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添加智能灯固件代码
This commit is contained in:
kerwincui
@@ -0,0 +1,6 @@
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# The following lines of boilerplate have to be in your project's CMakeLists
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# in this exact order for cmake to work correctly
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cmake_minimum_required(VERSION 3.5)
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include($ENV{IDF_PATH}/tools/cmake/project.cmake)
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project(can_alert_and_recovery_example)
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@@ -0,0 +1,9 @@
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#
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# This is a project Makefile. It is assumed the directory this Makefile resides in is a
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# project subdirectory.
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#
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PROJECT_NAME := twai_alert_and_recovery_example
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include $(IDF_PATH)/make/project.mk
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@@ -0,0 +1,91 @@
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# TWAI Alert and Recovery Example
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(See the README.md file in the upper level 'examples' directory for more information about examples.)
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This example demonstrates how to use the alert and bus recovery features of the TWAI driver. The alert feature allows the TWAI driver to notify the application layer of certain TWAI driver or bus events. The bus recovery feature is used to recover the TWAI driver after it has entered the Bus-Off state. See the TWAI driver reference for more details.
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## How to use example
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### Hardware Required
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This example requires only a single target (e.g., an ESP32 or ESP32-S2). The target must be connected to an external transceiver (e.g., a SN65HVD23X transceiver). This connection usually consists of a TX and an RX signal.
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Note: If you don't have an external transceiver, this example can still be run by simply connecting the TX GPIO and RX GPIO with a jumper.
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### Configure the project
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* Set the target of the build (where `{IDF_TARGET}` stands for the target chip such as `eszp32` or `esp32s2`).
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* Then run `menuconfig` to configure the example.
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```
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idf.py set-target {IDF_TARGET}
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idf.py menuconfig
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```
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* Under `Example Configuration`, configure the pin assignments using the options `TX GPIO Number` and `RX GPIO Number` according to how the target was connected to the transceiver. By default, `TX GPIO Number` and `RX GPIO Number` are set to the following values:
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* On the ESP32, `TX GPIO Number` and `RX GPIO Number` default to `21` and `22` respectively
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* On the ESP32-S2, `TX GPIO Number` and `RX GPIO Number` default to `20` and `21` respectively
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### Build and Flash
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Build the project and flash it to the board, then run monitor tool to view serial output:
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```
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idf.py -p PORT flash monitor
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```
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(Replace PORT with the name of the serial port to use.)
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(To exit the serial monitor, type ``Ctrl-]``.)
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See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.
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## Example Output
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```
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I (330) TWAI Alert and Recovery: Driver installed
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I (340) TWAI Alert and Recovery: Driver started
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I (340) TWAI Alert and Recovery: Starting transmissions
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W (350) TWAI Alert and Recovery: Trigger TX errors in 3
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W (1350) TWAI Alert and Recovery: Trigger TX errors in 2
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W (2350) TWAI Alert and Recovery: Trigger TX errors in 1
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I (3350) TWAI Alert and Recovery: Trigger errors
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I (3650) TWAI Alert and Recovery: Surpassed Error Warning Limit
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I (3650) TWAI Alert and Recovery: Entered Error Passive state
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I (4300) TWAI Alert and Recovery: Bus Off state
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W (4300) TWAI Alert and Recovery: Initiate bus recovery in 3
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W (5300) TWAI Alert and Recovery: Initiate bus recovery in 2
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W (6300) TWAI Alert and Recovery: Initiate bus recovery in 1
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I (7300) TWAI Alert and Recovery: Initiate bus recovery
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I (7350) TWAI Alert and Recovery: Bus Recovered
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I (7350) TWAI Alert and Recovery: Driver uninstalled
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```
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## Troubleshooting
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```
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I (3350) TWAI Alert and Recovery: Trigger errors
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```
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If the example does not progress pass triggering errors, check that the target is correctly connected to the transceiver.
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```
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I (3350) TWAI Alert and Recovery: Trigger errors
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I (3650) TWAI Alert and Recovery: Surpassed Error Warning Limit
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I (3650) TWAI Alert and Recovery: Entered Error Passive state
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```
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If the example is able to trigger errors but does not enter the bus off state (i.e., stays in the error passive state), check that the triggering of the bit error is properly set to the examples operating bit rate. By default, the example runs at a bit rate of 125kbits/sec, and the bit error should be triggered after the arbitration phase of each transmitted message.
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## Example Breakdown
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The TWAI Alert and Recovery Example will do the following...
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1. Initialize the TWAI driver in No Acknowledgement mode (so that another node is not required).
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2. Create a transmit task to handle message transmission, and a control task to handle alerts.
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3. Control task starts the TWAI driver, then reconfigures the alerts to trigger when the error passive or bus off state is entered. The control task then waits for those alerts.
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4. The transmit repeatedly transmits single shot messages (i.e., message won't be retried if an error occurs).
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5. When a message is being transmitted, the transmit task will purposely invert the TX pin to trigger a bit error. **Note that the triggering of the bit error is timed to occur after the arbitration phase of the transmitted message**.
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6. The triggering of a bit error on each transmitted message eventually puts the TWAI driver into the Bus-Off state.
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7. Control tasks detects the Bus-Off state via an alert, and triggers the Bus-Off recovery process after a short delay. Alerts are also reconfigured to trigger on the completion of Bus-Off recovery.
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8. Once the Bus-Off recovery completion alert is detected by the control task, the TWAI driver is stopped and uninstalled.
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@@ -0,0 +1,21 @@
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# Need Python 3 string formatting functions
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from __future__ import print_function
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import ttfw_idf
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# TWAI Self Test Example constants
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STR_EXPECT = ("TWAI Alert and Recovery: Driver installed", "TWAI Alert and Recovery: Driver uninstalled")
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EXPECT_TIMEOUT = 20
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@ttfw_idf.idf_example_test(env_tag='Example_TWAI1')
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def test_twai_alert_and_recovery_example(env, extra_data):
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dut = env.get_dut('dut1', 'examples/peripherals/twai/twai_alert_and_recovery', dut_class=ttfw_idf.ESP32DUT)
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dut.start_app()
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for string in STR_EXPECT:
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dut.expect(string, timeout=EXPECT_TIMEOUT)
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if __name__ == '__main__':
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test_twai_alert_and_recovery_example()
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@@ -0,0 +1,2 @@
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idf_component_register(SRCS "twai_alert_and_recovery_example_main.c"
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INCLUDE_DIRS ".")
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@@ -0,0 +1,19 @@
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menu "Example Configuration"
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config EXAMPLE_TX_GPIO_NUM
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int "TX GPIO number"
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default 20 if IDF_TARGET_ESP32S2
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default 21 if IDF_TARGET_ESP32
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help
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This option selects the GPIO pin used for the TX signal. Connect the
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TX signal to your transceiver.
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config EXAMPLE_RX_GPIO_NUM
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int "RX GPIO number"
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default 21 if IDF_TARGET_ESP32S2
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default 22 if IDF_TARGET_ESP32
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help
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This option selects the GPIO pin used for the RX signal. Connect the
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RX signal to your transceiver.
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endmenu
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@@ -0,0 +1,4 @@
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#
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# Main Makefile. This is basically the same as a component makefile.
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#
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# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)
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@@ -0,0 +1,153 @@
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/* TWAI Alert and Recovery Example
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This example code is in the Public Domain (or CC0 licensed, at your option.)
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Unless required by applicable law or agreed to in writing, this
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software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
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CONDITIONS OF ANY KIND, either express or implied.
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*/
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/*
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* The following example demonstrates how to use the alert and bus recovery
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* features of the TWAI driver. The example will do the following:
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* 1) Install and start the TWAI driver
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* 2) Have the TX task periodically broadcast messages expecting no ACK
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* 3) Reconfigure alerts to detect bus-off state
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* 4) Trigger bus errors by inverting TX GPIO
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* 5) Initiate bus-off recovery and wait for completion
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* 6) Uninstall TWAI driver
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "driver/gpio.h"
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#include "driver/twai.h"
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/* --------------------- Definitions and static variables ------------------ */
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//Example Configuration
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#define TX_GPIO_NUM CONFIG_EXAMPLE_TX_GPIO_NUM
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#define RX_GPIO_NUM CONFIG_EXAMPLE_RX_GPIO_NUM
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#define TX_TASK_PRIO 9
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#define CTRL_TASK_PRIO 10
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#define ERR_DELAY_US 800 //Approximate time for arbitration phase at 25KBPS
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#define ERR_PERIOD_US 80 //Approximate time for two bits at 25KBPS
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#define EXAMPLE_TAG "TWAI Alert and Recovery"
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static const twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
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static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_25KBITS();
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static const twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(TX_GPIO_NUM, RX_GPIO_NUM, TWAI_MODE_NO_ACK);
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static const twai_message_t tx_msg = {.identifier = 0, .data_length_code = 0};
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static SemaphoreHandle_t tx_task_sem;
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static SemaphoreHandle_t ctrl_task_sem;
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static bool trigger_tx_error = false;
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/* --------------------------- Tasks and Functions -------------------------- */
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static void invert_tx_bits(bool enable)
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{
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if (enable) {
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//Inverts output of TX to trigger errors
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gpio_matrix_out(TX_GPIO_NUM, TWAI_TX_IDX, true, false);
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} else {
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//Returns TX to default settings
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gpio_matrix_out(TX_GPIO_NUM, TWAI_TX_IDX, false, false);
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}
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}
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static void tx_task(void *arg)
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{
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xSemaphoreTake(tx_task_sem, portMAX_DELAY);
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while (1) {
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if (twai_transmit(&tx_msg, 0) == ESP_ERR_INVALID_STATE) {
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break; //Exit TX task when bus-off state is reached
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}
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if (trigger_tx_error) {
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//Trigger a bit error in transmission by inverting GPIO
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ets_delay_us(ERR_DELAY_US); //Wait until arbitration phase is over
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invert_tx_bits(true); //Trigger bit error for a few bits
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ets_delay_us(ERR_PERIOD_US);
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invert_tx_bits(false);
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}
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vTaskDelay(pdMS_TO_TICKS(50));
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}
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vTaskDelete(NULL);
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}
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static void ctrl_task(void *arg)
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{
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xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
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ESP_ERROR_CHECK(twai_start());
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ESP_LOGI(EXAMPLE_TAG, "Driver started");
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ESP_LOGI(EXAMPLE_TAG, "Starting transmissions");
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xSemaphoreGive(tx_task_sem); //Start transmit task
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//Prepare to trigger errors, reconfigure alerts to detect change in error state
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twai_reconfigure_alerts(TWAI_ALERT_ABOVE_ERR_WARN | TWAI_ALERT_ERR_PASS | TWAI_ALERT_BUS_OFF, NULL);
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for (int i = 3; i > 0; i--) {
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ESP_LOGW(EXAMPLE_TAG, "Trigger TX errors in %d", i);
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vTaskDelay(pdMS_TO_TICKS(1000));
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}
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ESP_LOGI(EXAMPLE_TAG, "Trigger errors");
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trigger_tx_error = true;
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while (1) {
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uint32_t alerts;
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twai_read_alerts(&alerts, portMAX_DELAY);
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if (alerts & TWAI_ALERT_ABOVE_ERR_WARN) {
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ESP_LOGI(EXAMPLE_TAG, "Surpassed Error Warning Limit");
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}
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if (alerts & TWAI_ALERT_ERR_PASS) {
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ESP_LOGI(EXAMPLE_TAG, "Entered Error Passive state");
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}
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if (alerts & TWAI_ALERT_BUS_OFF) {
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ESP_LOGI(EXAMPLE_TAG, "Bus Off state");
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//Prepare to initiate bus recovery, reconfigure alerts to detect bus recovery completion
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twai_reconfigure_alerts(TWAI_ALERT_BUS_RECOVERED, NULL);
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for (int i = 3; i > 0; i--) {
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ESP_LOGW(EXAMPLE_TAG, "Initiate bus recovery in %d", i);
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vTaskDelay(pdMS_TO_TICKS(1000));
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}
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twai_initiate_recovery(); //Needs 128 occurrences of bus free signal
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ESP_LOGI(EXAMPLE_TAG, "Initiate bus recovery");
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}
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if (alerts & TWAI_ALERT_BUS_RECOVERED) {
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//Bus recovery was successful, exit control task to uninstall driver
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ESP_LOGI(EXAMPLE_TAG, "Bus Recovered");
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break;
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}
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}
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//No need call twai_stop(), bus recovery will return to stopped state
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xSemaphoreGive(ctrl_task_sem);
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vTaskDelete(NULL);
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}
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void app_main(void)
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{
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tx_task_sem = xSemaphoreCreateBinary();
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ctrl_task_sem = xSemaphoreCreateBinary();
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xTaskCreatePinnedToCore(tx_task, "TWAI_tx", 4096, NULL, TX_TASK_PRIO, NULL, tskNO_AFFINITY);
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xTaskCreatePinnedToCore(ctrl_task, "TWAI_ctrl", 4096, NULL, CTRL_TASK_PRIO, NULL, tskNO_AFFINITY);
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//Install TWAI driver
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ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, & f_config));
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ESP_LOGI(EXAMPLE_TAG, "Driver installed");
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xSemaphoreGive(ctrl_task_sem); //Start control task
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vTaskDelay(pdMS_TO_TICKS(100));
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xSemaphoreTake(ctrl_task_sem, portMAX_DELAY); //Wait for completion
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//Uninstall TWAI driver
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ESP_ERROR_CHECK(twai_driver_uninstall());
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ESP_LOGI(EXAMPLE_TAG, "Driver uninstalled");
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//Cleanup
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vSemaphoreDelete(tx_task_sem);
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vSemaphoreDelete(ctrl_task_sem);
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}
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@@ -0,0 +1,184 @@
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# TWAI Network Example
|
||||
|
||||
(See the README.md file in the upper level 'examples' directory for more information about examples.)
|
||||
|
||||
This example demonstrates how to use the TWAI driver to program a target (ESP32 or ESP32-S2) as a TWAI node, and have the two nodes (Network Master and Network Slave) communicate on a TWAI network. The Listen Only node is optional and acts as a network monitor meaning that it only receives messages and does not influence the bus in any way (i.e. doesn't not acknowledge or send error frames).
|
||||
|
||||
Note that concept of master/slave in this example refers to which node initiates
|
||||
and stops the transfer of a stream of data messages.
|
||||
|
||||
## How to use example
|
||||
|
||||
### Hardware Required
|
||||
|
||||
This example requires at least two targets (e.g., an ESP32 or ESP32-S2) to act as the Network Master and Network Slave. The third target (Listen Only) is optional. Each target must be connected to an external transceiver (e.g., a SN65HVD23X transceiver). The transceivers must then be interconnected to form a TWAI network.
|
||||
|
||||
The following diagram illustrates an example network:
|
||||
|
||||
```
|
||||
---------- ---------- --------------
|
||||
| Master | | Slave | | Listen Only |
|
||||
| | | | | |
|
||||
| TX RX | | TX RX | | TX RX |
|
||||
---------- ---------- --------------
|
||||
| | | | | |
|
||||
| | | | | |
|
||||
---------- ---------- ----------
|
||||
| D R | | D R | | D R |
|
||||
| | | | | |
|
||||
| VP230 | | VP230 | | VP230 |
|
||||
| | | | | |
|
||||
| H L | | H L | | H L |
|
||||
---------- ---------- ----------
|
||||
| | | | | |
|
||||
| | | | | |
|
||||
|--x------|-----x------|-----x------|--| H
|
||||
| | |
|
||||
|---------x------------x------------x--| L
|
||||
|
||||
```
|
||||
|
||||
Note: If you don't have an external transceiver, you can still run the [TWAI Self Test example](../twai_self_test/README.md)
|
||||
|
||||
### Configure the project
|
||||
|
||||
For each node in the TWAI network (i.e., Master, Slave, Listen Only)...
|
||||
|
||||
* Set the target of the build (where `{IDF_TARGET}` stands for the target chip such as `eszp32` or `esp32s2`).
|
||||
* Then run `menuconfig` to configure the example.
|
||||
|
||||
```
|
||||
idf.py set-target {IDF_TARGET}
|
||||
idf.py menuconfig
|
||||
```
|
||||
|
||||
* Under `Example Configuration`, configure the pin assignments using the options `TX GPIO Number` and `RX GPIO Number` according to how the target was connected to the transceiver. By default, `TX GPIO Number` and `RX GPIO Number` are set to the following values:
|
||||
* On the ESP32, `TX GPIO Number` and `RX GPIO Number` default to `21` and `22` respectively
|
||||
* On the ESP32-S2, `TX GPIO Number` and `RX GPIO Number` default to `20` and `21` respectively
|
||||
|
||||
|
||||
### Build and Flash
|
||||
|
||||
For each node, build the project and flash it to the board, then run monitor tool to view serial output:
|
||||
|
||||
```
|
||||
idf.py -p PORT flash monitor
|
||||
```
|
||||
|
||||
(Replace PORT with the name of the serial port to use.)
|
||||
|
||||
(To exit the serial monitor, type ``Ctrl-]``.)
|
||||
|
||||
See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.
|
||||
|
||||
## Example Output
|
||||
|
||||
Network Master
|
||||
```
|
||||
I (345) TWAI Master: Driver installed
|
||||
I (345) TWAI Master: Driver started
|
||||
I (345) TWAI Master: Transmitting ping
|
||||
I (3105) TWAI Master: Transmitted start command
|
||||
I (3105) TWAI Master: Received data value 339
|
||||
...
|
||||
I (5545) TWAI Master: Received data value 584
|
||||
I (5545) TWAI Master: Transmitted stop command
|
||||
I (5595) TWAI Master: Driver stopped
|
||||
I (6595) TWAI Master: Driver started
|
||||
I (6595) TWAI Master: Transmitting ping
|
||||
I (7095) TWAI Master: Transmitted start command
|
||||
I (7095) TWAI Master: Received data value 738
|
||||
...
|
||||
I (9535) TWAI Master: Received data value 983
|
||||
I (9535) TWAI Master: Transmitted stop command
|
||||
I (9585) TWAI Master: Driver stopped
|
||||
I (10585) TWAI Master: Driver started
|
||||
I (10585) TWAI Master: Transmitting ping
|
||||
I (11085) TWAI Master: Transmitted start command
|
||||
I (11085) TWAI Master: Received data value 1137
|
||||
...
|
||||
I (13525) TWAI Master: Received data value 1382
|
||||
I (13525) TWAI Master: Transmitted stop command
|
||||
I (13575) TWAI Master: Driver stopped
|
||||
I (14575) TWAI Master: Driver uninstalled
|
||||
```
|
||||
|
||||
Network Slave
|
||||
```
|
||||
Slave starting in 3
|
||||
Slave starting in 2
|
||||
Slave starting in 1
|
||||
I (6322) TWAI Slave: Driver installed
|
||||
I (6322) TWAI Slave: Driver started
|
||||
I (6462) TWAI Slave: Transmitted ping response
|
||||
I (6712) TWAI Slave: Start transmitting data
|
||||
I (6712) TWAI Slave: Transmitted data value 339
|
||||
...
|
||||
I (9162) TWAI Slave: Transmitted data value 584
|
||||
I (9212) TWAI Slave: Transmitted stop response
|
||||
I (9312) TWAI Slave: Driver stopped
|
||||
I (10312) TWAI Slave: Driver started
|
||||
I (10452) TWAI Slave: Transmitted ping response
|
||||
I (10702) TWAI Slave: Start transmitting data
|
||||
I (10702) TWAI Slave: Transmitted data value 738
|
||||
...
|
||||
I (13152) TWAI Slave: Transmitted data value 983
|
||||
I (13202) TWAI Slave: Transmitted stop response
|
||||
I (13302) TWAI Slave: Driver stopped
|
||||
I (14302) TWAI Slave: Driver started
|
||||
I (14442) TWAI Slave: Transmitted ping response
|
||||
I (14692) TWAI Slave: Start transmitting data
|
||||
I (14692) TWAI Slave: Transmitted data value 1137
|
||||
...
|
||||
I (17142) TWAI Slave: Transmitted data value 1382
|
||||
I (17192) TWAI Slave: Transmitted stop response
|
||||
I (17292) TWAI Slave: Driver stopped
|
||||
I (18292) TWAI Slave: Driver uninstalled
|
||||
```
|
||||
|
||||
Network Listen Only
|
||||
```
|
||||
I (326) TWAI Listen Only: Driver installed
|
||||
I (326) TWAI Listen Only: Driver started
|
||||
I (366) TWAI Listen Only: Received master ping
|
||||
...
|
||||
I (1866) TWAI Listen Only: Received master ping
|
||||
I (1866) TWAI Listen Only: Received slave ping response
|
||||
I (2116) TWAI Listen Only: Received master start command
|
||||
I (2116) TWAI Listen Only: Received data value 329
|
||||
...
|
||||
I (4566) TWAI Listen Only: Received data value 574
|
||||
I (4566) TWAI Listen Only: Received master stop command
|
||||
I (4606) TWAI Listen Only: Received slave stop response
|
||||
I (5606) TWAI Listen Only: Received master ping
|
||||
I (5856) TWAI Listen Only: Received master ping
|
||||
I (5856) TWAI Listen Only: Received slave ping response
|
||||
I (6106) TWAI Listen Only: Received master start command
|
||||
I (6106) TWAI Listen Only: Received data value 728
|
||||
...
|
||||
I (8556) TWAI Listen Only: Received data value 973
|
||||
I (8556) TWAI Listen Only: Received master stop command
|
||||
I (8596) TWAI Listen Only: Received slave stop response
|
||||
I (9596) TWAI Listen Only: Received master ping
|
||||
I (9846) TWAI Listen Only: Received master ping
|
||||
I (9846) TWAI Listen Only: Received slave ping response
|
||||
I (10096) TWAI Listen Only: Received master start command
|
||||
I (10096) TWAI Listen Only: Received data value 1127
|
||||
...
|
||||
I (12546) TWAI Listen Only: Received data value 1372
|
||||
I (12546) TWAI Listen Only: Received master stop command
|
||||
I (12586) TWAI Listen Only: Received slave stop response
|
||||
I (12586) TWAI Listen Only: Driver stopped
|
||||
I (12586) TWAI Listen Only: Driver uninstalled
|
||||
|
||||
```
|
||||
|
||||
## Example Breakdown
|
||||
|
||||
The communication between the Network Master and Network Slave execute the following steps over multiple iterations:
|
||||
|
||||
1. Both master and slave go through install and start their TWAI drivers independently.
|
||||
2. The master repeatedly sends **PING** messages until it receives a **PING_RESP** (ping response message) from the slave. The slave will only send a **PING_RESP** message when it receives a **PING** message from the master.
|
||||
3. Once the master has received the **PING_RESP** from the slave, it will send a **START_CMD** message to the slave.
|
||||
4. Upon receiving the **START_CMD** message, the slave will start transmitting **DATA** messages until the master sends a **STOP_CMD**. The master will send the **STOP_CMD** after receiving N **DATA** messages from the slave (N = 50 by default).
|
||||
5. When the slave receives the **STOP_CMD**, it will confirm that it has stopped by sending a **STOP_RESP** message to the master.
|
||||
@@ -0,0 +1,74 @@
|
||||
# Need Python 3 string formatting functions
|
||||
from __future__ import print_function
|
||||
|
||||
from threading import Thread
|
||||
|
||||
import ttfw_idf
|
||||
|
||||
# Define tuple of strings to expect for each DUT.
|
||||
master_expect = ("TWAI Master: Driver installed", "TWAI Master: Driver uninstalled")
|
||||
slave_expect = ("TWAI Slave: Driver installed", "TWAI Slave: Driver uninstalled")
|
||||
listen_only_expect = ("TWAI Listen Only: Driver installed", "TWAI Listen Only: Driver uninstalled")
|
||||
|
||||
|
||||
def dut_thread_callback(**kwargs):
|
||||
# Parse keyword arguments
|
||||
dut = kwargs['dut'] # Get DUT from kwargs
|
||||
expected = kwargs['expected']
|
||||
result = kwargs['result'] # Get result[out] from kwargs. MUST be of mutable type e.g. list
|
||||
|
||||
# Must reset again as flashing during start_app will reset multiple times, causing unexpected results
|
||||
dut.reset()
|
||||
|
||||
for string in expected:
|
||||
dut.expect(string, 20)
|
||||
|
||||
# Mark thread has run to completion without any exceptions
|
||||
result[0] = True
|
||||
|
||||
|
||||
@ttfw_idf.idf_example_test(env_tag='Example_TWAI2')
|
||||
def test_twai_network_example(env, extra_data):
|
||||
|
||||
# Get device under test. "dut1", "dut2", and "dut3" must be properly defined in EnvConfig
|
||||
dut_master = env.get_dut("dut1", "examples/peripherals/twai/twai_network/twai_network_master",
|
||||
dut_class=ttfw_idf.ESP32DUT)
|
||||
dut_slave = env.get_dut("dut2", "examples/peripherals/twai/twai_network/twai_network_slave",
|
||||
dut_class=ttfw_idf.ESP32DUT)
|
||||
dut_listen_only = env.get_dut("dut3", "examples/peripherals/twai/twai_network/twai_network_listen_only",
|
||||
dut_class=ttfw_idf.ESP32DUT)
|
||||
|
||||
# Flash app onto each DUT, each DUT is reset again at the start of each thread
|
||||
dut_master.start_app()
|
||||
dut_slave.start_app()
|
||||
dut_listen_only.start_app()
|
||||
|
||||
# Create dict of keyword arguments for each dut
|
||||
results = [[False], [False], [False]]
|
||||
master_kwargs = {"dut": dut_master, "result": results[0], "expected": master_expect}
|
||||
slave_kwargs = {"dut": dut_slave, "result": results[1], "expected": slave_expect}
|
||||
listen_only_kwargs = {"dut": dut_listen_only, "result": results[2], "expected": listen_only_expect}
|
||||
|
||||
# Create thread for each dut
|
||||
dut_master_thread = Thread(target=dut_thread_callback, name="Master Thread", kwargs=master_kwargs)
|
||||
dut_slave_thread = Thread(target=dut_thread_callback, name="Slave Thread", kwargs=slave_kwargs)
|
||||
dut_listen_only_thread = Thread(target=dut_thread_callback, name="Listen Only Thread", kwargs=listen_only_kwargs)
|
||||
|
||||
# Start each thread
|
||||
dut_listen_only_thread.start()
|
||||
dut_master_thread.start()
|
||||
dut_slave_thread.start()
|
||||
|
||||
# Wait for threads to complete
|
||||
dut_listen_only_thread.join()
|
||||
dut_master_thread.join()
|
||||
dut_slave_thread.join()
|
||||
|
||||
# check each thread ran to completion
|
||||
for result in results:
|
||||
if result[0] is not True:
|
||||
raise Exception("One or more threads did not run successfully")
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
test_twai_network_example()
|
||||
@@ -0,0 +1,6 @@
|
||||
# The following lines of boilerplate have to be in your project's CMakeLists
|
||||
# in this exact order for cmake to work correctly
|
||||
cmake_minimum_required(VERSION 3.5)
|
||||
|
||||
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||
project(twai_network_listen_only)
|
||||
@@ -0,0 +1,9 @@
|
||||
#
|
||||
# This is a project Makefile. It is assumed the directory this Makefile resides in is a
|
||||
# project subdirectory.
|
||||
#
|
||||
|
||||
PROJECT_NAME := twai_network_listen_only
|
||||
|
||||
include $(IDF_PATH)/make/project.mk
|
||||
|
||||
@@ -0,0 +1,2 @@
|
||||
idf_component_register(SRCS "twai_network_example_listen_only_main.c"
|
||||
INCLUDE_DIRS ".")
|
||||
@@ -0,0 +1,19 @@
|
||||
menu "Example Configuration"
|
||||
|
||||
config EXAMPLE_TX_GPIO_NUM
|
||||
int "TX GPIO number"
|
||||
default 20 if IDF_TARGET_ESP32S2
|
||||
default 21 if IDF_TARGET_ESP32
|
||||
help
|
||||
This option selects the GPIO pin used for the TX signal. Connect the
|
||||
TX signal to your transceiver.
|
||||
|
||||
config EXAMPLE_RX_GPIO_NUM
|
||||
int "RX GPIO number"
|
||||
default 21 if IDF_TARGET_ESP32S2
|
||||
default 22 if IDF_TARGET_ESP32
|
||||
help
|
||||
This option selects the GPIO pin used for the RX signal. Connect the
|
||||
RX signal to your transceiver.
|
||||
|
||||
endmenu
|
||||
@@ -0,0 +1,4 @@
|
||||
#
|
||||
# Main Makefile. This is basically the same as a component makefile.
|
||||
#
|
||||
# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)
|
||||
@@ -0,0 +1,123 @@
|
||||
/* TWAI Network Listen Only Example
|
||||
|
||||
This example code is in the Public Domain (or CC0 licensed, at your option.)
|
||||
|
||||
Unless required by applicable law or agreed to in writing, this
|
||||
software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
|
||||
CONDITIONS OF ANY KIND, either express or implied.
|
||||
*/
|
||||
|
||||
/*
|
||||
* The following example demonstrates a Listen Only node in a TWAI network. The
|
||||
* Listen Only node will not take part in any TWAI bus activity (no acknowledgments
|
||||
* and no error frames). This example will execute multiple iterations, with each
|
||||
* iteration the Listen Only node will do the following:
|
||||
* 1) Listen for ping and ping response
|
||||
* 2) Listen for start command
|
||||
* 3) Listen for data messages
|
||||
* 4) Listen for stop and stop response
|
||||
*/
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "freertos/queue.h"
|
||||
#include "freertos/semphr.h"
|
||||
#include "esp_err.h"
|
||||
#include "esp_log.h"
|
||||
#include "driver/twai.h"
|
||||
|
||||
/* --------------------- Definitions and static variables ------------------ */
|
||||
//Example Configuration
|
||||
#define NO_OF_ITERS 3
|
||||
#define RX_TASK_PRIO 9
|
||||
#define TX_GPIO_NUM CONFIG_EXAMPLE_TX_GPIO_NUM
|
||||
#define RX_GPIO_NUM CONFIG_EXAMPLE_RX_GPIO_NUM
|
||||
#define EXAMPLE_TAG "TWAI Listen Only"
|
||||
|
||||
#define ID_MASTER_STOP_CMD 0x0A0
|
||||
#define ID_MASTER_START_CMD 0x0A1
|
||||
#define ID_MASTER_PING 0x0A2
|
||||
#define ID_SLAVE_STOP_RESP 0x0B0
|
||||
#define ID_SLAVE_DATA 0x0B1
|
||||
#define ID_SLAVE_PING_RESP 0x0B2
|
||||
|
||||
static const twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
|
||||
static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_25KBITS();
|
||||
//Set TX queue length to 0 due to listen only mode
|
||||
static const twai_general_config_t g_config = {.mode = TWAI_MODE_LISTEN_ONLY,
|
||||
.tx_io = TX_GPIO_NUM, .rx_io = RX_GPIO_NUM,
|
||||
.clkout_io = TWAI_IO_UNUSED, .bus_off_io = TWAI_IO_UNUSED,
|
||||
.tx_queue_len = 0, .rx_queue_len = 5,
|
||||
.alerts_enabled = TWAI_ALERT_NONE,
|
||||
.clkout_divider = 0};
|
||||
|
||||
static SemaphoreHandle_t rx_sem;
|
||||
|
||||
/* --------------------------- Tasks and Functions -------------------------- */
|
||||
|
||||
static void twai_receive_task(void *arg)
|
||||
{
|
||||
xSemaphoreTake(rx_sem, portMAX_DELAY);
|
||||
bool start_cmd = false;
|
||||
bool stop_resp = false;
|
||||
uint32_t iterations = 0;
|
||||
|
||||
while (iterations < NO_OF_ITERS) {
|
||||
twai_message_t rx_msg;
|
||||
twai_receive(&rx_msg, portMAX_DELAY);
|
||||
if (rx_msg.identifier == ID_MASTER_PING) {
|
||||
ESP_LOGI(EXAMPLE_TAG, "Received master ping");
|
||||
} else if (rx_msg.identifier == ID_SLAVE_PING_RESP) {
|
||||
ESP_LOGI(EXAMPLE_TAG, "Received slave ping response");
|
||||
} else if (rx_msg.identifier == ID_MASTER_START_CMD) {
|
||||
ESP_LOGI(EXAMPLE_TAG, "Received master start command");
|
||||
start_cmd = true;
|
||||
} else if (rx_msg.identifier == ID_SLAVE_DATA) {
|
||||
uint32_t data = 0;
|
||||
for (int i = 0; i < rx_msg.data_length_code; i++) {
|
||||
data |= (rx_msg.data[i] << (i * 8));
|
||||
}
|
||||
ESP_LOGI(EXAMPLE_TAG, "Received data value %d", data);
|
||||
} else if (rx_msg.identifier == ID_MASTER_STOP_CMD) {
|
||||
ESP_LOGI(EXAMPLE_TAG, "Received master stop command");
|
||||
} else if (rx_msg.identifier == ID_SLAVE_STOP_RESP) {
|
||||
ESP_LOGI(EXAMPLE_TAG, "Received slave stop response");
|
||||
stop_resp = true;
|
||||
}
|
||||
if (start_cmd && stop_resp) {
|
||||
//Each iteration is complete after a start command and stop response is received
|
||||
iterations++;
|
||||
start_cmd = 0;
|
||||
stop_resp = 0;
|
||||
}
|
||||
}
|
||||
|
||||
xSemaphoreGive(rx_sem);
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
rx_sem = xSemaphoreCreateBinary();
|
||||
xTaskCreatePinnedToCore(twai_receive_task, "TWAI_rx", 4096, NULL, RX_TASK_PRIO, NULL, tskNO_AFFINITY);
|
||||
|
||||
//Install and start TWAI driver
|
||||
ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, &f_config));
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver installed");
|
||||
ESP_ERROR_CHECK(twai_start());
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver started");
|
||||
|
||||
xSemaphoreGive(rx_sem); //Start RX task
|
||||
vTaskDelay(pdMS_TO_TICKS(100));
|
||||
xSemaphoreTake(rx_sem, portMAX_DELAY); //Wait for RX task to complete
|
||||
|
||||
//Stop and uninstall TWAI driver
|
||||
ESP_ERROR_CHECK(twai_stop());
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver stopped");
|
||||
ESP_ERROR_CHECK(twai_driver_uninstall());
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver uninstalled");
|
||||
|
||||
//Cleanup
|
||||
vSemaphoreDelete(rx_sem);
|
||||
}
|
||||
@@ -0,0 +1,6 @@
|
||||
# The following lines of boilerplate have to be in your project's CMakeLists
|
||||
# in this exact order for cmake to work correctly
|
||||
cmake_minimum_required(VERSION 3.5)
|
||||
|
||||
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||
project(twai_network_master)
|
||||
@@ -0,0 +1,9 @@
|
||||
#
|
||||
# This is a project Makefile. It is assumed the directory this Makefile resides in is a
|
||||
# project subdirectory.
|
||||
#
|
||||
|
||||
PROJECT_NAME := twai_network_master
|
||||
|
||||
include $(IDF_PATH)/make/project.mk
|
||||
|
||||
@@ -0,0 +1,2 @@
|
||||
idf_component_register(SRCS "twai_network_example_master_main.c"
|
||||
INCLUDE_DIRS ".")
|
||||
@@ -0,0 +1,19 @@
|
||||
menu "Example Configuration"
|
||||
|
||||
config EXAMPLE_TX_GPIO_NUM
|
||||
int "TX GPIO number"
|
||||
default 20 if IDF_TARGET_ESP32S2
|
||||
default 21 if IDF_TARGET_ESP32
|
||||
help
|
||||
This option selects the GPIO pin used for the TX signal. Connect the
|
||||
TX signal to your transceiver.
|
||||
|
||||
config EXAMPLE_RX_GPIO_NUM
|
||||
int "RX GPIO number"
|
||||
default 21 if IDF_TARGET_ESP32S2
|
||||
default 22 if IDF_TARGET_ESP32
|
||||
help
|
||||
This option selects the GPIO pin used for the RX signal. Connect the
|
||||
RX signal to your transceiver.
|
||||
|
||||
endmenu
|
||||
@@ -0,0 +1,4 @@
|
||||
#
|
||||
# Main Makefile. This is basically the same as a component makefile.
|
||||
#
|
||||
# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)
|
||||
@@ -0,0 +1,237 @@
|
||||
/* TWAI Network Master Example
|
||||
|
||||
This example code is in the Public Domain (or CC0 licensed, at your option.)
|
||||
|
||||
Unless required by applicable law or agreed to in writing, this
|
||||
software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
|
||||
CONDITIONS OF ANY KIND, either express or implied.
|
||||
*/
|
||||
|
||||
/*
|
||||
* The following example demonstrates a master node in a TWAI network. The master
|
||||
* node is responsible for initiating and stopping the transfer of data messages.
|
||||
* The example will execute multiple iterations, with each iteration the master
|
||||
* node will do the following:
|
||||
* 1) Start the TWAI driver
|
||||
* 2) Repeatedly send ping messages until a ping response from slave is received
|
||||
* 3) Send start command to slave and receive data messages from slave
|
||||
* 4) Send stop command to slave and wait for stop response from slave
|
||||
* 5) Stop the TWAI driver
|
||||
*/
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "freertos/queue.h"
|
||||
#include "freertos/semphr.h"
|
||||
#include "esp_err.h"
|
||||
#include "esp_log.h"
|
||||
#include "driver/twai.h"
|
||||
|
||||
/* --------------------- Definitions and static variables ------------------ */
|
||||
//Example Configuration
|
||||
#define PING_PERIOD_MS 250
|
||||
#define NO_OF_DATA_MSGS 50
|
||||
#define NO_OF_ITERS 3
|
||||
#define ITER_DELAY_MS 1000
|
||||
#define RX_TASK_PRIO 8
|
||||
#define TX_TASK_PRIO 9
|
||||
#define CTRL_TSK_PRIO 10
|
||||
#define TX_GPIO_NUM CONFIG_EXAMPLE_TX_GPIO_NUM
|
||||
#define RX_GPIO_NUM CONFIG_EXAMPLE_RX_GPIO_NUM
|
||||
#define EXAMPLE_TAG "TWAI Master"
|
||||
|
||||
#define ID_MASTER_STOP_CMD 0x0A0
|
||||
#define ID_MASTER_START_CMD 0x0A1
|
||||
#define ID_MASTER_PING 0x0A2
|
||||
#define ID_SLAVE_STOP_RESP 0x0B0
|
||||
#define ID_SLAVE_DATA 0x0B1
|
||||
#define ID_SLAVE_PING_RESP 0x0B2
|
||||
|
||||
typedef enum {
|
||||
TX_SEND_PINGS,
|
||||
TX_SEND_START_CMD,
|
||||
TX_SEND_STOP_CMD,
|
||||
TX_TASK_EXIT,
|
||||
} tx_task_action_t;
|
||||
|
||||
typedef enum {
|
||||
RX_RECEIVE_PING_RESP,
|
||||
RX_RECEIVE_DATA,
|
||||
RX_RECEIVE_STOP_RESP,
|
||||
RX_TASK_EXIT,
|
||||
} rx_task_action_t;
|
||||
|
||||
static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_25KBITS();
|
||||
static const twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
|
||||
static const twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(TX_GPIO_NUM, RX_GPIO_NUM, TWAI_MODE_NORMAL);
|
||||
|
||||
static const twai_message_t ping_message = {.identifier = ID_MASTER_PING, .data_length_code = 0,
|
||||
.ss = 1, .data = {0, 0 , 0 , 0 ,0 ,0 ,0 ,0}};
|
||||
static const twai_message_t start_message = {.identifier = ID_MASTER_START_CMD, .data_length_code = 0,
|
||||
.data = {0, 0 , 0 , 0 ,0 ,0 ,0 ,0}};
|
||||
static const twai_message_t stop_message = {.identifier = ID_MASTER_STOP_CMD, .data_length_code = 0,
|
||||
.data = {0, 0 , 0 , 0 ,0 ,0 ,0 ,0}};
|
||||
|
||||
static QueueHandle_t tx_task_queue;
|
||||
static QueueHandle_t rx_task_queue;
|
||||
static SemaphoreHandle_t stop_ping_sem;
|
||||
static SemaphoreHandle_t ctrl_task_sem;
|
||||
static SemaphoreHandle_t done_sem;
|
||||
|
||||
/* --------------------------- Tasks and Functions -------------------------- */
|
||||
|
||||
static void twai_receive_task(void *arg)
|
||||
{
|
||||
while (1) {
|
||||
rx_task_action_t action;
|
||||
xQueueReceive(rx_task_queue, &action, portMAX_DELAY);
|
||||
|
||||
if (action == RX_RECEIVE_PING_RESP) {
|
||||
//Listen for ping response from slave
|
||||
while (1) {
|
||||
twai_message_t rx_msg;
|
||||
twai_receive(&rx_msg, portMAX_DELAY);
|
||||
if (rx_msg.identifier == ID_SLAVE_PING_RESP) {
|
||||
xSemaphoreGive(stop_ping_sem);
|
||||
xSemaphoreGive(ctrl_task_sem);
|
||||
break;
|
||||
}
|
||||
}
|
||||
} else if (action == RX_RECEIVE_DATA) {
|
||||
//Receive data messages from slave
|
||||
uint32_t data_msgs_rec = 0;
|
||||
while (data_msgs_rec < NO_OF_DATA_MSGS) {
|
||||
twai_message_t rx_msg;
|
||||
twai_receive(&rx_msg, portMAX_DELAY);
|
||||
if (rx_msg.identifier == ID_SLAVE_DATA) {
|
||||
uint32_t data = 0;
|
||||
for (int i = 0; i < rx_msg.data_length_code; i++) {
|
||||
data |= (rx_msg.data[i] << (i * 8));
|
||||
}
|
||||
ESP_LOGI(EXAMPLE_TAG, "Received data value %d", data);
|
||||
data_msgs_rec ++;
|
||||
}
|
||||
}
|
||||
xSemaphoreGive(ctrl_task_sem);
|
||||
} else if (action == RX_RECEIVE_STOP_RESP) {
|
||||
//Listen for stop response from slave
|
||||
while (1) {
|
||||
twai_message_t rx_msg;
|
||||
twai_receive(&rx_msg, portMAX_DELAY);
|
||||
if (rx_msg.identifier == ID_SLAVE_STOP_RESP) {
|
||||
xSemaphoreGive(ctrl_task_sem);
|
||||
break;
|
||||
}
|
||||
}
|
||||
} else if (action == RX_TASK_EXIT) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
static void twai_transmit_task(void *arg)
|
||||
{
|
||||
while (1) {
|
||||
tx_task_action_t action;
|
||||
xQueueReceive(tx_task_queue, &action, portMAX_DELAY);
|
||||
|
||||
if (action == TX_SEND_PINGS) {
|
||||
//Repeatedly transmit pings
|
||||
ESP_LOGI(EXAMPLE_TAG, "Transmitting ping");
|
||||
while (xSemaphoreTake(stop_ping_sem, 0) != pdTRUE) {
|
||||
twai_transmit(&ping_message, portMAX_DELAY);
|
||||
vTaskDelay(pdMS_TO_TICKS(PING_PERIOD_MS));
|
||||
}
|
||||
} else if (action == TX_SEND_START_CMD) {
|
||||
//Transmit start command to slave
|
||||
twai_transmit(&start_message, portMAX_DELAY);
|
||||
ESP_LOGI(EXAMPLE_TAG, "Transmitted start command");
|
||||
} else if (action == TX_SEND_STOP_CMD) {
|
||||
//Transmit stop command to slave
|
||||
twai_transmit(&stop_message, portMAX_DELAY);
|
||||
ESP_LOGI(EXAMPLE_TAG, "Transmitted stop command");
|
||||
} else if (action == TX_TASK_EXIT) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
static void twai_control_task(void *arg)
|
||||
{
|
||||
xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
tx_task_action_t tx_action;
|
||||
rx_task_action_t rx_action;
|
||||
|
||||
for (int iter = 0; iter < NO_OF_ITERS; iter++) {
|
||||
ESP_ERROR_CHECK(twai_start());
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver started");
|
||||
|
||||
//Start transmitting pings, and listen for ping response
|
||||
tx_action = TX_SEND_PINGS;
|
||||
rx_action = RX_RECEIVE_PING_RESP;
|
||||
xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
|
||||
xQueueSend(rx_task_queue, &rx_action, portMAX_DELAY);
|
||||
|
||||
//Send Start command to slave, and receive data messages
|
||||
xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
tx_action = TX_SEND_START_CMD;
|
||||
rx_action = RX_RECEIVE_DATA;
|
||||
xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
|
||||
xQueueSend(rx_task_queue, &rx_action, portMAX_DELAY);
|
||||
|
||||
//Send Stop command to slave when enough data messages have been received. Wait for stop response
|
||||
xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
tx_action = TX_SEND_STOP_CMD;
|
||||
rx_action = RX_RECEIVE_STOP_RESP;
|
||||
xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
|
||||
xQueueSend(rx_task_queue, &rx_action, portMAX_DELAY);
|
||||
|
||||
xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
ESP_ERROR_CHECK(twai_stop());
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver stopped");
|
||||
vTaskDelay(pdMS_TO_TICKS(ITER_DELAY_MS));
|
||||
}
|
||||
//Stop TX and RX tasks
|
||||
tx_action = TX_TASK_EXIT;
|
||||
rx_action = RX_TASK_EXIT;
|
||||
xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
|
||||
xQueueSend(rx_task_queue, &rx_action, portMAX_DELAY);
|
||||
|
||||
//Delete Control task
|
||||
xSemaphoreGive(done_sem);
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
//Create tasks, queues, and semaphores
|
||||
rx_task_queue = xQueueCreate(1, sizeof(rx_task_action_t));
|
||||
tx_task_queue = xQueueCreate(1, sizeof(tx_task_action_t));
|
||||
ctrl_task_sem = xSemaphoreCreateBinary();
|
||||
stop_ping_sem = xSemaphoreCreateBinary();
|
||||
done_sem = xSemaphoreCreateBinary();
|
||||
xTaskCreatePinnedToCore(twai_receive_task, "TWAI_rx", 4096, NULL, RX_TASK_PRIO, NULL, tskNO_AFFINITY);
|
||||
xTaskCreatePinnedToCore(twai_transmit_task, "TWAI_tx", 4096, NULL, TX_TASK_PRIO, NULL, tskNO_AFFINITY);
|
||||
xTaskCreatePinnedToCore(twai_control_task, "TWAI_ctrl", 4096, NULL, CTRL_TSK_PRIO, NULL, tskNO_AFFINITY);
|
||||
|
||||
//Install TWAI driver
|
||||
ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, &f_config));
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver installed");
|
||||
|
||||
xSemaphoreGive(ctrl_task_sem); //Start control task
|
||||
xSemaphoreTake(done_sem, portMAX_DELAY); //Wait for completion
|
||||
|
||||
//Uninstall TWAI driver
|
||||
ESP_ERROR_CHECK(twai_driver_uninstall());
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver uninstalled");
|
||||
|
||||
//Cleanup
|
||||
vQueueDelete(rx_task_queue);
|
||||
vQueueDelete(tx_task_queue);
|
||||
vSemaphoreDelete(ctrl_task_sem);
|
||||
vSemaphoreDelete(stop_ping_sem);
|
||||
vSemaphoreDelete(done_sem);
|
||||
}
|
||||
@@ -0,0 +1,6 @@
|
||||
# The following lines of boilerplate have to be in your project's CMakeLists
|
||||
# in this exact order for cmake to work correctly
|
||||
cmake_minimum_required(VERSION 3.5)
|
||||
|
||||
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||
project(twai_network_slave)
|
||||
@@ -0,0 +1,9 @@
|
||||
#
|
||||
# This is a project Makefile. It is assumed the directory this Makefile resides in is a
|
||||
# project subdirectory.
|
||||
#
|
||||
|
||||
PROJECT_NAME := twai_network_slave
|
||||
|
||||
include $(IDF_PATH)/make/project.mk
|
||||
|
||||
@@ -0,0 +1,2 @@
|
||||
idf_component_register(SRCS "twai_network_example_slave_main.c"
|
||||
INCLUDE_DIRS ".")
|
||||
@@ -0,0 +1,19 @@
|
||||
menu "Example Configuration"
|
||||
|
||||
config EXAMPLE_TX_GPIO_NUM
|
||||
int "TX GPIO number"
|
||||
default 20 if IDF_TARGET_ESP32S2
|
||||
default 21 if IDF_TARGET_ESP32
|
||||
help
|
||||
This option selects the GPIO pin used for the TX signal. Connect the
|
||||
TX signal to your transceiver.
|
||||
|
||||
config EXAMPLE_RX_GPIO_NUM
|
||||
int "RX GPIO number"
|
||||
default 21 if IDF_TARGET_ESP32S2
|
||||
default 22 if IDF_TARGET_ESP32
|
||||
help
|
||||
This option selects the GPIO pin used for the RX signal. Connect the
|
||||
RX signal to your transceiver.
|
||||
|
||||
endmenu
|
||||
@@ -0,0 +1,4 @@
|
||||
#
|
||||
# Main Makefile. This is basically the same as a component makefile.
|
||||
#
|
||||
# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)
|
||||
@@ -0,0 +1,264 @@
|
||||
/* TWAI Network Slave Example
|
||||
|
||||
This example code is in the Public Domain (or CC0 licensed, at your option.)
|
||||
|
||||
Unless required by applicable law or agreed to in writing, this
|
||||
software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
|
||||
CONDITIONS OF ANY KIND, either express or implied.
|
||||
*/
|
||||
|
||||
/*
|
||||
* The following example demonstrates a slave node in a TWAI network. The slave
|
||||
* node is responsible for sending data messages to the master. The example will
|
||||
* execute multiple iterations, with each iteration the slave node will do the
|
||||
* following:
|
||||
* 1) Start the TWAI driver
|
||||
* 2) Listen for ping messages from master, and send ping response
|
||||
* 3) Listen for start command from master
|
||||
* 4) Send data messages to master and listen for stop command
|
||||
* 5) Send stop response to master
|
||||
* 6) Stop the TWAI driver
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "freertos/queue.h"
|
||||
#include "freertos/semphr.h"
|
||||
#include "esp_err.h"
|
||||
#include "esp_log.h"
|
||||
#include "driver/twai.h"
|
||||
|
||||
/* --------------------- Definitions and static variables ------------------ */
|
||||
//Example Configuration
|
||||
#define DATA_PERIOD_MS 50
|
||||
#define NO_OF_ITERS 3
|
||||
#define ITER_DELAY_MS 1000
|
||||
#define RX_TASK_PRIO 8 //Receiving task priority
|
||||
#define TX_TASK_PRIO 9 //Sending task priority
|
||||
#define CTRL_TSK_PRIO 10 //Control task priority
|
||||
#define TX_GPIO_NUM CONFIG_EXAMPLE_TX_GPIO_NUM
|
||||
#define RX_GPIO_NUM CONFIG_EXAMPLE_RX_GPIO_NUM
|
||||
#define EXAMPLE_TAG "TWAI Slave"
|
||||
|
||||
#define ID_MASTER_STOP_CMD 0x0A0
|
||||
#define ID_MASTER_START_CMD 0x0A1
|
||||
#define ID_MASTER_PING 0x0A2
|
||||
#define ID_SLAVE_STOP_RESP 0x0B0
|
||||
#define ID_SLAVE_DATA 0x0B1
|
||||
#define ID_SLAVE_PING_RESP 0x0B2
|
||||
|
||||
typedef enum {
|
||||
TX_SEND_PING_RESP,
|
||||
TX_SEND_DATA,
|
||||
TX_SEND_STOP_RESP,
|
||||
TX_TASK_EXIT,
|
||||
} tx_task_action_t;
|
||||
|
||||
typedef enum {
|
||||
RX_RECEIVE_PING,
|
||||
RX_RECEIVE_START_CMD,
|
||||
RX_RECEIVE_STOP_CMD,
|
||||
RX_TASK_EXIT,
|
||||
} rx_task_action_t;
|
||||
|
||||
static const twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(TX_GPIO_NUM, RX_GPIO_NUM, TWAI_MODE_NORMAL);
|
||||
static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_25KBITS();
|
||||
static const twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
|
||||
static const twai_message_t ping_resp = {.identifier = ID_SLAVE_PING_RESP, .data_length_code = 0,
|
||||
.data = {0, 0 , 0 , 0 ,0 ,0 ,0 ,0}};
|
||||
static const twai_message_t stop_resp = {.identifier = ID_SLAVE_STOP_RESP, .data_length_code = 0,
|
||||
.data = {0, 0 , 0 , 0 ,0 ,0 ,0 ,0}};
|
||||
//Data bytes of data message will be initialized in the transmit task
|
||||
static twai_message_t data_message = {.identifier = ID_SLAVE_DATA, .data_length_code = 4,
|
||||
.data = {0, 0 , 0 , 0 ,0 ,0 ,0 ,0}};
|
||||
|
||||
static QueueHandle_t tx_task_queue;
|
||||
static QueueHandle_t rx_task_queue;
|
||||
static SemaphoreHandle_t ctrl_task_sem;
|
||||
static SemaphoreHandle_t stop_data_sem;
|
||||
static SemaphoreHandle_t done_sem;
|
||||
|
||||
/* --------------------------- Tasks and Functions -------------------------- */
|
||||
|
||||
static void twai_receive_task(void *arg)
|
||||
{
|
||||
while (1) {
|
||||
rx_task_action_t action;
|
||||
xQueueReceive(rx_task_queue, &action, portMAX_DELAY);
|
||||
if (action == RX_RECEIVE_PING) {
|
||||
//Listen for pings from master
|
||||
twai_message_t rx_msg;
|
||||
while (1) {
|
||||
twai_receive(&rx_msg, portMAX_DELAY);
|
||||
if (rx_msg.identifier == ID_MASTER_PING) {
|
||||
xSemaphoreGive(ctrl_task_sem);
|
||||
break;
|
||||
}
|
||||
}
|
||||
} else if (action == RX_RECEIVE_START_CMD) {
|
||||
//Listen for start command from master
|
||||
twai_message_t rx_msg;
|
||||
while (1) {
|
||||
twai_receive(&rx_msg, portMAX_DELAY);
|
||||
if (rx_msg.identifier == ID_MASTER_START_CMD) {
|
||||
xSemaphoreGive(ctrl_task_sem);
|
||||
break;
|
||||
}
|
||||
}
|
||||
} else if (action == RX_RECEIVE_STOP_CMD) {
|
||||
//Listen for stop command from master
|
||||
twai_message_t rx_msg;
|
||||
while (1) {
|
||||
twai_receive(&rx_msg, portMAX_DELAY);
|
||||
if (rx_msg.identifier == ID_MASTER_STOP_CMD) {
|
||||
xSemaphoreGive(stop_data_sem);
|
||||
xSemaphoreGive(ctrl_task_sem);
|
||||
break;
|
||||
}
|
||||
}
|
||||
} else if (action == RX_TASK_EXIT) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
static void twai_transmit_task(void *arg)
|
||||
{
|
||||
while (1) {
|
||||
tx_task_action_t action;
|
||||
xQueueReceive(tx_task_queue, &action, portMAX_DELAY);
|
||||
|
||||
if (action == TX_SEND_PING_RESP) {
|
||||
//Transmit ping response to master
|
||||
twai_transmit(&ping_resp, portMAX_DELAY);
|
||||
ESP_LOGI(EXAMPLE_TAG, "Transmitted ping response");
|
||||
xSemaphoreGive(ctrl_task_sem);
|
||||
} else if (action == TX_SEND_DATA) {
|
||||
//Transmit data messages until stop command is received
|
||||
ESP_LOGI(EXAMPLE_TAG, "Start transmitting data");
|
||||
while (1) {
|
||||
//FreeRTOS tick count used to simulate sensor data
|
||||
uint32_t sensor_data = xTaskGetTickCount();
|
||||
for (int i = 0; i < 4; i++) {
|
||||
data_message.data[i] = (sensor_data >> (i * 8)) & 0xFF;
|
||||
}
|
||||
twai_transmit(&data_message, portMAX_DELAY);
|
||||
ESP_LOGI(EXAMPLE_TAG, "Transmitted data value %d", sensor_data);
|
||||
vTaskDelay(pdMS_TO_TICKS(DATA_PERIOD_MS));
|
||||
if (xSemaphoreTake(stop_data_sem, 0) == pdTRUE) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
} else if (action == TX_SEND_STOP_RESP) {
|
||||
//Transmit stop response to master
|
||||
twai_transmit(&stop_resp, portMAX_DELAY);
|
||||
ESP_LOGI(EXAMPLE_TAG, "Transmitted stop response");
|
||||
xSemaphoreGive(ctrl_task_sem);
|
||||
} else if (action == TX_TASK_EXIT) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
static void twai_control_task(void *arg)
|
||||
{
|
||||
xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
tx_task_action_t tx_action;
|
||||
rx_task_action_t rx_action;
|
||||
|
||||
for (int iter = 0; iter < NO_OF_ITERS; iter++) {
|
||||
ESP_ERROR_CHECK(twai_start());
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver started");
|
||||
|
||||
//Listen of pings from master
|
||||
rx_action = RX_RECEIVE_PING;
|
||||
xQueueSend(rx_task_queue, &rx_action, portMAX_DELAY);
|
||||
xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
|
||||
//Send ping response
|
||||
tx_action = TX_SEND_PING_RESP;
|
||||
xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
|
||||
xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
|
||||
//Listen for start command
|
||||
rx_action = RX_RECEIVE_START_CMD;
|
||||
xQueueSend(rx_task_queue, &rx_action, portMAX_DELAY);
|
||||
xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
|
||||
//Start sending data messages and listen for stop command
|
||||
tx_action = TX_SEND_DATA;
|
||||
rx_action = RX_RECEIVE_STOP_CMD;
|
||||
xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
|
||||
xQueueSend(rx_task_queue, &rx_action, portMAX_DELAY);
|
||||
xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
|
||||
//Send stop response
|
||||
tx_action = TX_SEND_STOP_RESP;
|
||||
xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
|
||||
xSemaphoreTake(ctrl_task_sem, portMAX_DELAY);
|
||||
|
||||
//Wait for bus to become free
|
||||
twai_status_info_t status_info;
|
||||
twai_get_status_info(&status_info);
|
||||
while (status_info.msgs_to_tx > 0) {
|
||||
vTaskDelay(pdMS_TO_TICKS(100));
|
||||
twai_get_status_info(&status_info);
|
||||
}
|
||||
|
||||
ESP_ERROR_CHECK(twai_stop());
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver stopped");
|
||||
vTaskDelay(pdMS_TO_TICKS(ITER_DELAY_MS));
|
||||
}
|
||||
|
||||
//Stop TX and RX tasks
|
||||
tx_action = TX_TASK_EXIT;
|
||||
rx_action = RX_TASK_EXIT;
|
||||
xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
|
||||
xQueueSend(rx_task_queue, &rx_action, portMAX_DELAY);
|
||||
|
||||
//Delete Control task
|
||||
xSemaphoreGive(done_sem);
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
//Add short delay to allow master it to initialize first
|
||||
for (int i = 3; i > 0; i--) {
|
||||
printf("Slave starting in %d\n", i);
|
||||
vTaskDelay(pdMS_TO_TICKS(1000));
|
||||
}
|
||||
|
||||
|
||||
//Create semaphores and tasks
|
||||
tx_task_queue = xQueueCreate(1, sizeof(tx_task_action_t));
|
||||
rx_task_queue = xQueueCreate(1, sizeof(rx_task_action_t));
|
||||
ctrl_task_sem = xSemaphoreCreateBinary();
|
||||
stop_data_sem = xSemaphoreCreateBinary();;
|
||||
done_sem = xSemaphoreCreateBinary();;
|
||||
xTaskCreatePinnedToCore(twai_receive_task, "TWAI_rx", 4096, NULL, RX_TASK_PRIO, NULL, tskNO_AFFINITY);
|
||||
xTaskCreatePinnedToCore(twai_transmit_task, "TWAI_tx", 4096, NULL, TX_TASK_PRIO, NULL, tskNO_AFFINITY);
|
||||
xTaskCreatePinnedToCore(twai_control_task, "TWAI_ctrl", 4096, NULL, CTRL_TSK_PRIO, NULL, tskNO_AFFINITY);
|
||||
|
||||
//Install TWAI driver, trigger tasks to start
|
||||
ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, &f_config));
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver installed");
|
||||
|
||||
xSemaphoreGive(ctrl_task_sem); //Start Control task
|
||||
xSemaphoreTake(done_sem, portMAX_DELAY); //Wait for tasks to complete
|
||||
|
||||
//Uninstall TWAI driver
|
||||
ESP_ERROR_CHECK(twai_driver_uninstall());
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver uninstalled");
|
||||
|
||||
//Cleanup
|
||||
vSemaphoreDelete(ctrl_task_sem);
|
||||
vSemaphoreDelete(stop_data_sem);
|
||||
vSemaphoreDelete(done_sem);
|
||||
vQueueDelete(tx_task_queue);
|
||||
vQueueDelete(rx_task_queue);
|
||||
}
|
||||
@@ -0,0 +1,6 @@
|
||||
# The following lines of boilerplate have to be in your project's CMakeLists
|
||||
# in this exact order for cmake to work correctly
|
||||
cmake_minimum_required(VERSION 3.5)
|
||||
|
||||
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||
project(twai_self_test_example)
|
||||
@@ -0,0 +1,9 @@
|
||||
#
|
||||
# This is a project Makefile. It is assumed the directory this Makefile resides in is a
|
||||
# project subdirectory.
|
||||
#
|
||||
|
||||
PROJECT_NAME := twai_self_test_example
|
||||
|
||||
include $(IDF_PATH)/make/project.mk
|
||||
|
||||
@@ -0,0 +1,83 @@
|
||||
# TWAI Self Test Example
|
||||
|
||||
(See the README.md file in the upper level 'examples' directory for more information about examples.)
|
||||
|
||||
The TWAI Self Test Example demonstrates how a node can transmit TWAI messages to itself using the TWAI driver's "No Acknowledgement" mode and Self Reception Requests. The Self Test Example can be run as a simple test to determine whether a target (ESP32 or ESP32-S2) is properly connected to a working external transceiver.
|
||||
|
||||
## How to use example
|
||||
|
||||
### Hardware Required
|
||||
|
||||
This example requires only a single target (e.g., an ESP32 or ESP32-S2). The target must be connected to an external transceiver (e.g., a SN65HVD23X transceiver). This connection usually consists of a TX and an RX signal.
|
||||
|
||||
Note: If you don't have an external transceiver, this example can still be run by simply connecting the TX GPIO and RX GPIO with a jumper.
|
||||
|
||||
### Configure the project
|
||||
|
||||
* Set the target of the build (where `{IDF_TARGET}` stands for the target chip such as `eszp32` or `esp32s2`).
|
||||
* Then run `menuconfig` to configure the example.
|
||||
|
||||
```
|
||||
idf.py set-target {IDF_TARGET}
|
||||
idf.py menuconfig
|
||||
```
|
||||
|
||||
* Under `Example Configuration`, configure the pin assignments using the options `TX GPIO Number` and `RX GPIO Number` according to how the target was connected to the transceiver. By default, `TX GPIO Number` and `RX GPIO Number` are set to the following values:
|
||||
* On the ESP32, `TX GPIO Number` and `RX GPIO Number` default to `21` and `22` respectively
|
||||
* On the ESP32-S2, `TX GPIO Number` and `RX GPIO Number` default to `20` and `21` respectively
|
||||
|
||||
### Build and Flash
|
||||
|
||||
Build the project and flash it to the board, then run monitor tool to view serial output:
|
||||
|
||||
```
|
||||
idf.py -p PORT flash monitor
|
||||
```
|
||||
|
||||
(Replace PORT with the name of the serial port to use.)
|
||||
|
||||
(To exit the serial monitor, type ``Ctrl-]``.)
|
||||
|
||||
See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.
|
||||
|
||||
## Example Output
|
||||
|
||||
```
|
||||
I (345) TWAI Self Test: Driver installed
|
||||
I (345) TWAI Self Test: Driver started
|
||||
I (355) TWAI Self Test: Msg received - Data = 0
|
||||
...
|
||||
I (1335) TWAI Self Test: Msg received - Data = 99
|
||||
I (1335) TWAI Self Test: Driver stopped
|
||||
I (1435) TWAI Self Test: Driver started
|
||||
I (1435) TWAI Self Test: Msg received - Data = 0
|
||||
...
|
||||
I (2425) TWAI Self Test: Msg received - Data = 99
|
||||
I (2425) TWAI Self Test: Driver stopped
|
||||
I (2525) TWAI Self Test: Driver started
|
||||
I (2525) TWAI Self Test: Msg received - Data = 0
|
||||
...
|
||||
I (3515) TWAI Self Test: Msg received - Data = 99
|
||||
I (3515) TWAI Self Test: Driver stopped
|
||||
I (3615) TWAI Self Test: Driver uninstalled
|
||||
```
|
||||
|
||||
## Troubleshooting
|
||||
|
||||
```
|
||||
I (345) TWAI Self Test: Driver installed
|
||||
I (345) TWAI Self Test: Driver started
|
||||
```
|
||||
|
||||
If the TWAI driver is installed and started but no messages are received, check that the target is correctly connected to the external transceiver, and that the external transceiver is operating properly (i.e., properly powered and not in sleep mode).
|
||||
|
||||
## Example Breakdown
|
||||
|
||||
The TWAI Self Test Example will do multiple iterations of the following steps:
|
||||
|
||||
1. Install the TWAI driver
|
||||
2. Start the TWAI driver
|
||||
3. Simultaneously transmit and receive multiple messages using the self reception request.
|
||||
4. Stop the TWAI driver
|
||||
5. Repeat steps 2 to 4 for multiple iterations
|
||||
6. Uninstall the TWAI driver
|
||||
@@ -0,0 +1,23 @@
|
||||
# Need Python 3 string formatting functions
|
||||
from __future__ import print_function
|
||||
|
||||
import ttfw_idf
|
||||
|
||||
|
||||
# TWAI Self Test Example constants
|
||||
STR_EXPECT = ("TWAI Self Test: Driver installed", "TWAI Self Test: Driver uninstalled")
|
||||
EXPECT_TIMEOUT = 20
|
||||
|
||||
|
||||
@ttfw_idf.idf_example_test(env_tag='Example_TWAI1')
|
||||
def test_twai_self_test_example(env, extra_data):
|
||||
# Get device under test, flash and start example. "dut1" must be defined in EnvConfig
|
||||
dut = env.get_dut('dut1', 'examples/peripherals/twai/twai_self_test', dut_class=ttfw_idf.ESP32DUT)
|
||||
dut.start_app()
|
||||
|
||||
for string in STR_EXPECT:
|
||||
dut.expect(string, timeout=EXPECT_TIMEOUT)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
test_twai_self_test_example()
|
||||
@@ -0,0 +1,2 @@
|
||||
idf_component_register(SRCS "twai_self_test_example_main.c"
|
||||
INCLUDE_DIRS ".")
|
||||
@@ -0,0 +1,19 @@
|
||||
menu "Example Configuration"
|
||||
|
||||
config EXAMPLE_TX_GPIO_NUM
|
||||
int "TX GPIO number"
|
||||
default 20 if IDF_TARGET_ESP32S2
|
||||
default 21 if IDF_TARGET_ESP32
|
||||
help
|
||||
This option selects the GPIO pin used for the TX signal. Connect the
|
||||
TX signal to your transceiver.
|
||||
|
||||
config EXAMPLE_RX_GPIO_NUM
|
||||
int "RX GPIO number"
|
||||
default 21 if IDF_TARGET_ESP32S2
|
||||
default 22 if IDF_TARGET_ESP32
|
||||
help
|
||||
This option selects the GPIO pin used for the RX signal. Connect the
|
||||
RX signal to your transceiver.
|
||||
|
||||
endmenu
|
||||
@@ -0,0 +1,4 @@
|
||||
#
|
||||
# Main Makefile. This is basically the same as a component makefile.
|
||||
#
|
||||
# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)
|
||||
@@ -0,0 +1,142 @@
|
||||
/* TWAI Self Test Example
|
||||
|
||||
This example code is in the Public Domain (or CC0 licensed, at your option.)
|
||||
|
||||
Unless required by applicable law or agreed to in writing, this
|
||||
software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
|
||||
CONDITIONS OF ANY KIND, either express or implied.
|
||||
*/
|
||||
|
||||
/*
|
||||
* The following example demonstrates the self testing capabilities of the TWAI
|
||||
* peripheral by utilizing the No Acknowledgment Mode and Self Reception Request
|
||||
* capabilities. This example can be used to verify that the TWAI peripheral and
|
||||
* its connections to the external transceiver operates without issue. The example
|
||||
* will execute multiple iterations, each iteration will do the following:
|
||||
* 1) Start the TWAI driver
|
||||
* 2) Transmit and receive 100 messages using self reception request
|
||||
* 3) Stop the TWAI driver
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "freertos/semphr.h"
|
||||
#include "esp_err.h"
|
||||
#include "esp_log.h"
|
||||
#include "driver/twai.h"
|
||||
|
||||
/* --------------------- Definitions and static variables ------------------ */
|
||||
|
||||
//Example Configurations
|
||||
#define NO_OF_MSGS 100
|
||||
#define NO_OF_ITERS 3
|
||||
#define TX_GPIO_NUM CONFIG_EXAMPLE_TX_GPIO_NUM
|
||||
#define RX_GPIO_NUM CONFIG_EXAMPLE_RX_GPIO_NUM
|
||||
#define TX_TASK_PRIO 8 //Sending task priority
|
||||
#define RX_TASK_PRIO 9 //Receiving task priority
|
||||
#define CTRL_TSK_PRIO 10 //Control task priority
|
||||
#define MSG_ID 0x555 //11 bit standard format ID
|
||||
#define EXAMPLE_TAG "TWAI Self Test"
|
||||
|
||||
static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_25KBITS();
|
||||
//Filter all other IDs except MSG_ID
|
||||
static const twai_filter_config_t f_config = {.acceptance_code = (MSG_ID << 21),
|
||||
.acceptance_mask = ~(TWAI_STD_ID_MASK << 21),
|
||||
.single_filter = true};
|
||||
//Set to NO_ACK mode due to self testing with single module
|
||||
static const twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(TX_GPIO_NUM, RX_GPIO_NUM, TWAI_MODE_NO_ACK);
|
||||
|
||||
static SemaphoreHandle_t tx_sem;
|
||||
static SemaphoreHandle_t rx_sem;
|
||||
static SemaphoreHandle_t ctrl_sem;
|
||||
static SemaphoreHandle_t done_sem;
|
||||
|
||||
/* --------------------------- Tasks and Functions -------------------------- */
|
||||
|
||||
static void twai_transmit_task(void *arg)
|
||||
{
|
||||
twai_message_t tx_msg = {.data_length_code = 1, .identifier = MSG_ID, .self = 1};
|
||||
for (int iter = 0; iter < NO_OF_ITERS; iter++) {
|
||||
xSemaphoreTake(tx_sem, portMAX_DELAY);
|
||||
for (int i = 0; i < NO_OF_MSGS; i++) {
|
||||
//Transmit messages using self reception request
|
||||
tx_msg.data[0] = i;
|
||||
ESP_ERROR_CHECK(twai_transmit(&tx_msg, portMAX_DELAY));
|
||||
vTaskDelay(pdMS_TO_TICKS(10));
|
||||
}
|
||||
}
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
static void twai_receive_task(void *arg)
|
||||
{
|
||||
twai_message_t rx_message;
|
||||
|
||||
for (int iter = 0; iter < NO_OF_ITERS; iter++) {
|
||||
xSemaphoreTake(rx_sem, portMAX_DELAY);
|
||||
for (int i = 0; i < NO_OF_MSGS; i++) {
|
||||
//Receive message and print message data
|
||||
ESP_ERROR_CHECK(twai_receive(&rx_message, portMAX_DELAY));
|
||||
ESP_LOGI(EXAMPLE_TAG, "Msg received - Data = %d", rx_message.data[0]);
|
||||
}
|
||||
//Indicate to control task all messages received for this iteration
|
||||
xSemaphoreGive(ctrl_sem);
|
||||
}
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
static void twai_control_task(void *arg)
|
||||
{
|
||||
xSemaphoreTake(ctrl_sem, portMAX_DELAY);
|
||||
for (int iter = 0; iter < NO_OF_ITERS; iter++) {
|
||||
//Start TWAI Driver for this iteration
|
||||
ESP_ERROR_CHECK(twai_start());
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver started");
|
||||
|
||||
//Trigger TX and RX tasks to start transmitting/receiving
|
||||
xSemaphoreGive(rx_sem);
|
||||
xSemaphoreGive(tx_sem);
|
||||
xSemaphoreTake(ctrl_sem, portMAX_DELAY); //Wait for TX and RX tasks to finish iteration
|
||||
|
||||
ESP_ERROR_CHECK(twai_stop()); //Stop the TWAI Driver
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver stopped");
|
||||
vTaskDelay(pdMS_TO_TICKS(100)); //Delay then start next iteration
|
||||
}
|
||||
xSemaphoreGive(done_sem);
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
//Create tasks and synchronization primitives
|
||||
tx_sem = xSemaphoreCreateBinary();
|
||||
rx_sem = xSemaphoreCreateBinary();
|
||||
ctrl_sem = xSemaphoreCreateBinary();
|
||||
done_sem = xSemaphoreCreateBinary();
|
||||
|
||||
xTaskCreatePinnedToCore(twai_control_task, "TWAI_ctrl", 4096, NULL, CTRL_TSK_PRIO, NULL, tskNO_AFFINITY);
|
||||
xTaskCreatePinnedToCore(twai_receive_task, "TWAI_rx", 4096, NULL, RX_TASK_PRIO, NULL, tskNO_AFFINITY);
|
||||
xTaskCreatePinnedToCore(twai_transmit_task, "TWAI_tx", 4096, NULL, TX_TASK_PRIO, NULL, tskNO_AFFINITY);
|
||||
|
||||
//Install TWAI driver
|
||||
ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, &f_config));
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver installed");
|
||||
|
||||
//Start control task
|
||||
xSemaphoreGive(ctrl_sem);
|
||||
//Wait for all iterations and tasks to complete running
|
||||
xSemaphoreTake(done_sem, portMAX_DELAY);
|
||||
|
||||
//Uninstall TWAI driver
|
||||
ESP_ERROR_CHECK(twai_driver_uninstall());
|
||||
ESP_LOGI(EXAMPLE_TAG, "Driver uninstalled");
|
||||
|
||||
//Cleanup
|
||||
vSemaphoreDelete(tx_sem);
|
||||
vSemaphoreDelete(rx_sem);
|
||||
vSemaphoreDelete(ctrl_sem);
|
||||
vQueueDelete(done_sem);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user