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Fix get bus speed #88

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Fix get bus speed #88

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16a8607
Fix wrong API usage in disable() and beginAutoSpeed()
sans-ltd Apr 3, 2025
07f9f94
Fix loop of forwarding messages.
sans-ltd Apr 4, 2025
13692f7
Also set dlc_non_comp (just for completion, as seen in the twai docs)
sans-ltd Apr 4, 2025
23ec7c1
Use ESP32 logging.
sans-ltd Apr 7, 2025
8b4a5b3
Convert the printfs to ESP_LOGx
sans-ltd Apr 7, 2025
717ee9d
Setup the queues only one time during _init.
sans-ltd Apr 7, 2025
6643966
Remove duplicate init of low level CAN task
sans-ltd Apr 7, 2025
521080b
Remove bottleneck which was needed to handle the deletion of the queues.
sans-ltd Apr 7, 2025
0acebdd
Remove double check code.
sans-ltd Apr 7, 2025
d76f5c0
Fix getBusSpeed()
sans-ltd Sep 24, 2025
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139 changes: 71 additions & 68 deletions src/esp32_can_builtin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,9 @@ const VALID_TIMING valid_timings[] =

ESP32CAN::ESP32CAN(gpio_num_t rxPin, gpio_num_t txPin, uint8_t busNumber) : CAN_COMMON(32)
{
snprintf(TAG, sizeof(TAG), "ESP32CAN%d", busNumber);
ESP_LOGI(TAG, "Create driver for bus %d", busNumber);

twai_general_cfg.rx_io = rxPin;
twai_general_cfg.tx_io = txPin;
cyclesSinceTraffic = 0;
Expand Down Expand Up @@ -107,7 +110,7 @@ void ESP32CAN::CAN_WatchDog_Builtin( void *pvParameters )
#endif
if (result != ESP_OK)
{
printf("Could not initiate bus recovery!\n");
ESP_LOGE(espCan->TAG, "Could not initiate bus recovery, result = %d!", result);
}
}
}
Expand Down Expand Up @@ -157,24 +160,13 @@ void ESP32CAN::task_CAN( void *pvParameters )
ESP32CAN* espCan = (ESP32CAN*)pvParameters;
CAN_FRAME rxFrame;

//delay a bit upon initial start up
vTaskDelay(pdMS_TO_TICKS(100));

while (1)
{
if (uxQueueMessagesWaiting(espCan->callbackQueue)) {
//receive next CAN frame from queue and fire off the callback
if(xQueueReceive(espCan->callbackQueue, &rxFrame, portMAX_DELAY) == pdTRUE)
{
espCan->sendCallback(&rxFrame);
}
//receive next CAN frame from queue and fire off the callback
if(xQueueReceive(espCan->callbackQueue, &rxFrame, portMAX_DELAY) == pdTRUE)
{
espCan->sendCallback(&rxFrame);
}
else vTaskDelay(pdMS_TO_TICKS(4)); //if you don't delay here it will slow down the whole system. Need some delay.

//probably don't need this extra delay. Test and find out.
#if defined(CONFIG_FREERTOS_UNICORE)
vTaskDelay(pdMS_TO_TICKS(6));
#endif
}

vTaskDelete(NULL);
Expand Down Expand Up @@ -232,6 +224,7 @@ int ESP32CAN::_setFilter(uint32_t id, uint32_t mask, bool extended)
{
if (!filters[i].configured)
{
ESP_LOGI(TAG, "ID 0x%x -> mailbox %d", id, i);
_setFilterSpecific(i, id, mask, extended);
return i;
}
Expand All @@ -251,6 +244,10 @@ void ESP32CAN::_init()
filters[i].configured = false;
}

ESP_LOGI(TAG, "Creating queues");
callbackQueue = xQueueCreate(16, sizeof(CAN_FRAME));
rx_queue = xQueueCreate(rxBufferSize, sizeof(CAN_FRAME));

if (!CAN_WatchDog_Builtin_handler) {
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
std::ostringstream canWatchDogTaskNameStream;
Expand All @@ -271,11 +268,11 @@ void ESP32CAN::_init()

uint32_t ESP32CAN::init(uint32_t ul_baudrate)
{
ESP_LOGD("CAN", "Init called");
ESP_LOGD(TAG, "Init called");
_init();
ESP_LOGD("CAN", "Init done");
ESP_LOGD(TAG, "Init done");
set_baudrate(ul_baudrate);
ESP_LOGD("CAN", "Baudrate set");
ESP_LOGD(TAG, "Baudrate set");
if (debuggingMode)
{
//Reconfigure alerts to detect Error Passive and Bus-Off error states
Expand All @@ -290,27 +287,15 @@ uint32_t ESP32CAN::init(uint32_t ul_baudrate)
#endif
if (result == ESP_OK)
{
printf("Alerts reconfigured\n");
ESP_LOGI(TAG, "Alerts reconfigured");
}
else
{
printf("Failed to reconfigure alerts");
ESP_LOGE(TAG, "Failed to reconfigure alerts result = %d", result);
}
}
//this task implements our better filtering on top of the TWAI library. Accept all frames then filter in here VVVVV
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
std::ostringstream canLowLevelTaskNameStream;
canLowLevelTaskNameStream << "CAN_LORX_CAN" << twai_general_cfg.controller_id;
const char* canLowLevelTaskName = canLowLevelTaskNameStream.str().c_str();
#else
const char* canLowLevelTaskName = "CAN_LORX_CAN0";
#endif

#if defined(CONFIG_FREERTOS_UNICORE)
xTaskCreate(ESP32CAN::task_LowLevelRX, canLowLevelTaskName, 4096, this, 19, NULL);
#else
xTaskCreatePinnedToCore(ESP32CAN::task_LowLevelRX, canLowLevelTaskName, 4096, this, 19, NULL, 1);
#endif
ESP_LOGD(TAG, "init(): readyForTraffic = true");
readyForTraffic = true;
return ul_baudrate;
}
Expand All @@ -321,8 +306,13 @@ uint32_t ESP32CAN::beginAutoSpeed()

_init();

ESP_LOGD(TAG, "beginAutoSpeed(): readyForTraffic = false");
readyForTraffic = false;
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
twai_stop_v2(bus_handle);
#else
twai_stop();
#endif
twai_general_cfg.mode = TWAI_MODE_LISTEN_ONLY;
int idx = 0;
while (valid_timings[idx].speed != 0)
Expand All @@ -339,6 +329,7 @@ uint32_t ESP32CAN::beginAutoSpeed()
twai_general_cfg.mode = oldMode.mode;
enable();
Serial.println(" SUCCESS!");
busSpeed = valid_timings[idx].speed;
return valid_timings[idx].speed;
}
else
Expand All @@ -348,7 +339,11 @@ uint32_t ESP32CAN::beginAutoSpeed()
idx++;
}
Serial.println("None of the tested CAN speeds worked!");
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
twai_stop_v2(bus_handle);
#else
twai_stop();
#endif
return 0;
}

Expand All @@ -363,11 +358,12 @@ uint32_t ESP32CAN::set_baudrate(uint32_t ul_baudrate)
{
twai_speed_cfg = valid_timings[idx].cfg;
enable();
busSpeed = ul_baudrate;
return ul_baudrate;
}
idx++;
}
printf("Could not find a valid bit timing! You will need to add your desired speed to the library!\n");
ESP_LOGW(TAG, "Could not find a valid bit timing! You will need to add your desired speed to the library!");
return 0;
}

Expand All @@ -388,29 +384,25 @@ void ESP32CAN::setNoACKMode(bool state)
void ESP32CAN::enable()
{
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
if (twai_driver_install_v2(&twai_general_cfg, &twai_speed_cfg, &twai_filters_cfg, &bus_handle) == ESP_OK) {
printf("Driver installed - bus %d\n", twai_general_cfg.controller_id);
auto result = twai_driver_install_v2(&twai_general_cfg, &twai_speed_cfg, &twai_filters_cfg, &bus_handle);
if (result == ESP_OK) {
ESP_LOGI(TAG, "Driver %d installed, handle 0x%x", twai_general_cfg.controller_id, bus_handle);
} else {
printf("Failed to install driver - bus %d\n", twai_general_cfg.controller_id);
ESP_LOGE(TAG, "Failed to install driver %d: error: 0x%x", twai_general_cfg.controller_id, result);
return;
}
#else
if (twai_driver_install(&twai_general_cfg, &twai_speed_cfg, &twai_filters_cfg) == ESP_OK)
{
printf("TWAI Driver installed\n");
ESP_LOGI(TAG, "TWAI Driver installed");
}
else
{
printf("Failed to install TWAI driver\n");
ESP_LOGE(TAG, "Failed to install TWAI driver");
return;
}
#endif

printf("Creating queues\n");

callbackQueue = xQueueCreate(16, sizeof(CAN_FRAME));
rx_queue = xQueueCreate(rxBufferSize, sizeof(CAN_FRAME));

#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
std::ostringstream canHandlerTaskNameStream;
std::ostringstream canLowLevelTaskNameStream;
Expand All @@ -423,11 +415,11 @@ void ESP32CAN::enable()
const char* canLowLevelTaskName = "CAN_LORX_CAN";
#endif

printf("Starting can handler task\n");
ESP_LOGI(TAG, "Starting can handler task %s", canHandlerTaskName);
xTaskCreate(ESP32CAN::task_CAN, canHandlerTaskName, 8192, this, 15, &task_CAN_handler);

#if defined(CONFIG_FREERTOS_UNICORE)
printf("Starting low level RX task\n");
ESP_LOGI(TAG, "Starting low level RX task %s", canLowLevelTaskName);
xTaskCreate(ESP32CAN::task_LowLevelRX, canLowLevelTaskName, 4096, this, 19, &task_LowLevelRX_handler);
#else
//this next task implements our better filtering on top of the TWAI library. Accept all frames then filter in here VVVVV
Expand All @@ -436,34 +428,45 @@ void ESP32CAN::enable()

#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
//Start TWAI driver
if (twai_start_v2(bus_handle) == ESP_OK) {
printf("Driver started - bus %d\n", twai_general_cfg.controller_id);
result = twai_start_v2(bus_handle);
if (result == ESP_OK) {
ESP_LOGI(TAG, "TWAI Driver %d started", twai_general_cfg.controller_id);
} else {
printf("Failed to start driver\n");
ESP_LOGE(TAG, "Failed to start TWAI driver %d: error: 0x%", twai_general_cfg.controller_id, result);
return;
}
#else
// Start TWAI driver
if (twai_start() == ESP_OK)
{
printf("TWAI Driver started\n");
ESP_LOGI(TAG, "TWAI Driver started");
}
else
{
printf("Failed to start TWAI driver\n");
ESP_LOGE(TAG, "Failed to start TWAI driver");
return;
}
#endif

ESP_LOGD(TAG, "enable(): readyForTraffic = true");
readyForTraffic = true;
}

void ESP32CAN::disable()
{
twai_status_info_t info;
if (twai_get_status_info(&info) == ESP_OK) {
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
auto result = twai_get_status_info_v2(bus_handle, &info);
#else
auto result = twai_get_status_info(&info);
#endif
if (result == ESP_OK) {
if (info.state == TWAI_STATE_RUNNING) {
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
twai_stop_v2(bus_handle);
#else
twai_stop();
#endif
}

for (auto task : {task_CAN_handler, task_LowLevelRX_handler}) {
Expand All @@ -474,16 +477,16 @@ void ESP32CAN::disable()
}
}

for (auto queue : {rx_queue, callbackQueue}) {
if (queue) {
vQueueDelete(queue);
}
}

#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
twai_driver_uninstall_v2(bus_handle);
#else
twai_driver_uninstall();
#endif
} else {
ESP_LOGD(TAG, "disable(): twai_get_status_info returned %d", result);
return;
}
ESP_LOGD(TAG, "disable(): readyForTraffic = false");
readyForTraffic = false;
}

Expand Down Expand Up @@ -559,6 +562,9 @@ bool ESP32CAN::sendFrame(CAN_FRAME& txFrame)
__TX_frame.data_length_code = txFrame.length;
__TX_frame.rtr = txFrame.rtr;
__TX_frame.extd = txFrame.extended;
__TX_frame.self = 0;
__TX_frame.ss = 0;
__TX_frame.dlc_non_comp = 0;
for (int i = 0; i < 8; i++) __TX_frame.data[i] = txFrame.data.byte[i];

//don't wait long if the queue was full. The end user code shouldn't be sending faster
Expand Down Expand Up @@ -604,15 +610,12 @@ uint32_t ESP32CAN::get_rx_buff(CAN_FRAME &msg)
{
CAN_FRAME frame;
//receive next CAN frame from queue
if (uxQueueMessagesWaiting(rx_queue)) {
if(xQueueReceive(rx_queue, &frame, 0) == pdTRUE)
{
msg = frame; //do a copy in the case that the receive worked
return true;
}
else
return false;
if(xQueueReceive(rx_queue, &frame, 0) == pdTRUE)
{
msg = frame; //do a copy in the case that the receive worked
return true;
}
return false; //otherwise we leave the msg variable alone and just return false
else
return false;
}

1 change: 1 addition & 0 deletions src/esp32_can_builtin.h
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Original file line number Diff line number Diff line change
Expand Up @@ -114,6 +114,7 @@ class ESP32CAN : public CAN_COMMON
TaskHandle_t task_LowLevelRX_handler = NULL;

private:
char TAG[10] = {0};
// Pin variables
ESP32_FILTER filters[BI_NUM_FILTERS];
int rxBufferSize;
Expand Down