handle bus recovery in driver class

lib/nmea2ktwai/Nmea2kTwai.cpp

@@ -5,9 +5,12 @@
 
 #define LOGID(id) ((id >> 8) & 0x1ffff)
 
-Nmea2kTwai::Nmea2kTwai(gpio_num_t _TxPin,  gpio_num_t _RxPin):
+static const int TIMEOUT_OFFLINE=256; //# of timeouts to consider offline
-     tNMEA2000(),RxPin(_RxPin),TxPin(_TxPin)
+
+Nmea2kTwai::Nmea2kTwai(gpio_num_t _TxPin,  gpio_num_t _RxPin, unsigned long recP):
+     tNMEA2000(),RxPin(_RxPin),TxPin(_TxPin),recoveryPeriod(recP)
 {
+    lastRecoveryCheck=millis();
 }
 
 bool Nmea2kTwai::CANSendFrame(unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent)
@@ -21,7 +24,7 @@ bool Nmea2kTwai::CANSendFrame(unsigned long id, unsigned char len, const unsigne
     esp_err_t rt=twai_transmit(&message,0);
     if (rt != ESP_OK){
         if (rt == ESP_ERR_TIMEOUT){
-            txTimeouts++;
+            if (txTimeouts < TIMEOUT_OFFLINE) txTimeouts++;
         }
         logDebug(LOG_MSG,"twai transmit for %ld failed: %x",LOGID(id),(int)rt);
         return false;
@@ -111,11 +114,31 @@ Nmea2kTwai::Status Nmea2kTwai::getStatus(){
     rt.rx_missed=state.rx_missed_count;
     rt.rx_overrun=state.rx_overrun_count;
     rt.tx_timeouts=txTimeouts;
-    if (rt.tx_timeouts > 256 && rt.state == ST_RUNNING){
+    if (rt.tx_timeouts >= TIMEOUT_OFFLINE && rt.state == ST_RUNNING){
         rt.state=ST_OFFLINE;
     }
     return rt;
 }
+bool Nmea2kTwai::checkRecovery(){
+    if (recoveryPeriod == 0) return false; //no check
+    unsigned long now=millis();
+    if ((lastRecoveryCheck+recoveryPeriod) > now) return false;
+    lastRecoveryCheck=now;
+    Status canState=getStatus();
+    bool strt=false;
+    if (canState.state != Nmea2kTwai::ST_RUNNING){
+      if (canState.state == Nmea2kTwai::ST_BUS_OFF){
+        strt=true;
+        bool rt=startRecovery();
+        logDebug(LOG_INFO,"start can recovery - result %d",(int)rt);
+      }
+      if (canState.state == Nmea2kTwai::ST_STOPPED){
+        bool rt=CANOpen();
+        logDebug(LOG_INFO,"restart can driver - result %d",(int)rt);
+      }
+    }
+    return strt;
+}
 
 bool Nmea2kTwai::startRecovery(){
     esp_err_t rt=twai_driver_uninstall();

lib/nmea2ktwai/Nmea2kTwai.h

@@ -5,7 +5,7 @@
 
 class Nmea2kTwai : public tNMEA2000{
     public:
-        Nmea2kTwai(gpio_num_t _TxPin,  gpio_num_t _RxPin);
+        Nmea2kTwai(gpio_num_t _TxPin,  gpio_num_t _RxPin, unsigned long recP=0);
         typedef enum{
             ST_STOPPED,
             ST_RUNNING,
@@ -25,7 +25,7 @@ class Nmea2kTwai : public tNMEA2000{
             STATE state=ST_ERROR;
         } Status;
         Status getStatus();
-        bool startRecovery();
+        bool checkRecovery();
         static const char * stateStr(const STATE &st);
         virtual bool CANOpen();
         virtual ~Nmea2kTwai(){};
@@ -47,9 +47,12 @@ class Nmea2kTwai : public tNMEA2000{
 
     private:
     void initDriver();
+    bool startRecovery();
     gpio_num_t TxPin;  
     gpio_num_t RxPin;
     uint32_t txTimeouts=0;
+    unsigned long recoveryPeriod=0;
+    unsigned long lastRecoveryCheck=0;
 };
 
 #endif

src/main.cpp

@@ -110,12 +110,13 @@ GwLog logger(LOGLEVEL,NULL);
 GwConfigHandler config(&logger);
 
 #include "Nmea2kTwai.h"
+static const unsigned long CAN_RECOVERY_PERIOD=3000; //ms
 class Nmea2kTwaiLog : public Nmea2kTwai{
   private:
     GwLog* logger;
   public:
-    Nmea2kTwaiLog(gpio_num_t _TxPin,  gpio_num_t _RxPin, GwLog *l):
+    Nmea2kTwaiLog(gpio_num_t _TxPin,  gpio_num_t _RxPin, unsigned long recoveryPeriod,GwLog *l):
-      Nmea2kTwai(_TxPin,_RxPin),logger(l){}
+      Nmea2kTwai(_TxPin,_RxPin,recoveryPeriod),logger(l){}
     virtual void logDebug(int level, const char *fmt,...){
       va_list args;
       va_start(args,fmt);
@@ -125,7 +126,7 @@ class Nmea2kTwaiLog : public Nmea2kTwai{
 };
 
 
-Nmea2kTwai &NMEA2000=*(new Nmea2kTwaiLog(ESP32_CAN_TX_PIN,ESP32_CAN_RX_PIN,&logger));
+Nmea2kTwai &NMEA2000=*(new Nmea2kTwaiLog(ESP32_CAN_TX_PIN,ESP32_CAN_RX_PIN,CAN_RECOVERY_PERIOD,&logger));
 
 #ifdef GWBUTTON_PIN
 bool fixedApPass=false;
@@ -838,8 +839,7 @@ void handleSendAndRead(bool handleRead){
 
 TimeMonitor monitor(20,0.2);
 unsigned long lastHeapReport=0;
-unsigned long lastCanRecovery=0;
+unsigned long lastCanStatus=0;
-static const unsigned long CAN_RECOVERY_PERIOD=3000; //ms
 void loop() {
   monitor.reset();
   GWSYNCHRONIZED(&mainLock);
@@ -848,6 +848,7 @@ void loop() {
   gwWifi.loop();
   unsigned long now=millis();
   monitor.setTime(2);
+  NMEA2000.checkRecovery();
   if (HEAP_REPORT_TIME > 0 && now > (lastHeapReport+HEAP_REPORT_TIME)){
     lastHeapReport=now;
     if (logger.isActive(GwLog::DEBUG)){
@@ -858,8 +859,8 @@ void loop() {
       logger.logDebug(GwLog::DEBUG,"Main loop %s",monitor.getLog().c_str());
     }
   }
-  if (now > (lastCanRecovery + CAN_RECOVERY_PERIOD)){
+  if (now > (lastCanStatus + CAN_RECOVERY_PERIOD)){
-    lastCanRecovery=now;
+    lastCanStatus=now;
     Nmea2kTwai::Status canState=NMEA2000.getStatus();
     logger.logDebug(GwLog::DEBUG,
       "can state %s, rxerr %d, txerr %d, txfail %d, txtimeout %d, rxmiss %d, rxoverrun %d",
@@ -870,16 +871,6 @@ void loop() {
       canState.tx_timeouts,
       canState.rx_missed,
       canState.rx_overrun);
-    if (canState.state != Nmea2kTwai::ST_RUNNING){
-      if (canState.state == Nmea2kTwai::ST_BUS_OFF){
-        bool rt=NMEA2000.startRecovery();
-        logger.logDebug(GwLog::LOG,"start can recovery - result %d",(int)rt);
-      }
-      if (canState.state == Nmea2kTwai::ST_STOPPED){
-        bool rt=NMEA2000.CANOpen();
-        logger.logDebug(GwLog::LOG,"restart can driver - result %d",(int)rt);
-      }
-    }
   }
   monitor.setTime(3);
   channels.allChannels([](GwChannel *c){