQueueSend(xQueue_http_client, &frameBuf, portMAX_DELAY) != pdPASS) {
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ESP_LOGE(TAG, "xQueueSend Fail");
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}
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}
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}
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} else if (ret == ESP_ERR_TIMEOUT) {
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if (xQueueReceive(xQueue_twai_tx, &tx_msg, 0) == pdTRUE) {
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ESP_LOGI(TAG, "tx_msg.identifier=[0x%"PRIx32"] tx_msg.extd=%d", tx_msg.identifier, tx_msg.extd);
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twai_status_info_t status_info;
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twai_get_status_info(&status_info);
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ESP_LOGD(TAG, "status_info.state=%d",status_info.state);
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if (status_info.state != TWAI_STATE_RUNNING) {
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ESP_LOGE(TAG, "TWAI driver not running %d", status_info.state);
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continue;
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}
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ESP_LOGD(TAG, "status_info.msgs_to_tx=%"PRIu32,status_info.msgs_to_tx);
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ESP_LOGD(TAG, "status_info.msgs_to_rx=%"PRIu32,status_info.msgs_to_rx);
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//esp_err_t ret = twai_transmit(&tx_msg, pdMS_TO_TICKS(10));
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esp_err_t ret = twai_transmit(&tx_msg, 0);
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if (ret == ESP_OK) {
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ESP_LOGI(TAG, "twai_transmit success");
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} else {
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ESP_LOGE(TAG, "twai_transmit Fail %s", esp_err_to_name(ret));
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}
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}
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} else {
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ESP_LOGE(TAG, "twai_receive Fail %s", esp_err_to_name(ret));
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}
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}
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// Never reach here
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vTaskDelete(NULL);
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}
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