test: fw-can
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35
fw-can/platformio.ini
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35
fw-can/platformio.ini
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; PlatformIO Project Configuration File
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;
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; Build options: build flags, source filter
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; Upload options: custom upload port, speed and extra flags
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; Library options: dependencies, extra library storages
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; Advanced options: extra scripting
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;
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; Please visit documentation for the other options and examples
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; https://docs.platformio.org/page/projectconf.html
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[env:nilsdriverv1]
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# platform = espressif32
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platform = https://github.com/cziter15/platform-espressif32.git
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#platform = https://github.com/tasmota/platform-espressif32/releases/download/2023.10.10/platform-espressif32.zip
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# board = adafruit_feather_esp32s3
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board = lolin_s3_mini
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framework = arduino
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upload_protocol = esptool
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upload_port = /dev/ttyACM*
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# board_build.mcu = esp32s3
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lib_archive = false
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;platform_packages = espressif/toolchain-xtensa-esp32@8.4.0+2021r2-patch5
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monitor_speed = 115200
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lib_deps =
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; https://github.com/simplefoc/Arduino-FOC.git#dev
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; https://github.com/simplefoc/Arduino-FOC-drivers.git#dev
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; https://github.com/handmade0octopus/ESP32-TWAI-CAN
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; https://github.com/simplefoc/Arduino-FOC-dcmotor.git
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; https://github.com/eric-wieser/packet-io.git
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; https://git.nilsschulte.de/nils/simplesync.git
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; https://github.com/Tinyu-Zhao/INA3221.git
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build_flags = -DRADIOLIB_EEPROM_UNSUPPORTED
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;-DSIMPLEFOC_ESP32_USELEDC
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181
fw-can/src/main.cpp
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181
fw-can/src/main.cpp
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/*
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Simple example of sending/receiving messages between the two CAN interfaces on
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the ESP32-CAN-X2 dev board. https://wiki.autosportlabs.com/ESP32-CAN-X2
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This example relies on the ESP32 supplied TWAI api for interfacing with CAN1,
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and the Longan Labs mcp_canbus library for interfacing with the MCP2515 on
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CAN2.
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*/
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#include "Arduino.h"
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#include "SPI.h"
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#include "USB.h"
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#include "driver/twai.h"
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#define POLLING_RATE_MS 1
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#define CAN1_ID 0xF6
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#define CAN2_ID 0xF7
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#define CAN1_TX 45
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#define CAN1_RX 48
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#define USBSERIAL
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#ifdef USBSERIAL
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USBCDC usbserial;
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#define Serial usbserial
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#endif
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static void sendCAN1() {
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// Send message
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// Configure message to transmit
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twai_message_t message;
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message.identifier = CAN1_ID;
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message.extd = 0;
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message.rtr = 0;
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message.data_length_code = 4;
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message.data[0] = (int8_t)'p';
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message.data[1] = (int8_t)'i';
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message.data[2] = (int8_t)'n';
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message.data[3] = (int8_t)'g';
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// Queue message for transmission
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if (twai_transmit(&message, pdMS_TO_TICKS(1000)) == ESP_OK) {
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Serial.println("CAN1: Message queued for transmission");
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} else {
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Serial.println("CAN1: Failed to queue message for transmission");
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}
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}
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static void readCAN1() {
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twai_message_t message;
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while (twai_receive(&message, 0) == ESP_OK) {
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Serial.print("CAN1: Received ");
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// Process received message
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if (message.extd) {
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Serial.print("extended ");
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} else {
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Serial.print("standard ");
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}
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if (message.rtr) {
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Serial.print("RTR ");
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}
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Serial.printf("packet with id 0x%x", message.identifier);
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if (message.rtr) {
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Serial.printf(" and requested length %d\n", message.data_length_code);
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} else {
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Serial.printf(" and length %d\n", message.data_length_code);
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Serial.printf("CAN1: Data: %.*s\n", message.data_length_code,
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message.data);
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}
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}
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}
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void setup() {
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#ifdef USBSERIAL
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Serial.begin();
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USB.begin();
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#else
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Serial.begin(460800, SERIAL_8N1, 44, 43);
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#endif
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delay(1000);
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// pinMode(LED_BUILTIN, OUTPUT);
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Serial.println("Initializing builtin CAN peripheral");
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twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(
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(gpio_num_t)CAN1_TX, (gpio_num_t)CAN1_RX, TWAI_MODE_NORMAL);
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g_config.rx_queue_len = 10;
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g_config.tx_queue_len = 10;
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twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS();
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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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Serial.println("CAN1 Driver initialized");
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} else {
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Serial.println("Failed to initialze CAN1 driver");
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return;
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}
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if (twai_start() == ESP_OK) {
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Serial.println("CAN1 interface started");
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} else {
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Serial.println("Failed to start CAN1");
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return;
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}
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uint32_t alerts_to_enable = TWAI_ALERT_TX_IDLE | TWAI_ALERT_TX_SUCCESS |
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TWAI_ALERT_TX_FAILED | TWAI_ALERT_RX_QUEUE_FULL |
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TWAI_ALERT_RX_DATA | TWAI_ALERT_ERR_PASS |
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TWAI_ALERT_BUS_ERROR;
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if (twai_reconfigure_alerts(alerts_to_enable, NULL) == ESP_OK) {
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Serial.println("CAN1 Alerts reconfigured");
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} else {
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Serial.println("Failed to reconfigure alerts");
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return;
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}
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// if (CAN_OK == CAN.begin(CAN_500KBPS)) {
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// Serial.println("CAN2 interface started");
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// } else {
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// Serial.println("Failed to start CAN2");
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// while (1);
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// }
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}
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void loop() {
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// Serial.println("MAIN:");
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// digitalWrite(LED_BUILTIN, HIGH);
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// delay(1000);
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// Check if alert happened
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uint32_t alerts_triggered;
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twai_read_alerts(&alerts_triggered, pdMS_TO_TICKS(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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Serial.println("CAN1: Alert: TWAI controller has become error passive.");
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}
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if (alerts_triggered & TWAI_ALERT_BUS_ERROR) {
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Serial.println("CAN1: Alert: A (Bit, Stuff, CRC, Form, ACK) error has "
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"occurred on the bus.");
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Serial.printf("CAN1: Bus error count: %d\n", twaistatus.bus_error_count);
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}
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if (alerts_triggered & TWAI_ALERT_TX_FAILED) {
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Serial.println("CAN1: Alert: The Transmission failed.");
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Serial.printf("CAN1: TX buffered: %d\t", twaistatus.msgs_to_tx);
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Serial.printf("CAN1: TX error: %d\t", twaistatus.tx_error_counter);
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Serial.printf("CAN1: TX failed: %d\n", twaistatus.tx_failed_count);
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}
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if (alerts_triggered & TWAI_ALERT_RX_QUEUE_FULL) {
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Serial.println("CAN1: Alert: The RX queue is full causing a received frame "
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"to be lost.");
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Serial.printf("CAN1: RX buffered: %d\t", twaistatus.msgs_to_rx);
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Serial.printf("CAN1: RX missed: %d\t", twaistatus.rx_missed_count);
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Serial.printf("CAN1: RX overrun %d\n", twaistatus.rx_overrun_count);
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}
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if (alerts_triggered & TWAI_ALERT_TX_SUCCESS) {
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Serial.println("CAN1: Alert: The Transmission was successful.");
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Serial.printf("CAN1: TX buffered: %d\n", twaistatus.msgs_to_tx);
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}
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// Check if message is received
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if (alerts_triggered & TWAI_ALERT_RX_DATA) {
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readCAN1();
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// twai_read_alerts(&alerts_triggered, pdMS_TO_TICKS(0));
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}
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// Send message
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static int i = 0;
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if (i++ % 1000 == 0)
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sendCAN1();
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// Serial.println("MAIN: Enable LED");
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// digitalWrite(LED_BUILTIN, LOW);
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// delay(1000);
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// readCAN2();
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}
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@ -616,7 +616,7 @@
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"filter_string": "",
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"group_symbols": true,
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"name": "",
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"sort_asc": true,
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"sort_asc": false,
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"sort_field": "Value"
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},
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"connection_grid_size": 50.0,
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@ -16012,7 +16012,7 @@
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(at 96.52 119.38 270)
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(unit 1)
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(exclude_from_sim no)
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(in_bom yes)
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(in_bom no)
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(on_board yes)
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(dnp no)
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(fields_autoplaced yes)
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@ -16145,7 +16145,7 @@
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(at 96.52 121.92 270)
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(unit 1)
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(exclude_from_sim no)
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(in_bom yes)
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(in_bom no)
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(on_board yes)
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(dnp no)
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(fields_autoplaced yes)
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