car-stereo/software/main/src/can.cpp

#include <cstdint>
#include <string.h>
#include <cmath>

#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/portmacro.h"
#include "freertos/task.h"
#include "driver/spi_common.h"
#include "driver/spi_master.h"
#include "esp_err.h"
#include "esp_log.h"
#include "hal/spi_types.h"

#include "can.h"
#include "can_data.h"
#include "avrcp.h"
#include "helper.h"

#define CAN_TAG "APP_CAN"

#define PIN_NUM_MOSI 23
#define PIN_NUM_MISO 19
#define PIN_NUM_CLK  18
#define PIN_NUM_CS   5

#define MCP_SIDH        0
#define MCP_SIDL        1
#define MCP_EID8        2
#define MCP_EID0        3

#define MCP_TXB_EXIDE_M 0x08
#define MCP_DLC_MASK    0x0F
#define MCP_RTR_MASK    0x40

#define MCP_RXB_RX_STDEXT 0x00
#define MCP_RXB_RX_MASK   0x60
#define MCP_RXB_BUKT_MASK (1<<2)

#define MCP_STAT_TXIF_MASK 0xA8
#define MCP_STAT_TX0IF     0x08
#define MCP_STAT_TX1IF     0x20
#define MCP_STAT_TX2IF     0x80
#define MCP_STAT_RXIF_MASK 0x03

// Instructions
#define MCP_WRITE       0x02
#define MCP_READ        0x03
#define MCP_BITMOD      0x05
#define MCP_READ_RX0    0x90
#define MCP_READ_RX1    0x94
#define MCP_READ_STATUS 0xA0
#define MCP_RESET       0xC0

// Registers
#define MCP_RXF0SIDH 0x00
#define MCP_RXF1SIDH 0x04
#define MCP_CANSTAT  0x0E
#define MCP_CANCTRL  0x0F
#define MCP_RXM0SIDH 0x20
#define MCP_RXM1SIDH 0x24
#define MCP_CNF3     0x28
#define MCP_CNF2     0x29
#define MCP_CNF1     0x2A
#define MCP_CANINTE  0x2B
#define MCP_CANINTF  0x2C
#define MCP_TXB0CTRL 0x30
#define MCP_TXB1CTRL 0x40
#define MCP_TXB2CTRL 0x50
#define MCP_RXB0CTRL 0x60
#define MCP_RXB1CTRL 0x70

// CANCTRL Register values
#define MODE_NORMAL     0x00
#define MODE_SLEEP      0x20
#define MODE_LISTENONLY 0x60
#define MODE_CONFIG     0x80
#define MODE_MASK       0xE0

// CANINTF Register bits
#define MCP_RX0IF 0x01
#define MCP_RX1IF 0x02
#define MCP_TX0IF 0x04
#define MCP_TX1IF 0x08
#define MCP_TX2IF 0x10
#define MCP_WAKIF 0x40

static void send_cmd(spi_device_handle_t spi, const uint8_t cmd) {
	spi_transaction_t t;
	memset(&t, 0, sizeof(t));
	t.length = 8;
	t.tx_buffer = &cmd;

	esp_err_t ret = spi_device_polling_transmit(spi, &t);
	ESP_ERROR_CHECK(ret);

}

static uint8_t read_register(spi_device_handle_t spi, const uint8_t address) {
	// Acquire the bus in order to use SPI_TRANS_CS_KEEP_ACTIVE
	esp_err_t ret = spi_device_acquire_bus(spi, portMAX_DELAY);
	ESP_ERROR_CHECK(ret);

	// Send the command
	{
		spi_transaction_t t;
		memset(&t, 0, sizeof(t));
		t.length = 8*2;
		uint8_t cmd[] = { MCP_READ, address };
		t.tx_buffer = cmd;
		t.flags = SPI_TRANS_CS_KEEP_ACTIVE;

		ret = spi_device_polling_transmit(spi, &t);
		ESP_ERROR_CHECK(ret);
	}

	// Read the data
	spi_transaction_t t;
	memset(&t, 0, sizeof(t));
	t.length = 8;
	t.flags = SPI_TRANS_USE_RXDATA;

	ret = spi_device_polling_transmit(spi, &t);
	ESP_ERROR_CHECK(ret);

	spi_device_release_bus(spi);
	ESP_ERROR_CHECK(ret);

	return t.rx_data[0];
}

static void set_register(spi_device_handle_t spi, const uint8_t address, const uint8_t value) {
	spi_transaction_t t;
	memset(&t, 0, sizeof(t));
	t.length = 8*3;
	uint8_t cmd[] = { MCP_WRITE, address, value };
	t.tx_buffer = cmd;

	esp_err_t ret = spi_device_polling_transmit(spi, &t);
	ESP_ERROR_CHECK(ret);
}

static void set_registers(spi_device_handle_t spi, const uint8_t address, const uint8_t* buf, int len) {
	// Acquire the bus in order to use SPI_TRANS_CS_KEEP_ACTIVE
	esp_err_t ret = spi_device_acquire_bus(spi, portMAX_DELAY);
	ESP_ERROR_CHECK(ret);

	// Send the initial command
	{
		spi_transaction_t t;
		memset(&t, 0, sizeof(t));
		t.length = 8*2;
		uint8_t cmd[] = { MCP_WRITE, address };
		t.tx_buffer = cmd;
		t.flags = SPI_TRANS_CS_KEEP_ACTIVE;

		ret = spi_device_polling_transmit(spi, &t);
		ESP_ERROR_CHECK(ret);
	}

	// Send the data
	spi_transaction_t t;
	memset(&t, 0, sizeof(t));
	t.length = 8*len;
	t.tx_buffer = buf;

	ret = spi_device_polling_transmit(spi, &t);
	ESP_ERROR_CHECK(ret);

	spi_device_release_bus(spi);
	ESP_ERROR_CHECK(ret);
}

static void modify_register(spi_device_handle_t spi, const uint8_t address, const uint8_t mask, const uint8_t data) {
	spi_transaction_t t;
	memset(&t, 0, sizeof(t));
	t.length = 8*4;
	uint8_t cmd[] = { MCP_BITMOD, address, mask, data };
	t.tx_buffer = cmd;

	esp_err_t ret = spi_device_polling_transmit(spi, &t);
	ESP_ERROR_CHECK(ret);
}

static bool request_new_mode(spi_device_handle_t spi, const uint8_t new_mode) {
	unsigned long start = esp_timer_get_time() / 1000;

	for (;;) {
		modify_register(spi, MCP_CANCTRL, MODE_MASK, new_mode);
		uint8_t state = read_register(spi, MCP_CANSTAT);
		if ((state & MODE_MASK) == new_mode) {
			return true;
		} else if ((esp_timer_get_time() / 1000 - start) > 200) {
			ESP_LOGE(CAN_TAG, "Failed to set new mode");
			abort();
		}
	}

}

static uint8_t get_mode(spi_device_handle_t spi) {
	return read_register(spi, MCP_CANSTAT) & MODE_MASK;
}

static void set_CANCTRL_mode(spi_device_handle_t spi, uint8_t new_mode) {
	ESP_LOGI(CAN_TAG, "set_CANCTRL_mode");
	if (get_mode(spi) == MODE_SLEEP && new_mode != MODE_SLEEP) {
		ESP_LOGI(CAN_TAG, "if");
		uint8_t wake_int_enabled = (read_register(spi, MCP_CANINTE) & MCP_WAKIF);
		if (!wake_int_enabled) {
			modify_register(spi, MCP_CANINTE, MCP_WAKIF, MCP_WAKIF);
		}

		modify_register(spi, MCP_CANINTF, MCP_WAKIF, MCP_WAKIF);

		request_new_mode(spi, MODE_LISTENONLY);

		if (!wake_int_enabled) {
			modify_register(spi, MCP_CANINTE, MCP_WAKIF, 0);
		}
	}

	modify_register(spi, MCP_CANINTF, MCP_WAKIF, 0);

	request_new_mode(spi, new_mode);
	ESP_LOGI(CAN_TAG, "done!");
}

static void config_rate(spi_device_handle_t spi) {
	// This is for 16MHz, 125kBPS
	set_register(spi, MCP_CNF1, 0x01);
	set_register(spi, MCP_CNF2, 0xb1);
	set_register(spi, MCP_CNF3, 0x05);
}

static void init_CAN_buffers(spi_device_handle_t spi) {
	uint8_t a1 = MCP_TXB0CTRL;
	uint8_t a2 = MCP_TXB1CTRL;
	uint8_t a3 = MCP_TXB2CTRL;

	for (int i = 0; i < 14; i++) {
		set_register(spi, a1, 0);
		set_register(spi, a2, 0);
		set_register(spi, a3, 0);

		a1++;
		a2++;
		a3++;
	}

	set_register(spi, MCP_RXB0CTRL, 0);
	set_register(spi, MCP_RXB1CTRL, 0);
}

static uint8_t read_status(spi_device_handle_t spi) {
	// Acquire the bus in order to use SPI_TRANS_CS_KEEP_ACTIVE
	esp_err_t ret = spi_device_acquire_bus(spi, portMAX_DELAY);
	ESP_ERROR_CHECK(ret);

	// Send the command
	{
		spi_transaction_t t;
		memset(&t, 0, sizeof(t));
		t.length = 8;
		uint8_t cmd[] = { MCP_READ_STATUS };
		t.tx_buffer = cmd;
		t.flags = SPI_TRANS_CS_KEEP_ACTIVE;

		ret = spi_device_polling_transmit(spi, &t);
		ESP_ERROR_CHECK(ret);
	}

	// Read the data
	spi_transaction_t t;
	memset(&t, 0, sizeof(t));
	t.length = 8;
	t.flags = SPI_TRANS_USE_RXDATA;

	ret = spi_device_polling_transmit(spi, &t);
	ESP_ERROR_CHECK(ret);

	spi_device_release_bus(spi);
	ESP_ERROR_CHECK(ret);

	return t.rx_data[0];
}

static bool available(spi_device_handle_t spi) {
	uint8_t res = read_status(spi);

	return res & MCP_STAT_RXIF_MASK;
}

static uint8_t read_rx_tx_status(spi_device_handle_t spi) {
	uint8_t ret = (read_status(spi) & (MCP_STAT_TXIF_MASK | MCP_STAT_RXIF_MASK));

	ret = (ret & MCP_STAT_TX0IF ? MCP_TX0IF : 0) |
	      (ret & MCP_STAT_TX1IF ? MCP_TX1IF : 0) |
	      (ret & MCP_STAT_TX2IF ? MCP_TX2IF : 0) |
	      (ret & MCP_STAT_RXIF_MASK);

	return ret;
}

static void read_can_msg(spi_device_handle_t spi, uint8_t buffer_load_addr, unsigned long* id, uint8_t* ext, uint8_t* rtr_bit, uint8_t* len, uint8_t* buf) {
	// Acquire the bus in order to use SPI_TRANS_CS_KEEP_ACTIVE
	esp_err_t ret = spi_device_acquire_bus(spi, portMAX_DELAY);
	ESP_ERROR_CHECK(ret);

	// Send the command
	{
		spi_transaction_t t;
		memset(&t, 0, sizeof(t));
		t.length = 8;
		uint8_t cmd[] = { buffer_load_addr };
		t.tx_buffer = cmd;
		t.flags = SPI_TRANS_CS_KEEP_ACTIVE;

		ret = spi_device_polling_transmit(spi, &t);
		ESP_ERROR_CHECK(ret);
	}

	// Read id + length
	{
		spi_transaction_t t;
		memset(&t, 0, sizeof(t));
		t.length = 8*5;
		uint8_t data[5];
		t.rx_buffer = data;
		t.flags = SPI_TRANS_CS_KEEP_ACTIVE;

		ret = spi_device_polling_transmit(spi, &t);
		ESP_ERROR_CHECK(ret);

		*id = (data[MCP_SIDH] << 3) + (data[MCP_SIDL] >> 5);
		*ext = 0;
		if ((data[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M) {
			// Extended id
			// @TODO Do we need this for our application
			*id = (*id << 2) + (data[MCP_SIDL] & 0x03);
			*id = (*id << 8) + data[MCP_EID8];
			*id = (*id << 8) + data[MCP_EID0];
			*ext = 1;
		}

		*len = data[4] & MCP_DLC_MASK;

		// @TODO Do we need this in our application
		*rtr_bit = (data[0] & MCP_RTR_MASK) ? 1 : 0;
	}

	// Read the data
	{
		spi_transaction_t t;
		memset(&t, 0, sizeof(t));
		t.length = 8*(*len);
		t.rx_buffer = buf;

		ret = spi_device_polling_transmit(spi, &t);
		ESP_ERROR_CHECK(ret);
	}

	// Make sure we release the bus
	spi_device_release_bus(spi);
	ESP_ERROR_CHECK(ret);
}

static void print_radio(can::Radio radio) {
	ESP_LOGI(CAN_TAG, "RADIO");
	if (radio.enabled) {
		ESP_LOGI(CAN_TAG, "Enabled: %i", radio.enabled);
	}
	if (radio.muted) {
		ESP_LOGI(CAN_TAG, "Muted: %i", radio.muted);
	}
	if (radio.cd_changer_available) {
		ESP_LOGI(CAN_TAG, "CD Changer: %i", radio.cd_changer_available);
	}
	switch (radio.disk_status) {
		case can::DiskStatus::Init:
			ESP_LOGI(CAN_TAG, "CD: Init");
			break;
		case can::DiskStatus::Unavailable:
			ESP_LOGI(CAN_TAG, "CD: Unavailable");
			break;
		case can::DiskStatus::Available:
			ESP_LOGI(CAN_TAG, "CD: Available");
			break;
		default:
			ESP_LOGW(CAN_TAG, "CD: Invalid");
			break;
	}

	switch (radio.source) {
		case can::Source::Bluetooth:
			ESP_LOGI(CAN_TAG, "Source: Bluetooth");
			break;
		case can::Source::USB:
			ESP_LOGI(CAN_TAG, "Source: USB");
			break;
		case can::Source::AUX2:
			ESP_LOGI(CAN_TAG, "Source: AUX2");
			break;
		case can::Source::AUX1:
			ESP_LOGI(CAN_TAG, "Source: AUX1");
			break;
		case can::Source::CD_Changer:
			ESP_LOGI(CAN_TAG, "Source: CD Changer");
			break;
		case can::Source::CD:
			ESP_LOGI(CAN_TAG, "Source: CD");
			break;
		case can::Source::Tuner:
			ESP_LOGI(CAN_TAG, "Source: Tuner");
			break;
		default:
			ESP_LOGW(CAN_TAG, "Source: Invalid");
			break;
	}
}

static void id_to_buf(const uint8_t ext, const unsigned long id, uint8_t* buf) {
	uint16_t canid = id & 0xFFFF;

	if (ext) {
		buf[MCP_EID0] = canid & 0xFF;
		buf[MCP_EID8] = canid >> 8;
		canid = id >> 16;
		buf[MCP_SIDL] = canid & 0x03;
		buf[MCP_SIDL] += canid & 0x1C << 3;
		buf[MCP_SIDL] |= MCP_TXB_EXIDE_M;
		buf[MCP_SIDH] = canid >> 5;
	} else {
		buf[MCP_SIDH] = canid >> 3;
		buf[MCP_SIDL] = (canid & 0x07) << 5;
		buf[MCP_EID0] = 0;
		buf[MCP_EID8] = 0;
	}
}

static void write_id(spi_device_handle_t spi, const uint8_t addr, const uint8_t ext, const unsigned long id) {
	uint8_t buf[4];

	id_to_buf(ext, id, buf);
	set_registers(spi, addr, buf, 4);
}

static void read_message(spi_device_handle_t spi) {
	uint8_t status = read_rx_tx_status(spi);

	unsigned long id;
	uint8_t ext;
	uint8_t rtr_bit;
	uint8_t len;
	uint8_t buf[8];

	if (status & MCP_RX0IF) {
		read_can_msg(spi, MCP_READ_RX0, &id, &ext, &rtr_bit, &len, buf);
	} else if (status & MCP_RX1IF) {
		read_can_msg(spi, MCP_READ_RX0, &id, &ext, &rtr_bit, &len, buf);
	}

	// @TODO Only do this if we actually are on AUX2
	if (id == BUTTONS_ID) {
		static MultiPurposeButton button_forward(avrcp::play_pause, avrcp::forward);
		static MultiPurposeButton button_backward(nullptr, avrcp::backward);

		can::Buttons buttons = *(can::Buttons*)buf;

		button_forward.tick(buttons.forward);
		button_backward.tick(buttons.backward);
	} else if (id == VOLUME_ID) {
		can::Volume volume = *(can::Volume*)buf;
		if (volume.scrolled()) {
			avrcp::set_volume(ceil(volume.volume * 4.2f));
		}
	}
}

static void can_task(void* params) {
	spi_device_handle_t spi = *(spi_device_handle_t*)params;

	for (;;) {
		if (available(spi)) {
			read_message(spi);
		}
	}
}

void can::init() {
	ESP_LOGI(CAN_TAG, "Initializing can");

	spi_bus_config_t buscfg = {
		.mosi_io_num=PIN_NUM_MOSI,
		.miso_io_num=PIN_NUM_MISO,
		.sclk_io_num=PIN_NUM_CLK,
		.quadwp_io_num=-1,
		.quadhd_io_num=-1,
		.max_transfer_sz=0
	};
	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 = new spi_device_handle_t;
	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);

	// @TODO Setup filter so we only receive messages that we are interested in
	ESP_LOGI(CAN_TAG, "Init mask");
	write_id(*spi, MCP_RXM0SIDH, 0, 0x3ff);
	write_id(*spi, MCP_RXM1SIDH, 0, 0x3ff);

	ESP_LOGI(CAN_TAG, "Init filter");
	/* write_id(*spi, MCP_RXF0SIDH, 0, 0x165); */
	write_id(*spi, MCP_RXF1SIDH, 0, 0x1a5);
	write_id(*spi, MCP_RXF1SIDH, 0, 0x21f);

	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);
}