diff --git a/examples/Unit/CAN/CAN.c b/examples/Unit/CAN/CAN.c deleted file mode 100644 index 826f9db5..00000000 --- a/examples/Unit/CAN/CAN.c +++ /dev/null @@ -1,299 +0,0 @@ -/** - * @section License - * - * The MIT License (MIT) - * - * Copyright (c) 2017, Thomas Barth, barth-dev.de - * 2017, Jaime Breva, jbreva@nayarsystems.com - * 2018, Michael Wagner, mw@iot-make.de - * - * 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. - * - */ - -#include "CAN.h" - -#include "freertos/FreeRTOS.h" -#include "freertos/queue.h" - -#include "esp_intr.h" -#include "soc/dport_reg.h" -#include - -#include "driver/gpio.h" - -#include "can_regdef.h" -#include "CAN_config.h" - -// CAN Filter - no acceptance filter -static CAN_filter_t __filter = { Dual_Mode, 0, 0, 0, 0, 0Xff, 0Xff, 0Xff, 0Xff }; - -static void CAN_read_frame_phy(); -static void CAN_isr(void *arg_p); -static int CAN_write_frame_phy(const CAN_frame_t *p_frame); -static SemaphoreHandle_t sem_tx_complete; - -static void CAN_isr(void *arg_p) { - - // Interrupt flag buffer - __CAN_IRQ_t interrupt; - BaseType_t higherPriorityTaskWoken = pdFALSE; - - // Read interrupt status and clear flags - interrupt = MODULE_CAN->IR.U; - - // Handle RX frame available interrupt - if ((interrupt & __CAN_IRQ_RX) != 0) - CAN_read_frame_phy(&higherPriorityTaskWoken); - - // Handle TX complete interrupt - // Handle error interrupts. - if ((interrupt & (__CAN_IRQ_TX | __CAN_IRQ_ERR //0x4 - | __CAN_IRQ_DATA_OVERRUN // 0x8 - | __CAN_IRQ_WAKEUP // 0x10 - | __CAN_IRQ_ERR_PASSIVE // 0x20 - | __CAN_IRQ_ARB_LOST // 0x40 - | __CAN_IRQ_BUS_ERR // 0x80 - )) != 0) { - xSemaphoreGiveFromISR(sem_tx_complete, &higherPriorityTaskWoken); - } - - // check if any higher priority task has been woken by any handler - if (higherPriorityTaskWoken) - portYIELD_FROM_ISR(); -} - -static void CAN_read_frame_phy(BaseType_t *higherPriorityTaskWoken) { - - // byte iterator - uint8_t __byte_i; - - // frame read buffer - CAN_frame_t __frame; - - // check if we have a queue. If not, operation is aborted. - if (CAN_cfg.rx_queue == NULL) { - // Let the hardware know the frame has been read. - MODULE_CAN->CMR.B.RRB = 1; - return; - } - - // get FIR - __frame.FIR.U = MODULE_CAN->MBX_CTRL.FCTRL.FIR.U; - - // check if this is a standard or extended CAN frame - // standard frame - if (__frame.FIR.B.FF == CAN_frame_std) { - - // Get Message ID - __frame.MsgID = _CAN_GET_STD_ID; - - // deep copy data bytes - for (__byte_i = 0; __byte_i < __frame.FIR.B.DLC; __byte_i++) - __frame.data.u8[__byte_i] = MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.data[__byte_i]; - } - // extended frame - else { - - // Get Message ID - __frame.MsgID = _CAN_GET_EXT_ID; - - // deep copy data bytes - for (__byte_i = 0; __byte_i < __frame.FIR.B.DLC; __byte_i++) - __frame.data.u8[__byte_i] = MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.data[__byte_i]; - } - - // send frame to input queue - xQueueSendToBackFromISR(CAN_cfg.rx_queue, &__frame, higherPriorityTaskWoken); - - // Let the hardware know the frame has been read. - MODULE_CAN->CMR.B.RRB = 1; -} - -static int CAN_write_frame_phy(const CAN_frame_t *p_frame) { - - // byte iterator - uint8_t __byte_i; - - // copy frame information record - MODULE_CAN->MBX_CTRL.FCTRL.FIR.U = p_frame->FIR.U; - - // standard frame - if (p_frame->FIR.B.FF == CAN_frame_std) { - - // Write message ID - _CAN_SET_STD_ID(p_frame->MsgID); - - // Copy the frame data to the hardware - for (__byte_i = 0; __byte_i < p_frame->FIR.B.DLC; __byte_i++) - MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.data[__byte_i] = p_frame->data.u8[__byte_i]; - - } - // extended frame - else { - - // Write message ID - _CAN_SET_EXT_ID(p_frame->MsgID); - - // Copy the frame data to the hardware - for (__byte_i = 0; __byte_i < p_frame->FIR.B.DLC; __byte_i++) - MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.data[__byte_i] = p_frame->data.u8[__byte_i]; - } - - // Transmit frame - MODULE_CAN->CMR.B.TR = 1; - - return 0; -} - -int CAN_init() { - - // Time quantum - double __tq; - - // 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 TX pin - gpio_set_level(CAN_cfg.tx_pin_id, 1); - gpio_set_direction(CAN_cfg.tx_pin_id, GPIO_MODE_OUTPUT); - gpio_matrix_out(CAN_cfg.tx_pin_id, CAN_TX_IDX, 0, 0); - gpio_pad_select_gpio(CAN_cfg.tx_pin_id); - - // configure RX pin - gpio_set_direction(CAN_cfg.rx_pin_id, GPIO_MODE_INPUT); - gpio_matrix_in(CAN_cfg.rx_pin_id, CAN_RX_IDX, 0); - gpio_pad_select_gpio(CAN_cfg.rx_pin_id); - - // 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 (CAN_cfg.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; - - case CAN_SPEED_200KBPS: - MODULE_CAN->BTR1.B.TSEG1 = 0xc; - MODULE_CAN->BTR1.B.TSEG2 = 0x5; - __tq = 0.25; - break; - - default: - MODULE_CAN->BTR1.B.TSEG1 = 0xc; - __tq = ((float) 1000 / CAN_cfg.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 = 0xff; - - // Set acceptance filter - MODULE_CAN->MOD.B.AFM = __filter.FM; - MODULE_CAN->MBX_CTRL.ACC.CODE[0] = __filter.ACR0; - MODULE_CAN->MBX_CTRL.ACC.CODE[1] = __filter.ACR1; - MODULE_CAN->MBX_CTRL.ACC.CODE[2] = __filter.ACR2; - MODULE_CAN->MBX_CTRL.ACC.CODE[3] = __filter.ACR3; - MODULE_CAN->MBX_CTRL.ACC.MASK[0] = __filter.AMR0; - MODULE_CAN->MBX_CTRL.ACC.MASK[1] = __filter.AMR1; - MODULE_CAN->MBX_CTRL.ACC.MASK[2] = __filter.AMR2; - MODULE_CAN->MBX_CTRL.ACC.MASK[3] = __filter.AMR3; - - // 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 - esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, CAN_isr, NULL, NULL); - - // allocate the tx complete semaphore - sem_tx_complete = xSemaphoreCreateBinary(); - - // Showtime. Release Reset Mode. - MODULE_CAN->MOD.B.RM = 0; - - return 0; -} - -int CAN_write_frame(const CAN_frame_t *p_frame) { - if (sem_tx_complete == NULL) { - return -1; - } - - // Write the frame to the controller - CAN_write_frame_phy(p_frame); - - // wait for the frame tx to complete - xSemaphoreTake(sem_tx_complete, portMAX_DELAY); - - return 0; -} - -int CAN_stop() { - // enter reset mode - MODULE_CAN->MOD.B.RM = 1; - - return 0; -} - -int CAN_config_filter(const CAN_filter_t* p_filter) { - - __filter.FM = p_filter->FM; - __filter.ACR0 = p_filter->ACR0; - __filter.ACR1 = p_filter->ACR1; - __filter.ACR2 = p_filter->ACR2; - __filter.ACR3 = p_filter->ACR3; - __filter.AMR0 = p_filter->AMR0; - __filter.AMR1 = p_filter->AMR1; - __filter.AMR2 = p_filter->AMR2; - __filter.AMR3 = p_filter->AMR3; - - return 0; -} \ No newline at end of file diff --git a/examples/Unit/CAN/CAN.h b/examples/Unit/CAN/CAN.h deleted file mode 100644 index aebde46a..00000000 --- a/examples/Unit/CAN/CAN.h +++ /dev/null @@ -1,131 +0,0 @@ -/** - * @section License - * - * The MIT License (MIT) - * - * Copyright (c) 2017, Thomas Barth, barth-dev.de - * 2018, Michael Wagner, mw@iot-make.de - * 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. - */ - -#ifndef __DRIVERS_CAN_H__ -#define __DRIVERS_CAN_H__ - -#include -#include "CAN_config.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * \brief CAN frame type (standard/extended) - */ -typedef enum { - CAN_frame_std = 0, /**< Standard frame, using 11 bit identifer. */ - CAN_frame_ext = 1 /**< Extended frame, using 29 bit identifer. */ -} CAN_frame_format_t; - -/** - * \brief CAN RTR - */ -typedef enum { - CAN_no_RTR = 0, /**< No RTR frame. */ - CAN_RTR = 1 /**< RTR frame. */ -} CAN_RTR_t; - -/** \brief Frame information record type */ -typedef union { - uint32_t U; /**< \brief Unsigned access */ - struct { - uint8_t DLC : 4; /**< \brief [3:0] DLC, Data length container */ - unsigned int unknown_2 : 2; /**< \brief \internal unknown */ - CAN_RTR_t RTR : 1; /**< \brief [6:6] RTR, Remote Transmission Request */ - CAN_frame_format_t FF : 1; /**< \brief [7:7] Frame Format, see# CAN_frame_format_t*/ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved */ - } B; -} CAN_FIR_t; - -/** \brief CAN Frame structure */ -typedef struct { - CAN_FIR_t FIR; /**< \brief Frame information record*/ - uint32_t MsgID; /**< \brief Message ID */ - union { - uint8_t u8[8]; /**< \brief Payload byte access*/ - uint32_t u32[2]; /**< \brief Payload u32 access*/ - uint64_t u64; /**< \brief Payload u64 access*/ - } data; -} CAN_frame_t; - -typedef enum { - Dual_Mode=0, /**< \brief The dual acceptance filter option is enabled (two filters, each with the length of 16 bit are active) */ - Single_Mode=1 /**< \brief The single acceptance filter option is enabled (one filter with the length of 32 bit is active) */ -} CAN_filter_mode_t; - -/** \brief CAN Filter structure */ -typedef struct { - CAN_filter_mode_t FM:1; /**< \brief [0:0] Filter Mode */ - uint8_t ACR0; /**< \brief Acceptance Code Register ACR0 */ - uint8_t ACR1; /**< \brief Acceptance Code Register ACR1 */ - uint8_t ACR2; /**< \brief Acceptance Code Register ACR2 */ - uint8_t ACR3; /**< \brief Acceptance Code Register ACR3 */ - uint8_t AMR0; /**< \brief Acceptance Mask Register AMR0 */ - uint8_t AMR1; /**< \brief Acceptance Mask Register AMR1 */ - uint8_t AMR2; /**< \brief Acceptance Mask Register AMR2 */ - uint8_t AMR3; /**< \brief Acceptance Mask Register AMR3 */ -} CAN_filter_t; - -/** - * \brief Initialize the CAN Module - * - * \return 0 CAN Module had been initialized - */ -int CAN_init(void); - -/** - * \brief Send a can frame - * - * \param p_frame Pointer to the frame to be send, see #CAN_frame_t - * \return 0 Frame has been written to the module - */ -int CAN_write_frame(const CAN_frame_t *p_frame); - -/** - * \brief Stops the CAN Module - * - * \return 0 CAN Module was stopped - */ -int CAN_stop(void); - -/** - * \brief Config CAN Filter, must call before CANInit() - * - * \param p_filter Pointer to the filter, see #CAN_filter_t - * \return 0 CAN Filter had been initialized - */ -int CAN_config_filter(const CAN_filter_t* p_filter); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/examples/Unit/CAN/CAN.ino b/examples/Unit/CAN/CAN.ino index b2c77ac1..337b5378 100644 --- a/examples/Unit/CAN/CAN.ino +++ b/examples/Unit/CAN/CAN.ino @@ -1,3 +1,4 @@ + /* ******************************************************************************* * Copyright (c) 2021 by M5Stack @@ -6,100 +7,106 @@ * Visit the website for more information：https://docs.m5stack.com/en/unit/can * 获取更多资料请访问：https://docs.m5stack.com/zh_CN/unit/can * -* describe: can. -* date：2021/9/1 -******************************************************************************* - Please connect to PORT-B,Press buttonA or buttonB to Send message if received message, screen will display - 请连接端口B,按钮A或按钮B发送消息，如果收到消息，屏幕将显示 +* describe：CA-IS3050G. CAN transceiver unit +* date：2021/11/01 +******************************************** *********************************** + Please connect port B (26, 36), the device will automatically send and receive messages through the CAN bus + If there are phenomena such as failure of normal communication, please check the communication rate or add a terminal resistance between the H and L phases + Please install library before compiling: + ESP32CAN: https://github.com/miwagner/ESP32-Arduino-CAN */ #include -#include "ESP32CAN.h" -#include "CAN_config.h" +#include +#include +#include -#define TX GPIO_NUM_26 -#define RX GPIO_NUM_36 +M5GFX display; +M5Canvas canvas(&display); CAN_device_t CAN_cfg; // CAN Config +unsigned long previousMillis = 0; // will store last time a CAN Message was send +const int interval = 1000; // interval at which send CAN Messages (milliseconds) +const int rx_queue_size = 10; // Receive Queue size -int i = 0; +uint8_t count = 0; void setup() { - M5.begin(true, false, true); - M5.Power.begin(); - M5.Lcd.drawString("CAN Unit Send&Received", 40, 3, 4); - M5.Lcd.setCursor(0, 60, 4); + M5.begin(); + Serial.println("Basic Demo - ESP32-Arduino-CAN"); - CAN_cfg.speed = CAN_SPEED_125KBPS; //Set the Can speed. 设置Can速度 - CAN_cfg.tx_pin_id = TX; //Set the Pin foot. 设置引脚 - CAN_cfg.rx_pin_id = RX; + display.begin(); - CAN_cfg.rx_queue = xQueueCreate(10,sizeof(CAN_frame_t)); + canvas.setColorDepth(1); // mono color + canvas.createSprite(display.width(), display.height()); + canvas.setTextSize(1); + canvas.setPaletteColor(1, GREEN); + canvas.setTextScroll(true); - ESP32Can.CANInit(); // Init CAN Module. 初始化Can + CAN_cfg.speed = CAN_SPEED_125KBPS; + CAN_cfg.tx_pin_id = GPIO_NUM_26; + CAN_cfg.rx_pin_id = GPIO_NUM_36; + CAN_cfg.rx_queue = xQueueCreate(rx_queue_size, sizeof(CAN_frame_t)); + // Init CAN Module + ESP32Can.CANInit(); + + canvas.println("Init CAN Module....."); + canvas.println("Waiting Frame"); + canvas.println("If there are phenomena such as failure of normal communication"); + canvas.println("Please check the communication rate or add a terminal resistance between the H and L phases"); + canvas.pushSprite(0, 0); } void loop() { + CAN_frame_t rx_frame; - if(M5.BtnA.wasPressed()){ - rx_frame.FIR.B.FF = CAN_frame_std; - rx_frame.MsgID = 1; - rx_frame.FIR.B.DLC = 8; - rx_frame.data.u8[0] = 'H'; - rx_frame.data.u8[1] = 'e'; - rx_frame.data.u8[2] = 'l'; - rx_frame.data.u8[3] = 'l'; - rx_frame.data.u8[4] = 'o'; - rx_frame.data.u8[5] = 'C'; - rx_frame.data.u8[6] = 'A'; - rx_frame.data.u8[7] = 'N'; - - ESP32Can.CANWriteFrame(&rx_frame); - M5.Lcd.println("Send Message1"); - } - if(M5.BtnB.wasPressed()){ - rx_frame.FIR.B.FF = CAN_frame_std; - rx_frame.MsgID = 1; - rx_frame.FIR.B.DLC = 8; - rx_frame.data.u8[0] = 'M'; - rx_frame.data.u8[1] = '5'; - rx_frame.data.u8[2] = 'S'; - rx_frame.data.u8[3] = 'T'; - rx_frame.data.u8[4] = 'A'; - rx_frame.data.u8[5] = 'C'; - rx_frame.data.u8[6] = 'K'; - rx_frame.data.u8[7] = ' '; - ESP32Can.CANWriteFrame(&rx_frame); - M5.Lcd.println("Send Message2"); - Serial.println("B"); - } + unsigned long currentMillis = millis(); + + // Receive next CAN frame from queue + if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE) { - if(xQueueReceive(CAN_cfg.rx_queue,&rx_frame, 3*portTICK_PERIOD_MS)==pdTRUE){ - M5.Lcd.fillRect(0, 60, 320, 180, BLACK); - M5.Lcd.setCursor(0, 60, 4); - //do stuff! - if(rx_frame.FIR.B.FF==CAN_frame_std){ - printf("New standard frame"); - M5.Lcd.printf("New standard frame"); - } else{ - printf("New extended frame"); - M5.Lcd.printf("New extended frame"); + if (rx_frame.FIR.B.FF == CAN_frame_std) { + Serial.println("New standard frame"); + canvas.println("New standard frame"); } - if(rx_frame.FIR.B.RTR==CAN_RTR){ - printf(" RTR from 0x%08x, DLC %d\r\n",rx_frame.MsgID, rx_frame.FIR.B.DLC); - M5.Lcd.printf(" RTR from 0x%08x, DLC %d\r\n",rx_frame.MsgID, rx_frame.FIR.B.DLC); - } else{ - printf(" from 0x%08x, DLC %d\n",rx_frame.MsgID, rx_frame.FIR.B.DLC); - M5.Lcd.printf(" from 0x%08x, DLC %d\r\n",rx_frame.MsgID, rx_frame.FIR.B.DLC); - for(int i = 0; i < 8; i++){ - printf("%c\t", (char)rx_frame.data.u8[i]); - M5.Lcd.printf("%c\t", (char)rx_frame.data.u8[i]); + else { + Serial.println("New extended frame"); + canvas.println("New extended frame"); + } + + if (rx_frame.FIR.B.RTR == CAN_RTR) { + Serial.printf("RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC); + canvas.printf("RTR from 0x%08X, DLC %d\r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC); + } + else { + Serial.printf("from 0x%08X, DLC %d, Data \r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC); + canvas.printf("from 0x%08X, DLC %d, Data \r\n", rx_frame.MsgID, rx_frame.FIR.B.DLC); + for (int i = 0; i < rx_frame.FIR.B.DLC; i++) { + Serial.printf("0x%02X ", rx_frame.data.u8[i]); + canvas.printf("0x%02X ", rx_frame.data.u8[i]); } - printf("\n"); + Serial.println("\n"); + canvas.println("\n"); } + canvas.pushSprite(0, 0); } - - M5.update(); - delay(200); -} \ No newline at end of file + //Send CAN Message + if (currentMillis - previousMillis >= interval) { + previousMillis = currentMillis; + CAN_frame_t tx_frame; + tx_frame.FIR.B.FF = CAN_frame_std; + tx_frame.MsgID = 0x001; + tx_frame.FIR.B.DLC = 8; + tx_frame.data.u8[0] = 0x00; + tx_frame.data.u8[1] = 0x01; + tx_frame.data.u8[2] = 0x02; + tx_frame.data.u8[3] = 0x03; + tx_frame.data.u8[4] = 0x04; + tx_frame.data.u8[5] = 0x05; + tx_frame.data.u8[6] = 0x06; + tx_frame.data.u8[7] = 0x07; + ESP32Can.CANWriteFrame(&tx_frame); + } + delay(1); +} diff --git a/examples/Unit/CAN/CAN_config.h b/examples/Unit/CAN/CAN_config.h deleted file mode 100644 index 2840a3c9..00000000 --- a/examples/Unit/CAN/CAN_config.h +++ /dev/null @@ -1,71 +0,0 @@ -/** - * @section License - * - * The MIT License (MIT) - * - * Copyright (c) 2017, Thomas Barth, barth-dev.de - * - * 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. - */ - -#ifndef __DRIVERS_CAN_CFG_H__ -#define __DRIVERS_CAN_CFG_H__ - -#include "freertos/FreeRTOS.h" -#include "freertos/queue.h" -#include "freertos/task.h" -#include "driver/gpio.h" -#include "freertos/semphr.h" - -#ifdef __cplusplus -extern "C" { -#endif - -/** \brief CAN Node Bus speed */ -typedef enum { - CAN_SPEED_100KBPS = 100, /**< \brief CAN Node runs at 100kBit/s. */ - CAN_SPEED_125KBPS = 125, /**< \brief CAN Node runs at 125kBit/s. */ - CAN_SPEED_200KBPS = 200, /**< \brief CAN Node runs at 250kBit/s. */ - CAN_SPEED_250KBPS = 250, /**< \brief CAN Node runs at 250kBit/s. */ - CAN_SPEED_500KBPS = 500, /**< \brief CAN Node runs at 500kBit/s. */ - CAN_SPEED_800KBPS = 800, /**< \brief CAN Node runs at 800kBit/s. */ - CAN_SPEED_1000KBPS = 1000 /**< \brief CAN Node runs at 1000kBit/s. */ -} CAN_speed_t; - -/** \brief CAN configuration structure */ -typedef struct { - CAN_speed_t speed; /**< \brief CAN speed. */ - gpio_num_t tx_pin_id; /**< \brief TX pin. */ - gpio_num_t rx_pin_id; /**< \brief RX pin. */ - QueueHandle_t rx_queue; /**< \brief Handler to FreeRTOS RX queue. */ - QueueHandle_t tx_queue; /**< \brief Handler to FreeRTOS TX queue. */ - TaskHandle_t tx_handle; /**< \brief Handler to FreeRTOS TX task. */ - TaskHandle_t rx_handle; /**< \brief Handler to FreeRTOS RX task. */ -} CAN_device_t; - -/** \brief CAN configuration reference */ -extern CAN_device_t CAN_cfg; - -#ifdef __cplusplus -} -#endif - -#endif /* __DRIVERS_CAN_CFG_H__ */ diff --git a/examples/Unit/CAN/ESP32CAN.cpp b/examples/Unit/CAN/ESP32CAN.cpp deleted file mode 100644 index 1412b4a6..00000000 --- a/examples/Unit/CAN/ESP32CAN.cpp +++ /dev/null @@ -1,20 +0,0 @@ -#include "ESP32CAN.h" - -int ESP32CAN::CANInit() -{ - return CAN_init(); -} -int ESP32CAN::CANWriteFrame(const CAN_frame_t* p_frame) -{ - return CAN_write_frame(p_frame); -} -int ESP32CAN::CANStop() -{ - return CAN_stop(); -} -int ESP32CAN::CANConfigFilter(const CAN_filter_t* p_filter) -{ - return CAN_config_filter(p_filter); -} - -ESP32CAN ESP32Can; diff --git a/examples/Unit/CAN/ESP32CAN.h b/examples/Unit/CAN/ESP32CAN.h deleted file mode 100644 index 0cbe1567..00000000 --- a/examples/Unit/CAN/ESP32CAN.h +++ /dev/null @@ -1,17 +0,0 @@ -#ifndef ESP32CAN_H -#define ESP32CAN_H - -#include "CAN_config.h" -#include "CAN.h" - -class ESP32CAN -{ - public: - int CANInit(); - int CANConfigFilter(const CAN_filter_t* p_filter); - int CANWriteFrame(const CAN_frame_t* p_frame); - int CANStop(); -}; - -extern ESP32CAN ESP32Can; -#endif diff --git a/examples/Unit/CAN/can_regdef.h b/examples/Unit/CAN/can_regdef.h deleted file mode 100644 index 967ac81a..00000000 --- a/examples/Unit/CAN/can_regdef.h +++ /dev/null @@ -1,279 +0,0 @@ -/** - * @section License - * - * The MIT License (MIT) - * - * Copyright (c) 2017, Thomas Barth, barth-dev.de - * - * 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. - */ - -#ifndef __DRIVERS_CAN_REGDEF_H_ -#define __DRIVERS_CAN_REGDEF_H_ - -#include "CAN.h" //CAN_FIR_t - -#ifdef __cplusplus -extern "C" { -#endif - -/** \brief Start address of CAN registers */ -#define MODULE_CAN ((volatile CAN_Module_t *) 0x3ff6b000) - -/** \brief Get standard message ID */ -#define _CAN_GET_STD_ID \ - (((uint32_t) MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[0] << 3) | (MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[1] >> 5)) - -/** \brief Get extended message ID */ -#define _CAN_GET_EXT_ID \ - (((uint32_t) MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[0] << 21) | \ - (MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[1] << 13) | (MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[2] << 5) | \ - (MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[3] >> 3)) - -/** \brief Set standard message ID */ -#define _CAN_SET_STD_ID(x) \ - MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[0] = ((x) >> 3); \ - MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.STD.ID[1] = ((x) << 5); - -/** \brief Set extended message ID */ -#define _CAN_SET_EXT_ID(x) \ - MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[0] = ((x) >> 21); \ - MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[1] = ((x) >> 13); \ - MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[2] = ((x) >> 5); \ - MODULE_CAN->MBX_CTRL.FCTRL.TX_RX.EXT.ID[3] = ((x) << 3); - -/** \brief Interrupt status register */ -typedef enum { - __CAN_IRQ_RX = BIT(0), /**< \brief RX Interrupt */ - __CAN_IRQ_TX = BIT(1), /**< \brief TX Interrupt */ - __CAN_IRQ_ERR = BIT(2), /**< \brief Error Interrupt */ - __CAN_IRQ_DATA_OVERRUN = BIT(3), /**< \brief Data Overrun Interrupt */ - __CAN_IRQ_WAKEUP = BIT(4), /**< \brief Wakeup Interrupt */ - __CAN_IRQ_ERR_PASSIVE = BIT(5), /**< \brief Passive Error Interrupt */ - __CAN_IRQ_ARB_LOST = BIT(6), /**< \brief Arbitration lost interrupt */ - __CAN_IRQ_BUS_ERR = BIT(7), /**< \brief Bus error Interrupt */ -} __CAN_IRQ_t; - -/** \brief OCMODE options. */ -typedef enum { - __CAN_OC_BOM = 0b00, /**< \brief bi-phase output mode */ - __CAN_OC_TOM = 0b01, /**< \brief test output mode */ - __CAN_OC_NOM = 0b10, /**< \brief normal output mode */ - __CAN_OC_COM = 0b11, /**< \brief clock output mode */ -} __CAN_OCMODE_t; - -/** - * CAN controller (SJA1000). - */ -typedef struct { - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int RM : 1; /**< \brief MOD.0 Reset Mode */ - unsigned int LOM : 1; /**< \brief MOD.1 Listen Only Mode */ - unsigned int STM : 1; /**< \brief MOD.2 Self Test Mode */ - unsigned int AFM : 1; /**< \brief MOD.3 Acceptance Filter Mode */ - unsigned int SM : 1; /**< \brief MOD.4 Sleep Mode */ - unsigned int reserved_27 : 27; /**< \brief \internal Reserved */ - } B; - } MOD; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int TR : 1; /**< \brief CMR.0 Transmission Request */ - unsigned int AT : 1; /**< \brief CMR.1 Abort Transmission */ - unsigned int RRB : 1; /**< \brief CMR.2 Release Receive Buffer */ - unsigned int CDO : 1; /**< \brief CMR.3 Clear Data Overrun */ - unsigned int GTS : 1; /**< \brief CMR.4 Go To Sleep */ - unsigned int reserved_27 : 27; /**< \brief \internal Reserved */ - } B; - } CMR; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int RBS : 1; /**< \brief SR.0 Receive Buffer Status */ - unsigned int DOS : 1; /**< \brief SR.1 Data Overrun Status */ - unsigned int TBS : 1; /**< \brief SR.2 Transmit Buffer Status */ - unsigned int TCS : 1; /**< \brief SR.3 Transmission Complete Status */ - unsigned int RS : 1; /**< \brief SR.4 Receive Status */ - unsigned int TS : 1; /**< \brief SR.5 Transmit Status */ - unsigned int ES : 1; /**< \brief SR.6 Error Status */ - unsigned int BS : 1; /**< \brief SR.7 Bus Status */ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved */ - } B; - } SR; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int RI : 1; /**< \brief IR.0 Receive Interrupt */ - unsigned int TI : 1; /**< \brief IR.1 Transmit Interrupt */ - unsigned int EI : 1; /**< \brief IR.2 Error Interrupt */ - unsigned int DOI : 1; /**< \brief IR.3 Data Overrun Interrupt */ - unsigned int WUI : 1; /**< \brief IR.4 Wake-Up Interrupt */ - unsigned int EPI : 1; /**< \brief IR.5 Error Passive Interrupt */ - unsigned int ALI : 1; /**< \brief IR.6 Arbitration Lost Interrupt */ - unsigned int BEI : 1; /**< \brief IR.7 Bus Error Interrupt */ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved */ - } B; - } IR; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int RIE : 1; /**< \brief IER.0 Receive Interrupt Enable */ - unsigned int TIE : 1; /**< \brief IER.1 Transmit Interrupt Enable */ - unsigned int EIE : 1; /**< \brief IER.2 Error Interrupt Enable */ - unsigned int DOIE : 1; /**< \brief IER.3 Data Overrun Interrupt Enable */ - unsigned int WUIE : 1; /**< \brief IER.4 Wake-Up Interrupt Enable */ - unsigned int EPIE : 1; /**< \brief IER.5 Error Passive Interrupt Enable */ - unsigned int ALIE : 1; /**< \brief IER.6 Arbitration Lost Interrupt Enable */ - unsigned int BEIE : 1; /**< \brief IER.7 Bus Error Interrupt Enable */ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved */ - } B; - } IER; - uint32_t RESERVED0; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int BRP : 6; /**< \brief BTR0[5:0] Baud Rate Prescaler */ - unsigned int SJW : 2; /**< \brief BTR0[7:6] Synchronization Jump Width*/ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved */ - } B; - } BTR0; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int TSEG1 : 4; /**< \brief BTR1[3:0] Timing Segment 1 */ - unsigned int TSEG2 : 3; /**< \brief BTR1[6:4] Timing Segment 2*/ - unsigned int SAM : 1; /**< \brief BTR1.7 Sampling*/ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved */ - } B; - } BTR1; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int OCMODE : 2; /**< \brief OCR[1:0] Output Control Mode, see # */ - unsigned int OCPOL0 : 1; /**< \brief OCR.2 Output Control Polarity 0 */ - unsigned int OCTN0 : 1; /**< \brief OCR.3 Output Control Transistor N0 */ - unsigned int OCTP0 : 1; /**< \brief OCR.4 Output Control Transistor P0 */ - unsigned int OCPOL1 : 1; /**< \brief OCR.5 Output Control Polarity 1 */ - unsigned int OCTN1 : 1; /**< \brief OCR.6 Output Control Transistor N1 */ - unsigned int OCTP1 : 1; /**< \brief OCR.7 Output Control Transistor P1 */ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved */ - } B; - } OCR; - uint32_t RESERVED1[2]; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int ALC : 8; /**< \brief ALC[7:0] Arbitration Lost Capture */ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved */ - } B; - } ALC; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int ECC : 8; /**< \brief ECC[7:0] Error Code Capture */ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved */ - } B; - } ECC; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int EWLR : 8; /**< \brief EWLR[7:0] Error Warning Limit */ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved */ - } B; - } EWLR; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int RXERR : 8; /**< \brief RXERR[7:0] Receive Error Counter */ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved */ - } B; - } RXERR; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int TXERR : 8; /**< \brief TXERR[7:0] Transmit Error Counter */ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved */ - } B; - } TXERR; - - union { - struct { - uint32_t CODE[4]; /**< \brief Acceptance Message ID */ - uint32_t MASK[4]; /**< \brief Acceptance Mask */ - uint32_t RESERVED2[5]; - } ACC; /**< \brief Acceptance filtering */ - struct { - CAN_FIR_t FIR; /**< \brief Frame information record */ - union { - struct { - uint32_t ID[2]; /**< \brief Standard frame message-ID*/ - uint32_t data[8]; /**< \brief Standard frame payload */ - uint32_t reserved[2]; - } STD; /**< \brief Standard frame format */ - struct { - uint32_t ID[4]; /**< \brief Extended frame message-ID*/ - uint32_t data[8]; /**< \brief Extended frame payload */ - } EXT; /**< \brief Extended frame format */ - } TX_RX; /**< \brief RX/TX interface */ - } FCTRL; /**< \brief Function control regs */ - } MBX_CTRL; /**< \brief Mailbox control */ - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int RMC : 8; /**< \brief RMC[7:0] RX Message Counter */ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved Enable */ - } B; - } RMC; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int RBSA : 8; /**< \brief RBSA[7:0] RX Buffer Start Address */ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved Enable */ - } B; - } RBSA; - union { - uint32_t U; /**< \brief Unsigned access */ - struct { - unsigned int COD : 3; /**< \brief CDR[2:0] CLKOUT frequency selector based of fOSC*/ - unsigned int COFF : 1; /**< \brief CDR.3 CLKOUT off*/ - unsigned int reserved_1 : 1; /**< \brief \internal Reserved */ - unsigned int - RXINTEN : 1; /**< \brief CDR.5 This bit allows the TX1 output to be used as a dedicated receive interrupt - output*/ - unsigned int - CBP : 1; /**< \brief CDR.6 allows to bypass the CAN input comparator and is only possible in reset mode.*/ - unsigned int - CAN_M : 1; /**< \brief CDR.7 If CDR.7 is at logic 0 the CAN controller operates in BasicCAN mode. If set to - logic 1 the CAN controller operates in PeliCAN mode. Write access is only possible in reset - mode*/ - unsigned int reserved_24 : 24; /**< \brief \internal Reserved */ - } B; - } CDR; - uint32_t IRAM[2]; -} CAN_Module_t; - -#ifdef __cplusplus -} -#endif - -#endif /* __DRIVERS_CAN_REGDEF_H_ */ diff --git a/library.properties b/library.properties index aa648a4c..8edb091b 100644 --- a/library.properties +++ b/library.properties @@ -8,4 +8,5 @@ category=Device Control url=https://github.com/m5stack/m5stack architectures=esp32 includes=M5Stack.h -depends=M5GFX,UNIT_ENV,UNIT_4RELAY,ADXL345,FastLED,MODULE_GRBL13.2,Adafruit MCP4725,Adafruit TCS34725,Adafruit NeoPixel,MAX30100lib,MFRC522_I2C,M5_BM8563,M5_ADS1100,M5_ADS1115,M5_FPC1020A,HX711 Arduino Library,PCA9554,TinyGPSPlus,Adafruit SGP30 Sensor,FFT,TFTTerminal,ClosedCube TCA9548A,M5GFX,ArduinoJson,M5_EzData,PubSubClient \ No newline at end of file +depends=M5GFX,ESP32CAN,UNIT_ENV,UNIT_4RELAY,ADXL345,FastLED,MODULE_GRBL13.2,Adafruit MCP4725,Adafruit TCS34725,Adafruit NeoPixel,MAX30100lib,MFRC522_I2C,M5_BM8563,M5_ADS1100,M5_ADS1115,M5_FPC1020A,HX711 Arduino Library,PCA9554,TinyGPSPlus,Adafruit SGP30 Sensor,FFT,TFTTerminal,ClosedCube TCA9548A,M5GFX,ArduinoJson,M5_EzData,PubSubClient +