Started work on CAN bus
This commit is contained in:
parent
7f449b8475
commit
788708fb74
GPG Key ID:
76BDEC4E165D8AD9
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@ -1,3 +1,3 @@
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idf_component_register(SRCS "src/main.cpp" "src/helper.cpp" "src/wav.cpp" "src/storage.cpp" "src/i2s.cpp" "src/bluetooth.cpp" "src/avrcp.cpp" "src/a2dp.cpp"
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idf_component_register(SRCS "src/main.cpp" "src/helper.cpp" "src/wav.cpp" "src/storage.cpp" "src/i2s.cpp" "src/bluetooth.cpp" "src/avrcp.cpp" "src/a2dp.cpp" "src/can.cpp"
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INCLUDE_DIRS "include"
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EMBED_FILES "assets/connect.wav" "assets/disconnect.wav")
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5
software/main/include/can.h
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5
software/main/include/can.h
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#pragma once
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namespace can {
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void init();
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}
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58
software/main/include/can_data.h
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58
software/main/include/can_data.h
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#pragma once
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#include <cstdint>
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#include <stdint.h>
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namespace can {
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#pragma pack(1)
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struct Buttons {
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uint8_t _1 : 1;
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bool source : 1;
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bool volume_down : 1;
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bool volume_up : 1;
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uint8_t _2 : 2;
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bool backward : 1;
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bool forward : 1;
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uint8_t scroll : 8;
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uint8_t _3 : 8;
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};
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#pragma pack()
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enum Source : uint8_t {
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Bluetooth = 0b111,
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USB = 0b110,
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AUX2 = 0b101,
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AUX1 = 0b100,
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CD_Changer = 0b011,
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CD = 0b010,
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Tuner = 0b001
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};
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enum DiskStatus : uint8_t {
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Init = 0b00,
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Unavailable = 0b01,
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Available = 0b10
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};
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#pragma pack(1)
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struct Radio {
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uint8_t _1 : 5;
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bool muted : 1;
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uint8_t _2 : 1;
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bool enabled : 1;
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uint8_t _3 : 4;
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bool cd_changer_available : 1;
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DiskStatus disk_status : 2;
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uint8_t _4 : 1;
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uint8_t _5 : 4;
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Source source : 3;
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uint8_t _6 : 1;
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uint8_t _7 : 8;
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};
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#pragma pack()
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}
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428
software/main/src/can.cpp
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428
software/main/src/can.cpp
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#include <cstdint>
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#include <string.h>
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#include "esp_timer.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/portmacro.h"
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#include "freertos/task.h"
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#include "driver/spi_common.h"
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#include "driver/spi_master.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "hal/spi_types.h"
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#include "can.h"
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#define CAN_TAG "APP_CAN"
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#define PIN_NUM_MOSI 23
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#define PIN_NUM_MISO 19
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#define PIN_NUM_CLK 18
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#define PIN_NUM_CS 5
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#define MCP_SIDH 0
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#define MCP_SIDL 1
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#define MCP_EID8 2
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#define MCP_EID0 3
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#define MCP_TXB_EXIDE_M 0x08
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#define MCP_DLC_MASK 0x0F
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#define MCP_RTR_MASK 0x40
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#define MCP_RXB_RX_STDEXT 0x00
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#define MCP_RXB_RX_MASK 0x60
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#define MCP_RXB_BUKT_MASK (1<<2)
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#define MCP_STAT_TXIF_MASK 0xA8
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#define MCP_STAT_TX0IF 0x08
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#define MCP_STAT_TX1IF 0x20
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#define MCP_STAT_TX2IF 0x80
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#define MCP_STAT_RXIF_MASK 0x03
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// Instructions
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#define MCP_WRITE 0x02
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#define MCP_READ 0x03
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#define MCP_BITMOD 0x05
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#define MCP_READ_RX0 0x90
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#define MCP_READ_RX1 0x94
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#define MCP_READ_STATUS 0xA0
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#define MCP_RESET 0xC0
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// Registers
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#define MCP_CANSTAT 0x0E
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#define MCP_CANCTRL 0x0F
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#define MCP_CNF3 0x28
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#define MCP_CNF2 0x29
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#define MCP_CNF1 0x2A
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#define MCP_CANINTE 0x2B
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#define MCP_CANINTF 0x2C
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#define MCP_TXB0CTRL 0x30
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#define MCP_TXB1CTRL 0x40
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#define MCP_TXB2CTRL 0x50
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#define MCP_RXB0CTRL 0x60
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#define MCP_RXB1CTRL 0x70
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// CANCTRL Register values
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#define MODE_NORMAL 0x00
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#define MODE_SLEEP 0x20
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#define MODE_LISTENONLY 0x60
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#define MODE_CONFIG 0x80
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#define MODE_MASK 0xE0
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// CANINTF Register bits
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#define MCP_RX0IF 0x01
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#define MCP_RX1IF 0x02
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#define MCP_TX0IF 0x04
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#define MCP_TX1IF 0x08
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#define MCP_TX2IF 0x10
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#define MCP_WAKIF 0x40
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static void send_cmd(spi_device_handle_t spi, const uint8_t cmd) {
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spi_transaction_t t;
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memset(&t, 0, sizeof(t));
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t.length = 8;
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t.tx_buffer = &cmd;
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esp_err_t ret = spi_device_polling_transmit(spi, &t);
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ESP_ERROR_CHECK(ret);
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}
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static uint8_t read_register(spi_device_handle_t spi, const uint8_t address) {
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// Acquire the bus in order to use SPI_TRANS_CS_KEEP_ACTIVE
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esp_err_t ret = spi_device_acquire_bus(spi, portMAX_DELAY);
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ESP_ERROR_CHECK(ret);
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// Send the command
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{
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spi_transaction_t t;
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memset(&t, 0, sizeof(t));
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t.length = 8*2;
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uint8_t cmd[] = { MCP_READ, address };
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t.tx_buffer = cmd;
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t.flags = SPI_TRANS_CS_KEEP_ACTIVE;
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ret = spi_device_polling_transmit(spi, &t);
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ESP_ERROR_CHECK(ret);
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}
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// Read the data
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spi_transaction_t t;
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memset(&t, 0, sizeof(t));
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t.length = 8;
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t.flags = SPI_TRANS_USE_RXDATA;
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ret = spi_device_polling_transmit(spi, &t);
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ESP_ERROR_CHECK(ret);
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spi_device_release_bus(spi);
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ESP_ERROR_CHECK(ret);
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return t.rx_data[0];
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}
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static void set_register(spi_device_handle_t spi, const uint8_t address, const uint8_t value) {
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spi_transaction_t t;
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memset(&t, 0, sizeof(t));
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t.length = 8*3;
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uint8_t cmd[] = { MCP_WRITE, address, value };
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t.tx_buffer = cmd;
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esp_err_t ret = spi_device_polling_transmit(spi, &t);
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ESP_ERROR_CHECK(ret);
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}
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static void modify_register(spi_device_handle_t spi, const uint8_t address, const uint8_t mask, const uint8_t data) {
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spi_transaction_t t;
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memset(&t, 0, sizeof(t));
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t.length = 8*4;
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uint8_t cmd[] = { MCP_BITMOD, address, mask, data };
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t.tx_buffer = cmd;
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esp_err_t ret = spi_device_polling_transmit(spi, &t);
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ESP_ERROR_CHECK(ret);
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}
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static bool request_new_mode(spi_device_handle_t spi, const uint8_t new_mode) {
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unsigned long start = esp_timer_get_time() / 1000;
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for (;;) {
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modify_register(spi, MCP_CANCTRL, MODE_MASK, new_mode);
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uint8_t state = read_register(spi, MCP_CANSTAT);
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if ((state & MODE_MASK) == new_mode) {
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return true;
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} else if ((esp_timer_get_time() / 1000 - start) > 200) {
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ESP_LOGE(CAN_TAG, "Failed to set new mode");
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abort();
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}
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}
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}
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static uint8_t get_mode(spi_device_handle_t spi) {
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return read_register(spi, MCP_CANSTAT) & MODE_MASK;
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}
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static void set_CANCTRL_mode(spi_device_handle_t spi, uint8_t new_mode) {
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ESP_LOGI(CAN_TAG, "set_CANCTRL_mode");
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if (get_mode(spi) == MODE_SLEEP && new_mode != MODE_SLEEP) {
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ESP_LOGI(CAN_TAG, "if");
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uint8_t wake_int_enabled = (read_register(spi, MCP_CANINTE) & MCP_WAKIF);
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if (!wake_int_enabled) {
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modify_register(spi, MCP_CANINTE, MCP_WAKIF, MCP_WAKIF);
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}
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modify_register(spi, MCP_CANINTF, MCP_WAKIF, MCP_WAKIF);
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request_new_mode(spi, MODE_LISTENONLY);
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if (!wake_int_enabled) {
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modify_register(spi, MCP_CANINTE, MCP_WAKIF, 0);
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}
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}
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modify_register(spi, MCP_CANINTF, MCP_WAKIF, 0);
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request_new_mode(spi, new_mode);
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ESP_LOGI(CAN_TAG, "done!");
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}
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static void config_rate(spi_device_handle_t spi) {
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// This is for 16MHz, 125kBPS
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set_register(spi, MCP_CNF1, 0x03);
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set_register(spi, MCP_CNF2, 0xF0);
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set_register(spi, MCP_CNF3, 0x86);
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}
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static void init_CAN_buffers(spi_device_handle_t spi) {
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uint8_t a1 = MCP_TXB0CTRL;
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uint8_t a2 = MCP_TXB1CTRL;
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uint8_t a3 = MCP_TXB2CTRL;
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for (int i = 0; i < 14; i++) {
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set_register(spi, a1, 0);
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set_register(spi, a2, 0);
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set_register(spi, a3, 0);
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a1++;
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a2++;
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a3++;
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}
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set_register(spi, MCP_RXB0CTRL, 0);
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set_register(spi, MCP_RXB1CTRL, 0);
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}
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static uint8_t read_status(spi_device_handle_t spi) {
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// Acquire the bus in order to use SPI_TRANS_CS_KEEP_ACTIVE
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esp_err_t ret = spi_device_acquire_bus(spi, portMAX_DELAY);
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ESP_ERROR_CHECK(ret);
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// Send the command
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{
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spi_transaction_t t;
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memset(&t, 0, sizeof(t));
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t.length = 8;
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uint8_t cmd[] = { MCP_READ_STATUS };
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t.tx_buffer = cmd;
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t.flags = SPI_TRANS_CS_KEEP_ACTIVE;
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ret = spi_device_polling_transmit(spi, &t);
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ESP_ERROR_CHECK(ret);
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}
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// Read the data
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spi_transaction_t t;
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memset(&t, 0, sizeof(t));
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t.length = 8;
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t.flags = SPI_TRANS_USE_RXDATA;
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ret = spi_device_polling_transmit(spi, &t);
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ESP_ERROR_CHECK(ret);
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spi_device_release_bus(spi);
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ESP_ERROR_CHECK(ret);
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return t.rx_data[0];
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}
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static bool available(spi_device_handle_t spi) {
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uint8_t res = read_status(spi);
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return res & MCP_STAT_RXIF_MASK;
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}
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static uint8_t read_rx_tx_status(spi_device_handle_t spi) {
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uint8_t ret = (read_status(spi) & (MCP_STAT_TXIF_MASK | MCP_STAT_RXIF_MASK));
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ret = (ret & MCP_STAT_TX0IF ? MCP_TX0IF : 0) |
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(ret & MCP_STAT_TX1IF ? MCP_TX1IF : 0) |
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(ret & MCP_STAT_TX2IF ? MCP_TX2IF : 0) |
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(ret & MCP_STAT_RXIF_MASK);
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return ret;
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}
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static void read_can_msg(spi_device_handle_t spi, uint8_t buffer_load_addr, uint8_t* id, uint8_t* ext, uint8_t* rtr_bit, uint8_t* len, uint8_t* buf) {
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// Acquire the bus in order to use SPI_TRANS_CS_KEEP_ACTIVE
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esp_err_t ret = spi_device_acquire_bus(spi, portMAX_DELAY);
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ESP_ERROR_CHECK(ret);
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// Send the command
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{
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spi_transaction_t t;
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memset(&t, 0, sizeof(t));
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t.length = 8;
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uint8_t cmd[] = { buffer_load_addr };
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t.tx_buffer = cmd;
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t.flags = SPI_TRANS_CS_KEEP_ACTIVE;
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ret = spi_device_polling_transmit(spi, &t);
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ESP_ERROR_CHECK(ret);
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}
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// Read id
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{
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spi_transaction_t t;
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memset(&t, 0, sizeof(t));
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t.length = 8*4;
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t.flags = SPI_TRANS_USE_RXDATA;
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ret = spi_device_polling_transmit(spi, &t);
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ESP_ERROR_CHECK(ret);
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*id = (t.rx_data[MCP_SIDH] << 3) + (t.rx_data[MCP_SIDL] >> 5);
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*ext = 0;
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if ((t.rx_data[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M) {
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// Extended id
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// @TODO Do we need this for our application
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*id = (*id << 2) + (t.rx_data[MCP_SIDL] & 0x03);
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*id = (*id << 8) + t.rx_data[MCP_EID8];
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*id = (*id << 8) + t.rx_data[MCP_EID0];
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*ext = 1;
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}
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}
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// Read the message size
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{
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spi_transaction_t t;
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memset(&t, 0, sizeof(t));
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t.length = 8;
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t.flags = SPI_TRANS_USE_RXDATA;
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ret = spi_device_polling_transmit(spi, &t);
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ESP_ERROR_CHECK(ret);
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*len = t.rx_data[0] & MCP_DLC_MASK;
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// @TODO Do we need this in our application
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*rtr_bit = (t.rx_data[0] & MCP_RTR_MASK) ? 1 : 0;
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}
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// Read the data
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{
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spi_transaction_t t;
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memset(&t, 0, sizeof(t));
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t.length = 8*(*len);
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t.flags = SPI_TRANS_USE_RXDATA;
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ret = spi_device_polling_transmit(spi, &t);
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ESP_ERROR_CHECK(ret);
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// Copy the data to the output buffer
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for (int i = 0; i < *len; i++) {
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buf[i] = t.rx_data[i];
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}
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}
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// Make sure we release the bus
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spi_device_release_bus(spi);
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ESP_ERROR_CHECK(ret);
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}
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static void read_message(spi_device_handle_t spi) {
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uint8_t status = read_rx_tx_status(spi);
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uint8_t id;
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uint8_t ext;
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uint8_t rtr_bit;
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uint8_t len;
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uint8_t buf[8];
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if (status & MCP_RX0IF) {
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read_can_msg(spi, MCP_READ_RX0, &id, &ext, &rtr_bit, &len, buf);
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} else if (status & MCP_RX1IF) {
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read_can_msg(spi, MCP_READ_RX0, &id, &ext, &rtr_bit, &len, buf);
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}
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ESP_LOGI(CAN_TAG, "Received: id=%i, ext=%i, rtr_bit=%i, len=%i", id, ext, rtr_bit, len);
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// @TODO Print the buf data
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}
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void can_task(void* params) {
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spi_device_handle_t spi = *(spi_device_handle_t*)params;
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for (;;) {
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if (available(spi)) {
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ESP_LOGI(CAN_TAG, "Available!");
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read_message(spi);
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} else {
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ESP_LOGI(CAN_TAG, "Nothing...");
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}
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}
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}
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void can::init() {
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ESP_LOGI(CAN_TAG, "Initializing can");
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spi_bus_config_t buscfg = {
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.mosi_io_num=PIN_NUM_MOSI,
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.miso_io_num=PIN_NUM_MISO,
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.sclk_io_num=PIN_NUM_CLK,
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.quadwp_io_num=-1,
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.quadhd_io_num=-1,
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.max_transfer_sz=0
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};
|
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esp_err_t ret = spi_bus_initialize(VSPI_HOST, &buscfg, SPI_DMA_CH_AUTO);
|
||||
ESP_ERROR_CHECK(ret);
|
||||
|
||||
ESP_LOGI(CAN_TAG, "Adding device");
|
||||
spi_device_interface_config_t devcfg = {
|
||||
.mode=0,
|
||||
.clock_speed_hz=10*1000*1000,
|
||||
.spics_io_num=PIN_NUM_CS,
|
||||
.queue_size=7,
|
||||
};
|
||||
spi_device_handle_t spi;
|
||||
ret = spi_bus_add_device(VSPI_HOST, &devcfg, &spi);
|
||||
ESP_ERROR_CHECK(ret);
|
||||
|
||||
ESP_LOGI(CAN_TAG, "Resetting MCP1525");
|
||||
send_cmd(spi, MCP_RESET);
|
||||
// @TODO Check if this is really needed
|
||||
// Copied from other libary, here to give the MCP2515 time to wake up
|
||||
vTaskDelay(5 / portTICK_PERIOD_MS);
|
||||
|
||||
ESP_LOGI(CAN_TAG, "Enter config mode");
|
||||
set_CANCTRL_mode(spi, MODE_CONFIG);
|
||||
|
||||
ESP_LOGI(CAN_TAG, "Setting rate");
|
||||
config_rate(spi);
|
||||
|
||||
ESP_LOGI(CAN_TAG, "Init CAN buffers");
|
||||
init_CAN_buffers(spi);
|
||||
|
||||
ESP_LOGI(CAN_TAG, "Setting interrupt mode");
|
||||
set_register(spi, MCP_CANINTE, MCP_RX0IF | MCP_RX1IF);
|
||||
|
||||
ESP_LOGI(CAN_TAG, "Enable receive buffers");
|
||||
modify_register(spi, MCP_RXB0CTRL, MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK, MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK);
|
||||
modify_register(spi, MCP_RXB1CTRL, MCP_RXB_RX_MASK, MCP_RXB_RX_STDEXT);
|
||||
|
||||
ESP_LOGI(CAN_TAG, "Enter normal mode");
|
||||
set_CANCTRL_mode(spi, MODE_NORMAL);
|
||||
|
||||
ESP_LOGI(CAN_TAG, "Init done!");
|
||||
|
||||
xTaskCreate(can_task, "CAN Task", 4096, &spi, 0, nullptr);
|
||||
}
|
||||
|
|
@ -7,12 +7,89 @@
|
|||
#include "bluetooth.h"
|
||||
#include "avrcp.h"
|
||||
#include "a2dp.h"
|
||||
#include "can.h"
|
||||
|
||||
#include "can_data.h"
|
||||
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
|
||||
#define APP_TAG "APP"
|
||||
|
||||
static void print_buttons(can::Buttons buttons) {
|
||||
ESP_LOGI(APP_TAG, "BUTTONS");
|
||||
if (buttons.forward) {
|
||||
ESP_LOGI(APP_TAG, "Button: F");
|
||||
}
|
||||
if (buttons.backward) {
|
||||
ESP_LOGI(APP_TAG, "Button: B");
|
||||
}
|
||||
if (buttons.volume_up) {
|
||||
ESP_LOGI(APP_TAG, "Button: U");
|
||||
}
|
||||
if (buttons.volume_down) {
|
||||
ESP_LOGI(APP_TAG, "Button: D");
|
||||
}
|
||||
if (buttons.source) {
|
||||
ESP_LOGI(APP_TAG, "Button: S");
|
||||
}
|
||||
ESP_LOGI(APP_TAG, "Scroll: %i", buttons.scroll);
|
||||
}
|
||||
|
||||
static void print_radio(can::Radio radio) {
|
||||
ESP_LOGI(APP_TAG, "RADIO");
|
||||
if (radio.enabled) {
|
||||
ESP_LOGI(APP_TAG, "Enabled: %i", radio.enabled);
|
||||
}
|
||||
if (radio.muted) {
|
||||
ESP_LOGI(APP_TAG, "Muted: %i", radio.muted);
|
||||
}
|
||||
if (radio.cd_changer_available) {
|
||||
ESP_LOGI(APP_TAG, "CD Changer: %i", radio.cd_changer_available);
|
||||
}
|
||||
switch (radio.disk_status) {
|
||||
case can::DiskStatus::Init:
|
||||
ESP_LOGI(APP_TAG, "CD: Init");
|
||||
break;
|
||||
case can::DiskStatus::Unavailable:
|
||||
ESP_LOGI(APP_TAG, "CD: Unavailable");
|
||||
break;
|
||||
case can::DiskStatus::Available:
|
||||
ESP_LOGI(APP_TAG, "CD: Available");
|
||||
break;
|
||||
default:
|
||||
ESP_LOGW(APP_TAG, "CD: Invalid");
|
||||
break;
|
||||
}
|
||||
|
||||
switch (radio.source) {
|
||||
case can::Source::Bluetooth:
|
||||
ESP_LOGI(APP_TAG, "Source: Bluetooth");
|
||||
break;
|
||||
case can::Source::USB:
|
||||
ESP_LOGI(APP_TAG, "Source: USB");
|
||||
break;
|
||||
case can::Source::AUX2:
|
||||
ESP_LOGI(APP_TAG, "Source: AUX2");
|
||||
break;
|
||||
case can::Source::AUX1:
|
||||
ESP_LOGI(APP_TAG, "Source: AUX1");
|
||||
break;
|
||||
case can::Source::CD_Changer:
|
||||
ESP_LOGI(APP_TAG, "Source: CD Changer");
|
||||
break;
|
||||
case can::Source::CD:
|
||||
ESP_LOGI(APP_TAG, "Source: CD");
|
||||
break;
|
||||
case can::Source::Tuner:
|
||||
ESP_LOGI(APP_TAG, "Source: Tuner");
|
||||
break;
|
||||
default:
|
||||
ESP_LOGW(APP_TAG, "Source: Invalid");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
extern "C" void app_main() {
|
||||
ESP_LOGI(APP_TAG, "Starting Car Stereo");
|
||||
ESP_LOGI(APP_TAG, "Available Heap: %u", esp_get_free_heap_size());
|
||||
|
|
@ -25,5 +102,15 @@ extern "C" void app_main() {
|
|||
a2dp::init();
|
||||
|
||||
a2dp::connect_to_last();
|
||||
|
||||
can::init();
|
||||
|
||||
/* uint8_t button_buffer[3] = { 0b01000110, 22, 0x00 }; */
|
||||
/* can::Buttons buttons = *(can::Buttons*)button_buffer; */
|
||||
/* print_buttons(buttons); */
|
||||
|
||||
/* uint8_t radio_buffer[4] = { 0b10100000, 0b01000000, 0b00110000, 0x00 }; */
|
||||
/* can::Radio radio = *(can::Radio*)radio_buffer; */
|
||||
/* print_radio(radio); */
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user