thooge/esp32-nmea2000-obp60
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intermediate: recovery

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This commit is contained in:
andreas
2023-08-24 21:04:28 +02:00
parent 41d8578681
commit 475652ff6e
3 changed files with 57 additions and 2 deletions
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42
lib/nmea2ktwai/Nmea2kTwai.cpp
View File

@@ -24,6 +24,14 @@ 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)
{
if (recoveryStarted){
if (getState() == ST_RUNNING){
recoveryStarted=false;
}
else{
return false;
}
}
twai_message_t message;
memset(&message,0,sizeof(message));
message.identifier = id;
@@ -52,6 +60,14 @@ bool Nmea2kTwai::CANOpen()
}
bool Nmea2kTwai::CANGetFrame(unsigned long &id, unsigned char &len, unsigned char *buf)
{
if (recoveryStarted){
if (getState() == ST_RUNNING){
recoveryStarted=false;
}
else{
return false;
}
}
twai_message_t message;
esp_err_t rt=twai_receive(&message,0);
if (rt != ESP_OK){
@@ -107,12 +123,38 @@ Nmea2kTwai::STATE Nmea2kTwai::getState(){
}
return ST_ERROR;
}
Nmea2kTwai::ERRORS Nmea2kTwai::getErrors(){
ERRORS rt;
twai_status_info_t state;
if (twai_get_status_info(&state) != ESP_OK){
return rt;
}
rt.rx_errors=state.rx_error_counter;
rt.tx_errors=state.tx_error_counter;
rt.tx_failed=state.tx_failed_count;
return rt;
}
bool Nmea2kTwai::startRecovery(){
if (! recoveryStarted){
recoveryStarted=true; //prevent any further sends
return true;
}
esp_err_t rt=twai_initiate_recovery();
if (rt != ESP_OK){
LOG_DEBUG(GwLog::ERROR,"twai: initiate recovery failed with error %x",(int)rt);
return false;
}
recoveryStarted=true;
LOG_DEBUG(GwLog::LOG,"twai: bus recovery started");
return true;
}
const char * Nmea2kTwai::stateStr(const Nmea2kTwai::STATE &st){
switch (st)
{
case ST_BUS_OFF: return "BUS_OFF";
case ST_RECOVERING: return "RECOVERING";
case ST_RUNNING: return "RUNNING";
case ST_STOPPED: return "STOPPED";
}
return "ERROR";
}

10
lib/nmea2ktwai/Nmea2kTwai.h
View File

@@ -13,14 +13,21 @@ class Nmea2kTwai : public tNMEA2000{
ST_RECOVERING,
ST_ERROR
} STATE;
typedef struct{
uint32_t rx_errors=0;
uint32_t tx_errors=0;
uint32_t tx_failed=0;
} ERRORS;
STATE getState();
ERRORS getErrors();
bool startRecovery();
static const char * stateStr(const STATE &st);
virtual bool CANOpen();
protected:
// Virtual functions for different interfaces. Currently there are own classes
// for Arduino due internal CAN (NMEA2000_due), external MCP2515 SPI CAN bus controller (NMEA2000_mcp),
// Teensy FlexCAN (NMEA2000_Teensy), NMEA2000_avr for AVR, NMEA2000_mbed for MBED and NMEA2000_socketCAN for e.g. RPi.
virtual bool CANSendFrame(unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent=true);
virtual bool CANOpen();
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.
@@ -32,6 +39,7 @@ class Nmea2kTwai : public tNMEA2000{
gpio_num_t TxPin;
gpio_num_t RxPin;
GwLog *logger;
bool recoveryStarted=false;
};