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esp32-nmea2000-obp60
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use driver_uninstall for bus recovery to avoid crashes

This commit is contained in:
andreas 2023-08-24 21:15:37 +02:00
parent 475652ff6e
commit ec95007d9d
2 changed files with 13 additions and 32 deletions
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42
lib/nmea2ktwai/Nmea2kTwai.cpp
View File

@ -24,14 +24,6 @@ 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)
{ {
if (recoveryStarted){
if (getState() == ST_RUNNING){
recoveryStarted=false;
}
else{
return false;
}
}
twai_message_t message; twai_message_t message;
memset(&message,0,sizeof(message)); memset(&message,0,sizeof(message));
message.identifier = id; message.identifier = id;
@ -60,14 +52,6 @@ bool Nmea2kTwai::CANOpen()
} }
bool Nmea2kTwai::CANGetFrame(unsigned long &id, unsigned char &len, unsigned char *buf) 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; twai_message_t message;
esp_err_t rt=twai_receive(&message,0); esp_err_t rt=twai_receive(&message,0);
if (rt != ESP_OK){ if (rt != ESP_OK){
@ -88,10 +72,7 @@ bool Nmea2kTwai::CANGetFrame(unsigned long &id, unsigned char &len, unsigned cha
} }
return true; return true;
} }
// This will be called on Open() before any other initialization. Inherit this, if buffers can be set for the driver void Nmea2kTwai::initDriver(){
// and you want to change size of library send frame buffer size. See e.g. NMEA2000_teensy.cpp.
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; 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();
@ -103,6 +84,12 @@ void Nmea2kTwai::InitCANFrameBuffers()
else{ else{
LOG_DEBUG(GwLog::ERROR,"twai driver init failed: %x",(int)rt); LOG_DEBUG(GwLog::ERROR,"twai driver init failed: %x",(int)rt);
} }
}
// 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.
void Nmea2kTwai::InitCANFrameBuffers()
{
initDriver();
tNMEA2000::InitCANFrameBuffers(); tNMEA2000::InitCANFrameBuffers();
} }
@ -135,18 +122,13 @@ Nmea2kTwai::ERRORS Nmea2kTwai::getErrors(){
return rt; return rt;
} }
bool Nmea2kTwai::startRecovery(){ bool Nmea2kTwai::startRecovery(){
if (! recoveryStarted){ esp_err_t rt=twai_driver_uninstall();
recoveryStarted=true; //prevent any further sends
return true;
}
esp_err_t rt=twai_initiate_recovery();
if (rt != ESP_OK){ if (rt != ESP_OK){
LOG_DEBUG(GwLog::ERROR,"twai: initiate recovery failed with error %x",(int)rt); LOG_DEBUG(GwLog::ERROR,"twai: deinit for recovery failed with %x",(int)rt);
return false;
} }
recoveryStarted=true; initDriver();
LOG_DEBUG(GwLog::LOG,"twai: bus recovery started"); bool frt=CANOpen();
return true; return frt;
} }
const char * Nmea2kTwai::stateStr(const Nmea2kTwai::STATE &st){ const char * Nmea2kTwai::stateStr(const Nmea2kTwai::STATE &st){
switch (st) switch (st)

3
lib/nmea2ktwai/Nmea2kTwai.h
View File

@ -36,11 +36,10 @@ class Nmea2kTwai : public tNMEA2000{
private: private:
void initDriver();
gpio_num_t TxPin; gpio_num_t TxPin;
gpio_num_t RxPin; gpio_num_t RxPin;
GwLog *logger; GwLog *logger;
bool recoveryStarted=false;
}; };
#endif #endif