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esp32-nmea2000-obp60
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esp32-nmea2000-obp60/lib/nmea2000esp32/NMEA2000_esp32.cpp

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/*
NMEA2000_esp32.cpp
Copyright (c) 2015-2020 Timo Lappalainen, Kave Oy, www.kave.fi
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to use,
copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
Software, and to permit persons to whom the Software is furnished to do so,
subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF
CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
Inherited NMEA2000 object for ESP32 modules. See also NMEA2000 library.
Thanks to Thomas Barth, barth-dev.de, who has written ESP32 CAN code. To avoid extra
libraries, I implemented his code directly to the NMEA2000_esp32 to avoid extra
can.h library, which may cause even naming problem.
*/
#include "driver/periph_ctrl.h"
#include "soc/dport_reg.h"
#include "NMEA2000_esp32.h"
//time to reinit CAN bus if the queue is full for that time
#define SEND_CANCEL_TIME 2000
//reinit CAN bis if nothing send/received within this time
#define RECEIVE_REINIT_TIME 60000
bool tNMEA2000_esp32::CanInUse=false;
tNMEA2000_esp32 *pNMEA2000_esp32=0;
void ESP32Can1Interrupt(void *);
#define ECDEBUG(fmt,args...) if(debugStream){debugStream->printf(fmt, ## args);}
//*****************************************************************************
tNMEA2000_esp32::tNMEA2000_esp32(gpio_num_t _TxPin,
gpio_num_t _RxPin,
Print *dbg) :
tNMEA2000(), IsOpen(false),
speed(CAN_SPEED_250KBPS), TxPin(_TxPin), RxPin(_RxPin),
RxQueue(NULL), TxQueue(NULL) {
debugStream=dbg;
}
//*****************************************************************************
bool tNMEA2000_esp32::CANSendFrame(unsigned long id, unsigned char len, const unsigned char *buf, bool /*wait_sent*/) {
tCANFrame frame;
unsigned long now=millis();
if ( uxQueueSpacesAvailable(TxQueue)==0 ) {
if (lastSend && (lastSend + SEND_CANCEL_TIME) < now){
ECDEBUG("CanSendFrame Aborting and emptying queue\n");
while (xQueueReceive(TxQueue,&frame,0)){}
errReinit++;
CAN_init(false);
if ( uxQueueSpacesAvailable(TxQueue)==0 ) return false;
}
else{
ECDEBUG("CanSendFrame queue full\n");
return false; // can not send to queue
}
}
lastSend=now;
frame.id=id;
frame.len=len>8?8:len;
memcpy(frame.buf,buf,len);
CheckBusOff();
ECDEBUG("CanSendFrame IntrCnt %d\n",cntIntr);
ECDEBUG("CanSendFrame Error TX/RX %d/%d\n",MODULE_CAN->TXERR.U,MODULE_CAN->RXERR.U);
ECDEBUG("CanSendFrame Error Overrun %d\n",errOverrun);
ECDEBUG("CanSendFrame Error Arbitration %d\n",errArb);
ECDEBUG("CanSendFrame Error Bus %d\n",errBus);
ECDEBUG("CanSendFrame Error Recovery %d\n",errRecovery);
ECDEBUG("CanSendFrame ErrorCount %d\n",errCountTxInternal);
ECDEBUG("CanSendFrame ErrorCancel %d\n",errCancelTransmit);
ECDEBUG("CanSendFrame ErrorReinit %d\n",errReinit);
ECDEBUG("CanSendFrame busOff=%d, errPassive=%d\n",MODULE_CAN->SR.B.BS,MODULE_CAN->SR.B.ES)
xQueueSendToBack(TxQueue,&frame,0); // Add frame to queue
if ( MODULE_CAN->SR.B.TBS==0 ) {
ECDEBUG("CanSendFrame: wait for ISR to send %d\n",frame.id);
return true; // Currently sending, ISR takes care of sending
}
if ( MODULE_CAN->SR.B.TBS==1 ) { // Check again and restart send, if is not going on
xQueueReceive(TxQueue,&frame,0);
ECDEBUG("CanSendFrame: send direct %d\n",frame.id);
CAN_send_frame(frame);
//return MODULE_CAN->TXERR.U < 127;
}
return true;
}
//*****************************************************************************
void tNMEA2000_esp32::InitCANFrameBuffers() {
if (MaxCANReceiveFrames<10 ) MaxCANReceiveFrames=50; // ESP32 has plenty of RAM
if (MaxCANSendFrames<10 ) MaxCANSendFrames=40;
uint16_t CANGlobalBufSize=MaxCANSendFrames-4;
MaxCANSendFrames=4; // we do not need much libary internal buffer since driver has them.
RxQueue=xQueueCreate(MaxCANReceiveFrames,sizeof(tCANFrame));
TxQueue=xQueueCreate(CANGlobalBufSize,sizeof(tCANFrame));
tNMEA2000::InitCANFrameBuffers(); // call main initialization
}
//*****************************************************************************
bool tNMEA2000_esp32::CANOpen() {
if (IsOpen) return true;
if (CanInUse) return false; // currently prevent accidental second instance. Maybe possible in future.
pNMEA2000_esp32=this;
IsOpen=true;
CAN_init();
CanInUse=IsOpen;
return IsOpen;
}
//*****************************************************************************
bool tNMEA2000_esp32::CANGetFrame(unsigned long &id, unsigned char &len, unsigned char *buf) {
bool HasFrame=false;
tCANFrame frame;
CheckBusOff();
unsigned long now=millis();
//receive next CAN frame from queue
if ( xQueueReceive(RxQueue,&frame, 0)==pdTRUE ) {
HasFrame=true;
id=frame.id;
len=frame.len;
memcpy(buf,frame.buf,frame.len);
lastReceive=now;
}
else{
if (lastReceive != 0 && (lastReceive + RECEIVE_REINIT_TIME) < now && (lastSend + RECEIVE_REINIT_TIME) < now){
ECDEBUG("Noting received within %d ms, reinit",RECEIVE_REINIT_TIME);
CAN_init(false);
}
}
return HasFrame;
}
//*****************************************************************************
void tNMEA2000_esp32::CAN_init(bool installIsr) {
//Time quantum
double __tq;
// A soft reset of the ESP32 leaves it's CAN controller in an undefined state so a reset is needed.
// Reset CAN controller to same state as it would be in after a power down reset.
periph_module_reset(PERIPH_CAN_MODULE);
//enable module
DPORT_SET_PERI_REG_MASK(DPORT_PERIP_CLK_EN_REG, DPORT_CAN_CLK_EN);
DPORT_CLEAR_PERI_REG_MASK(DPORT_PERIP_RST_EN_REG, DPORT_CAN_RST);
//configure RX pin
gpio_set_direction(RxPin,GPIO_MODE_INPUT);
gpio_matrix_in(RxPin,CAN_RX_IDX,0);
gpio_pad_select_gpio(RxPin);
//set to PELICAN mode
MODULE_CAN->CDR.B.CAN_M=0x1;
//synchronization jump width is the same for all baud rates
MODULE_CAN->BTR0.B.SJW =0x1;
//TSEG2 is the same for all baud rates
MODULE_CAN->BTR1.B.TSEG2 =0x1;
//select time quantum and set TSEG1
switch (speed) {
case CAN_SPEED_1000KBPS:
MODULE_CAN->BTR1.B.TSEG1 =0x4;
__tq = 0.125;
break;
case CAN_SPEED_800KBPS:
MODULE_CAN->BTR1.B.TSEG1 =0x6;
__tq = 0.125;
break;
default:
MODULE_CAN->BTR1.B.TSEG1 =0xc;
__tq = ((float)1000/speed) / 16;
}
//set baud rate prescaler
MODULE_CAN->BTR0.B.BRP=(uint8_t)round((((APB_CLK_FREQ * __tq) / 2) - 1)/1000000)-1;
/* Set sampling
* 1 -> triple; the bus is sampled three times; recommended for low/medium speed buses (class A and B) where filtering spikes on the bus line is beneficial
* 0 -> single; the bus is sampled once; recommended for high speed buses (SAE class C)*/
MODULE_CAN->BTR1.B.SAM =0x1;
//enable all interrupts
MODULE_CAN->IER.U = 0xef; // bit 0x10 contains Baud Rate Prescaler Divider (BRP_DIV) bit
//no acceptance filtering, as we want to fetch all messages
MODULE_CAN->MBX_CTRL.ACC.CODE[0] = 0;
MODULE_CAN->MBX_CTRL.ACC.CODE[1] = 0;
MODULE_CAN->MBX_CTRL.ACC.CODE[2] = 0;
MODULE_CAN->MBX_CTRL.ACC.CODE[3] = 0;
MODULE_CAN->MBX_CTRL.ACC.MASK[0] = 0xff;
MODULE_CAN->MBX_CTRL.ACC.MASK[1] = 0xff;
MODULE_CAN->MBX_CTRL.ACC.MASK[2] = 0xff;
MODULE_CAN->MBX_CTRL.ACC.MASK[3] = 0xff;
//set to normal mode
MODULE_CAN->OCR.B.OCMODE=__CAN_OC_NOM;
//clear error counters
MODULE_CAN->TXERR.U = 0;
MODULE_CAN->RXERR.U = 0;
(void)MODULE_CAN->ECC;
//clear interrupt flags
(void)MODULE_CAN->IR.U;
//install CAN ISR
if (installIsr) esp_intr_alloc(ETS_CAN_INTR_SOURCE,0,ESP32Can1Interrupt,NULL,NULL);
//configure TX pin
// We do late configure, since some initialization above caused CAN Tx flash
// shortly causing one error frame on startup. By setting CAN pin here
// it works right.
gpio_set_direction(TxPin,GPIO_MODE_OUTPUT);
gpio_matrix_out(TxPin,CAN_TX_IDX,0,0);
gpio_pad_select_gpio(TxPin);
//Showtime. Release Reset Mode.
MODULE_CAN->MOD.B.RM = 0;
}
//*****************************************************************************
void tNMEA2000_esp32::CAN_read_frame() {
tCANFrame frame;
CAN_FIR_t FIR;
//get FIR
FIR.U=MODULE_CAN->MBX_CTRL.FCTRL.FIR.U;
frame.len=FIR.B.DLC>8?8:FIR.B.DLC;
// Handle only extended frames
if (FIR.B.FF==CAN_frame_ext) { //extended frame
//Get Message ID
frame.id = _CAN_GET_EXT_ID;
//deep copy data bytes
for( size_t i=0; i<frame.len; i++ ) {
frame.buf[i]=MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.data[i];
}
//send frame to input queue
xQueueSendToBackFromISR(RxQueue,&frame,0);
}
//Let the hardware know the frame has been read.
MODULE_CAN->CMR.B.RRB=1;
}
//*****************************************************************************
void tNMEA2000_esp32::CAN_send_frame(tCANFrame &frame) {
CAN_FIR_t FIR;
FIR.U=0;
FIR.B.DLC=frame.len>8?8:frame.len;
FIR.B.FF=CAN_frame_ext;
//copy frame information record
MODULE_CAN->MBX_CTRL.FCTRL.FIR.U=FIR.U;
//Write message ID
_CAN_SET_EXT_ID(frame.id);
// Copy the frame data to the hardware
for ( size_t i=0; i<frame.len; i++) {
MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.data[i]=frame.buf[i];
}
// Transmit frame
MODULE_CAN->CMR.B.TR=1;
}
#define CAN_MAX_TX_RETRY 12
#define RECOVERY_RETRY_MS 1000
void tNMEA2000_esp32::CAN_bus_off_recovery(){
unsigned long now=millis();
if (recoveryStarted && (recoveryStarted + RECOVERY_RETRY_MS) > now ) return;
ECDEBUG("CAN_bus_off_recovery started\n");
recoveryStarted=now;
errRecovery++;
MODULE_CAN->CMR.B.AT=1; // abort transmission
(void)MODULE_CAN->SR.U;
MODULE_CAN->TXERR.U = 127;
MODULE_CAN->RXERR.U = 0;
MODULE_CAN->MOD.B.RM = 0;
}
void tNMEA2000_esp32::CheckBusOff(){
//should we really recover here?
if (MODULE_CAN->SR.B.BS){
ECDEBUG("Bus off detected, trying recovery\n");
CAN_bus_off_recovery();
}
}
//*****************************************************************************
void tNMEA2000_esp32::InterruptHandler() {
//Interrupt flag buffer
cntIntr++;
uint32_t interrupt;
// Read interrupt status and clear flags
interrupt = (MODULE_CAN->IR.U & 0xff);
// Handle TX complete interrupt
//see http://uglyduck.vajn.icu/PDF/wireless/Espressif/ESP32/Eco_and_Workarounds_for_Bugs_in_ESP32.pdf, 3.13.4
if ((interrupt & __CAN_IRQ_TX) != 0 || MODULE_CAN->SR.B.TBS) {
tCANFrame frame;
if ( (xQueueReceiveFromISR(TxQueue,&frame,NULL)==pdTRUE) ) {
CAN_send_frame(frame);
}
}
// Handle RX frame available interrupt
if ((interrupt & __CAN_IRQ_RX) != 0) {
CAN_read_frame();
}
// Handle error interrupts.
if ((interrupt & (__CAN_IRQ_ERR //0x4
| __CAN_IRQ_WAKEUP //0x10
| __CAN_IRQ_ERR_PASSIVE //0x20
)) != 0) {
/*handler*/
}
//https://www.esp32.com/viewtopic.php?t=5010
// Handle error interrupts.
if (interrupt & __CAN_IRQ_DATA_OVERRUN ) { //0x08
errOverrun++;
MODULE_CAN->CMR.B.CDO=1;
(void)MODULE_CAN->SR.U; // read SR after write to CMR to settle register changes
}
if (interrupt & __CAN_IRQ_ARB_LOST ) { //0x40
errArb++;
(void)MODULE_CAN->ALC.U; // must be read to re-enable interrupt
errCountTxInternal++;
}
if (interrupt & __CAN_IRQ_BUS_ERR ) { //0x80
errBus++;
(void)MODULE_CAN->ECC.U; // must be read to re-enable interrupt
errCountTxInternal+=2;
}
if (MODULE_CAN->TXERR.U == 0){
recoveryStarted=0;
}
if (errCountTxInternal >= 2 *CAN_MAX_TX_RETRY){
MODULE_CAN->CMR.B.AT=1; // abort transmission
(void)MODULE_CAN->SR.U;
errCountTxInternal=0;
}
}
//*****************************************************************************
void ESP32Can1Interrupt(void *) {
pNMEA2000_esp32->InterruptHandler();
}
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