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esp32-nmea2000-obp60
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correctly initialize send messages, increase queue

This commit is contained in:
andreas 2023-08-24 19:30:20 +02:00
parent 80486eff75
commit 3be08a0c26
1 changed files with 16 additions and 5 deletions
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21
lib/nmea2ktwai/Nmea2kTwai.cpp
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@ -25,23 +25,24 @@ Nmea2kTwai::Nmea2kTwai(gpio_num_t _TxPin, gpio_num_t _RxPin,GwLog *l):
bool Nmea2kTwai::CANSendFrame(unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent) bool Nmea2kTwai::CANSendFrame(unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent)
{ {
twai_message_t message; twai_message_t message;
memset(&message,0,sizeof(message));
message.identifier = id; message.identifier = id;
message.extd = 1; message.extd = 1;
message.data_length_code = len; message.data_length_code = len;
memcpy(message.data,buf,len); memcpy(message.data,buf,len);
esp_err_t rt=twai_transmit(&message,0); esp_err_t rt=twai_transmit(&message,0);
if (rt != ESP_OK){ if (rt != ESP_OK){
TWAI_LOG(GwLog::DEBUG,"twai transmit for %ld failed: %d",id,(int)rt); TWAI_LOG(GwLog::DEBUG,"twai transmit for %ld failed: %x",(id & 0x1ffff),(int)rt);
return false; return false;
} }
TWAI_LDEBUG(GwLog::DEBUG,"twai transmit id %ld, len %d",id,(int)len); TWAI_LDEBUG(GwLog::DEBUG,"twai transmit id %ld, len %d",(id & 0x1ffff),(int)len);
return true; return true;
} }
bool Nmea2kTwai::CANOpen() bool Nmea2kTwai::CANOpen()
{ {
esp_err_t rt=twai_start(); esp_err_t rt=twai_start();
if (rt != ESP_OK){ if (rt != ESP_OK){
LOG_DEBUG(GwLog::ERROR,"CANOpen failed: %d",(int)rt); LOG_DEBUG(GwLog::ERROR,"CANOpen failed: %x",(int)rt);
return false; return false;
} }
else{ else{
@ -56,10 +57,19 @@ bool Nmea2kTwai::CANGetFrame(unsigned long &id, unsigned char &len, unsigned cha
if (rt != ESP_OK){ if (rt != ESP_OK){
return false; return false;
} }
if (! message.extd){
return false;
}
id=message.identifier; id=message.identifier;
len=message.data_length_code; len=message.data_length_code;
if (len > 8){
TWAI_LOG(GwLog::ERROR,"twai: received invalid message %lld, len %d",id,len);
len=8;
}
TWAI_LDEBUG(GwLog::DEBUG,"twai rcv id=%ld,len=%d, ext=%d",message.identifier,message.data_length_code,message.extd); TWAI_LDEBUG(GwLog::DEBUG,"twai rcv id=%ld,len=%d, ext=%d",message.identifier,message.data_length_code,message.extd);
memcpy(buf,message.data,message.data_length_code); if (! message.rtr){
memcpy(buf,message.data,message.data_length_code);
}
return true; return true;
} }
// This will be called on Open() before any other initialization. Inherit this, if buffers can be set for the driver // This will be called on Open() before any other initialization. Inherit this, if buffers can be set for the driver
@ -67,6 +77,7 @@ bool Nmea2kTwai::CANGetFrame(unsigned long &id, unsigned char &len, unsigned cha
void Nmea2kTwai::InitCANFrameBuffers() void Nmea2kTwai::InitCANFrameBuffers()
{ {
twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(TxPin,RxPin, TWAI_MODE_NORMAL); twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(TxPin,RxPin, TWAI_MODE_NORMAL);
g_config.tx_queue_len=20;
twai_timing_config_t t_config = TWAI_TIMING_CONFIG_250KBITS(); twai_timing_config_t t_config = TWAI_TIMING_CONFIG_250KBITS();
twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL(); twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
esp_err_t rt=twai_driver_install(&g_config, &t_config, &f_config); esp_err_t rt=twai_driver_install(&g_config, &t_config, &f_config);
@ -74,7 +85,7 @@ void Nmea2kTwai::InitCANFrameBuffers()
LOG_DEBUG(GwLog::LOG,"twai driver initialzed, rx=%d,tx=%d",(int)RxPin,(int)TxPin); LOG_DEBUG(GwLog::LOG,"twai driver initialzed, rx=%d,tx=%d",(int)RxPin,(int)TxPin);
} }
else{ else{
LOG_DEBUG(GwLog::ERROR,"twai driver init failed: %d",(int)rt); LOG_DEBUG(GwLog::ERROR,"twai driver init failed: %x",(int)rt);
} }
tNMEA2000::InitCANFrameBuffers(); tNMEA2000::InitCANFrameBuffers();