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for esp32 chips with version V3 #97

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6172386
Update ESP32SJA1000.cpp
Sheimy Sep 7, 2022
5d0e391
Update ESP32SJA1000.cpp
Sheimy Nov 3, 2022
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89 changes: 48 additions & 41 deletions src/ESP32SJA1000.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,7 @@ int ESP32SJA1000Class::begin(long baudRate)
}

modifyRegister(REG_BTR1, 0x80, 0x80); // SAM = 1
writeRegister(REG_IER, 0xff); // enable all interrupts
writeRegister(REG_IER, 0xef); // enable all interrupts

// set filter to allow anything
writeRegister(REG_ACRn(0), 0x00);
Expand Down Expand Up @@ -164,55 +164,62 @@ void ESP32SJA1000Class::end()

int ESP32SJA1000Class::endPacket()
{
if (!CANControllerClass::endPacket()) {
return 0;
}
if (!CANControllerClass::endPacket()) {
return 0;
}
const uint8_t TIMEOUTVALUE = 50;
uint8_t uiTimeOut = 0;

// wait for TX buffer to free
while ((readRegister(REG_SR) & 0x04) != 0x04) {
yield();
}
// wait for TX buffer to free
while (((readRegister(REG_SR) & 0x04) != 0x04) && (uiTimeOut < TIMEOUTVALUE)) {
yield();
uiTimeOut++;
}
if(uiTimeOut == TIMEOUTVALUE) return -1; /* get tx buff time out */
uiTimeOut = 0;

int dataReg;
int dataReg;

if (_txExtended) {
writeRegister(REG_EFF, 0x80 | (_txRtr ? 0x40 : 0x00) | (0x0f & _txLength));
writeRegister(REG_EFF + 1, _txId >> 21);
writeRegister(REG_EFF + 2, _txId >> 13);
writeRegister(REG_EFF + 3, _txId >> 5);
writeRegister(REG_EFF + 4, _txId << 3);
if (_txExtended) {
writeRegister(REG_EFF, 0x80 | (_txRtr ? 0x40 : 0x00) | (0x0f & _txLength));
writeRegister(REG_EFF + 1, _txId >> 21);
writeRegister(REG_EFF + 2, _txId >> 13);
writeRegister(REG_EFF + 3, _txId >> 5);
writeRegister(REG_EFF + 4, _txId << 3);

dataReg = REG_EFF + 5;
} else {
writeRegister(REG_SFF, (_txRtr ? 0x40 : 0x00) | (0x0f & _txLength));
writeRegister(REG_SFF + 1, _txId >> 3);
writeRegister(REG_SFF + 2, _txId << 5);
dataReg = REG_EFF + 5;
} else {
writeRegister(REG_SFF, (_txRtr ? 0x40 : 0x00) | (0x0f & _txLength));
writeRegister(REG_SFF + 1, _txId >> 3);
writeRegister(REG_SFF + 2, _txId << 5);

dataReg = REG_SFF + 3;
}
dataReg = REG_SFF + 3;
}

for (int i = 0; i < _txLength; i++) {
writeRegister(dataReg + i, _txData[i]);
}
for (int i = 0; i < _txLength; i++) {
writeRegister(dataReg + i, _txData[i]);
}

if ( _loopback) {
// self reception request
modifyRegister(REG_CMR, 0x1f, 0x10);
} else {
// transmit request
modifyRegister(REG_CMR, 0x1f, 0x01);
}
if ( _loopback) {
// self reception request
modifyRegister(REG_CMR, 0x1f, 0x10);
} else {
// transmit request
modifyRegister(REG_CMR, 0x1f, 0x01);
}

// wait for TX complete
while ((readRegister(REG_SR) & 0x08) != 0x08) {
if (readRegister(REG_ECC) == 0xd9) {
modifyRegister(REG_CMR, 0x1f, 0x02); // error, abort
return 0;
}
yield();
}
// wait for TX complete
while (((readRegister(REG_SR) & 0x08) != 0x08) && (uiTimeOut < TIMEOUTVALUE)) {
if (readRegister(REG_ECC) == 0xd9) {
modifyRegister(REG_CMR, 0x1f, 0x02); // error, abort
return 0;
}
yield();
uiTimeOut++;
}
if(uiTimeOut == TIMEOUTVALUE) return -2; /* send msg timeout */

return 1;
return 1;
}

int ESP32SJA1000Class::parsePacket()
Expand Down