Initial commit

lib/Nmea2kTwai/Nmea2kTwai.h

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+#ifndef _NMEA2KTWAI_H
+#define _NMEA2KTWAI_H
+#include "NMEA2000.h"
+// #include "GwTimer.h"
+
+class Nmea2kTwai : public tNMEA2000 {
+public:
+    Nmea2kTwai(gpio_num_t _TxPin,  gpio_num_t _RxPin, unsigned long recP=0, unsigned long logPeriod=0);
+    typedef enum {
+        ST_STOPPED,
+        ST_RUNNING,
+        ST_BUS_OFF,
+        ST_RECOVERING,
+        ST_OFFLINE,
+        ST_DISABLED,
+        ST_ERROR
+    } STATE;
+    typedef struct{
+        //see https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/peripherals/twai.html#_CPPv418twai_status_info_t
+        uint32_t rx_errors = 0;
+        uint32_t tx_errors = 0;
+        uint32_t tx_failed = 0;
+        uint32_t rx_missed = 0;
+        uint32_t rx_overrun = 0;
+        uint32_t tx_timeouts = 0;
+        STATE state = ST_ERROR;
+    } Status;
+    Status getStatus();
+    unsigned long getLastRecoveryStart() { return lastRecoveryStart; }
+    void loop();
+    static const char *stateStr(const STATE &st);
+    virtual bool CANOpen();
+    virtual ~Nmea2kTwai(){};
+    static const int LOG_ERR = 0;
+    static const int LOG_INFO = 1;
+    static const int LOG_DEBUG = 2;
+    static const int LOG_MSG = 3;
+
+protected:
+    virtual bool CANSendFrame(unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent=true);
+    virtual bool CANGetFrame(unsigned long &id, unsigned char &len, unsigned char *buf);
+    /* This will be called on Open() before any other initialization.
+       Inherit this, if buffers can be set for the driver and you want
+       to change size of library send frame buffer size.
+       See e.g. NMEA2000_teensy.cpp. */
+    virtual void InitCANFrameBuffers();
+    virtual void logDebug(int level,const char *fmt,...){}
+   
+private:
+    void initDriver();
+    bool startRecovery();
+    bool checkRecovery();
+    Status logStatus(); 
+    gpio_num_t TxPin;  
+    gpio_num_t RxPin;
+    uint32_t txTimeouts = 0;
+    // GwIntervalRunner timers;
+    bool disabled = false;
+    unsigned long lastRecoveryStart=0;
+};
+
+#endif