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https://github.com/adrigongv23/G26---Telemetry-Software.git
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223
Firmware/G26-Telemetria/src/can.cpp
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223
Firmware/G26-Telemetria/src/can.cpp
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/**
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* @file can.cpp
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* @author Raúl Arcos Herrera
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* @brief This file contains the implementation of the CAN Controller class for Link G4+ ECU.
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*/
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#include "../include/can.hpp"
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static bool driver_installed = false;
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void CAN::start() {
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Serial.println("Starting CAN Controller...");
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twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT((gpio_num_t)TX_PIN, (gpio_num_t)RX_PIN, TWAI_MODE_NORMAL);
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twai_timing_config_t t_config = TWAI_TIMING_CONFIG_125KBITS();
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twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
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esp_err_t install_status = twai_driver_install(&g_config, &t_config, &f_config);
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if (install_status != ESP_OK) {
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Serial.println("Failed to install TWAI driver");
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driver_installed = false;
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return;
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} else {
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Serial.println("TWAI driver installed");
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}
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esp_err_t start_status = twai_start();
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if (start_status != ESP_OK) {
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Serial.println("Failed to start TWAI driver");
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driver_installed = false;
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return;
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} else {
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Serial.println("TWAI driver started");
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}
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uint32_t alerts_to_enable = TWAI_ALERT_RX_DATA | TWAI_ALERT_ERR_PASS | TWAI_ALERT_BUS_ERROR | TWAI_ALERT_RX_QUEUE_FULL;
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if (twai_reconfigure_alerts(alerts_to_enable, NULL) == ESP_OK) {
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Serial.println("CAN Alerts reconfigured");
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} else {
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Serial.println("Failed to reconfigure alerts");
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driver_installed = false;
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return;
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}
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// TWAI driver is now successfully installed and started
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driver_installed = true;
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}
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CAN::~CAN() {
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stop_listening_task();
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if (driver_installed) {
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twai_stop();
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twai_driver_uninstall();
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driver_installed = false;
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}
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}
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void CAN::start_listening_task() {
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if (_listen_task_handle == NULL) {
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_should_stop_listening = false;
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BaseType_t result = xTaskCreate(
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listenTask, // Task function
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"CAN_Listen_Task", // Task name
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4096, // Stack size (words)
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this, // Task parameter (this CAN instance)
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1, // Priority (lowered from 5 to 1)
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&_listen_task_handle // Task handle
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);
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// BaseType_t result = xTaskCreatePinnedToCore(
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// listenTask, // Task function
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// "CAN_Listen_Task", // Task name
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// 4096, // Stack size (words)
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// this, // Task parameter (this CAN instance)
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// 1, // Priority
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// &_listen_task_handle, // Task handle
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// 0 // Core 0 (main loop typically runs on Core 1)
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// );
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if (result == pdPASS) {
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Serial.println("CAN listening task created successfully");
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} else {
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Serial.println("Failed to create CAN listening task");
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_listen_task_handle = NULL;
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}
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} else {
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Serial.println("CAN listening task already running");
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}
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}
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void CAN::stop_listening_task() {
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if (_listen_task_handle != NULL) {
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_should_stop_listening = true;
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// Wait for task to finish (max 1 second)
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for (int i = 0; i < 100; i++) {
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if (_listen_task_handle == NULL) {
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break;
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}
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vTaskDelay(pdMS_TO_TICKS(10));
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}
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// Force delete if still running
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if (_listen_task_handle != NULL) {
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vTaskDelete(_listen_task_handle);
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_listen_task_handle = NULL;
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}
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Serial.println("CAN listening task stopped");
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}
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}
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void CAN::send_frame(twai_message_t message) {
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while (xSemaphoreTake(_mutex, portMAX_DELAY) != pdTRUE) {
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Serial.println("Retrying to take mutex in send_frame");
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}
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twai_transmit(&message, pdMS_TO_TICKS(TRANSMIT_RATE_MS));
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xSemaphoreGive(_mutex);
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}
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twai_message_t CAN::createBoolMessage(bool b0, bool b1, bool b2, bool b3, bool b4, bool b5, bool b6, bool b7) {
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twai_message_t message;
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memset(&message, 0, sizeof(message));
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message.identifier = 0x001;
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message.data[0] = (b7 << 7) | (b6 << 6) | (b5 << 5) | (b4 << 4) |
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(b3 << 3) | (b2 << 2) | (b1 << 1) | b0;
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message.data_length_code = 8;
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message.flags = TWAI_MSG_FLAG_NONE;
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return message;
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}
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void CAN::listen() {
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Serial.println("CAN listening task started");
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// Continuous loop for the thread
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while (!_should_stop_listening) {
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if (!driver_installed) {
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// Driver not installed
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vTaskDelay(pdMS_TO_TICKS(1000));
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continue;
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}
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// Check if alert happened
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uint32_t alerts_triggered;
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twai_read_alerts(&alerts_triggered, pdMS_TO_TICKS(1000)); // Reduced timeout for more responsiveness
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twai_status_info_t twaistatus;
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twai_get_status_info(&twaistatus);
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// Handle alerts
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if (alerts_triggered & TWAI_ALERT_ERR_PASS) {
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Serial.println("Alert: TWAI controller has become error passive.");
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}
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if (alerts_triggered & TWAI_ALERT_BUS_ERROR) {
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Serial.println("Alert: A (Bit, Stuff, CRC, Form, ACK) error has occurred on the bus.");
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Serial.printf("Bus error count: %lu\n", twaistatus.bus_error_count);
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}
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if (alerts_triggered & TWAI_ALERT_RX_QUEUE_FULL) {
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Serial.println("Alert: The RX queue is full causing a received frame to be lost.");
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Serial.printf("RX buffered: %lu\t", twaistatus.msgs_to_rx);
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Serial.printf("RX missed: %lu\t", twaistatus.rx_missed_count);
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Serial.printf("RX overrun %lu\n", twaistatus.rx_overrun_count);
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}
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if (alerts_triggered & TWAI_ALERT_RX_DATA) {
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twai_message_t message;
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int message_count = 0;
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while (twai_receive(&message, 0) == ESP_OK && !_should_stop_listening) {
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bool all_zeros = true;
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for (int i = 0; i < message.data_length_code; i++) {
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if (message.data[i] != 0) {
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all_zeros = false;
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break;
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}
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}
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if (all_zeros) {
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Serial.println("Ignoring message with all zero data");
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taskYIELD();
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continue;
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}
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if (message.extd) {
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Serial.println("Extended Format");
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} else {
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Serial.println("Standard Format");
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}
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Serial.printf("ID: %lx\nByte:", message.identifier);
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if (!(message.rtr)) {
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for (int i = 0; i < message.data_length_code; i++) {
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Serial.printf(" %d = %02x,", i, message.data[i]);
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}
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Serial.println("");
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// Send to data processor based on first byte (maintaining original logic)
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switch (message.data[0]) {
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case 0:
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_data_processor->send_serial_frame_0(message.data[1], message.data[2], message.data[3], message.data[4], message.data[5], message.data[6], message.data[7]);
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break;
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case 1:
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//_data_processor->send_serial_frame_1(message.data[1], message.data[2], message.data[3], message.data[4], message.data[5], message.data[6], message.data[7]);
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break;
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case 2:
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//_data_processor->send_serial_frame_2(message.data[1], message.data[2], message.data[3], message.data[4], message.data[5], message.data[6], message.data[7]);
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break;
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case 3:
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//_data_processor->send_serial_frame_3(message.data[1], message.data[2], message.data[3], message.data[4], message.data[5], message.data[6], message.data[7]);
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default:
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break;
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}
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}
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taskYIELD();
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}
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}
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taskYIELD();
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vTaskDelay(pdMS_TO_TICKS(5));
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}
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Serial.println("CAN listening task ending");
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_listen_task_handle = NULL;
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vTaskDelete(NULL); // Delete this task
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}
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251
Firmware/G26-Telemetria/src/data_processor.cpp
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251
Firmware/G26-Telemetria/src/data_processor.cpp
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#include "../include/data_processor.hpp"
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char* DataProcessor::process(std::vector<float> data) {
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// Implementación del procesamiento de datos si es necesario
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return nullptr; // Placeholder
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}
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void DataProcessor::send_serial(byte type, unsigned int value) { //Como parámetros se pasan el ID (type), que es el ID establecido al inicio del código para el dato que se quiera enviar. Ej: RPM_ID -> 0x51; y se envía el valor de dicho dato.
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byte dato[8] = { 0x5A, 0xA5, 0x05, 0x82, 0x00, 0x00, 0x00, 0x00 }; //Se establece un arreglo de bytes con los primeros datos necesarios para que la pantalla lo interprete como mensaje (En la Wiki hay tutoriales que lo explican a fondo), como ser la longitud y el tipo de mensaje.
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dato[4] = type; //Se configura en el mensaje el ID correspondiente al dato a enviar.
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dato[6] = (value >> 8) & 0xFF; //Se configura el dato en los últimos 2 bytes.
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dato[7] = value & 0xFF;
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Serial.write(dato, 8); //Se envía serialmente el mensaje, indicando su longituden bytes para ello.
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}
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//RPM + TPS + vBatt + ECT
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void DataProcessor::send_serial_frame_0(int rpmh, int rpml, int tpsh, int tpsl, int vbatth, int vbattl, int ect){
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Serial.println("send_serial_frame_0");
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this -> current_ect_value = ect; //Actualizamos el valor de ECT para que pueda ser usado por otras clases
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//Serial.printf("CAN RX -> ECT: %d \n", ect);
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}
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/*
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//LAMB + LAMBTRG + FUEL + GEAR
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void DataProcessor::send_serial_frame_1(int lmbh, int lmbl, int lmbth, int lmbtl, int fuelh, int fuell, int gear){
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Serial.println("send_serial_frame_1");
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int lmb = (lmbh * 256) + lmbl;
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int lmbtrg = (lmbth * 256) + lmbtl;
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int fuel = (fuelh * 256) + fuell;
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_crow_panel_controller->set_value_to_label(ui_lambda, lmb);
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_crow_panel_controller->set_value_to_label(ui_lambdatarget, lmbtrg);
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_crow_panel_controller->set_value_to_label(ui_fuel, fuel);
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// _crow_panel_controller->set_value_to_label(ui_gear, gear);
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}
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void DataProcessor::send_serial_frame_2(int shut, int fan, int lmbch, int lmbcl, int brakeh, int brakel, int aux1){
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Serial.println("send_serial_frame_2");
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int lmbcorrect = (lmbch * 256) + lmbcl;
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int brake = (brakeh * 256) + brakel;
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char shut_str[10];
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char fan_str[10];
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char aux1_str[10];
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if (shut == 3){
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strcpy(shut_str, "ON");
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} else {
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strcpy(shut_str, "OFF");
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}
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if (fan == 1){
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strcpy(fan_str, "ON");
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} else {
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strcpy(fan_str, "OFF");
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}
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if (aux1 == 1){
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strcpy(aux1_str, "N");
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_crow_panel_controller->set_label_color(ui_PanelGear, CrowPanelController::COLOR_GOOD);
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} else {
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strcpy(aux1_str, "D");
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_crow_panel_controller->set_label_color(ui_PanelGear, CrowPanelController::COLOR_PANEL_DEFAULT);
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}
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_crow_panel_controller->set_string_to_label(ui_shutdown, shut_str);
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_crow_panel_controller->set_string_to_label(ui_fan, fan_str);
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_crow_panel_controller->set_value_to_label(ui_correctionlambda, lmbcorrect);
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_crow_panel_controller->set_value_to_label(ui_auxstatus9, brake);
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_crow_panel_controller->set_string_to_label(ui_gear, aux1_str);
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// Shutdown status color
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if (shut == 3) {
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_crow_panel_controller->set_label_color(ui_shutdown, CrowPanelController::COLOR_CRITICAL); // Red when shutdown is ON (emergency)
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} else {
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_crow_panel_controller->set_label_color(ui_shutdown, CrowPanelController::COLOR_GOOD); // Green when shutdown is OFF (normal)
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}
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// Fan status color
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if (fan == 1) {
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_crow_panel_controller->set_label_color(ui_fan, CrowPanelController::COLOR_BLUE); // Blue when fan is ON (cooling)
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} else {
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_crow_panel_controller->set_label_color(ui_fan, CrowPanelController::COLOR_NORMAL); // White when fan is OFF
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}
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// Brake pressure color (assuming brake > 0 means brakes applied)
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if (brake > 100) { // Adjust threshold as needed
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_crow_panel_controller->set_label_color(ui_auxstatus9, CrowPanelController::COLOR_WARNING); // Yellow for heavy braking
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} else if (brake > 0) {
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_crow_panel_controller->set_label_color(ui_auxstatus9, CrowPanelController::COLOR_NORMAL); // White for light braking
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} else {
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_crow_panel_controller->set_label_color(ui_auxstatus9, CrowPanelController::COLOR_GOOD); // Green for no braking
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}
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}
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void DataProcessor::send_serial_frame_3(int aux3, int aux4, int aux5, int aux6, int aux7, int aux8, int dig1){
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Serial.println("send_serial_frame_3");
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char aux3_str[10];
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char aux4_str[10];
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char aux5_str[10];
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char aux6_str[10];
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char aux7_str[10];
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char aux8_str[10];
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char dig1_str[10];
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if (aux3 == 1){
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strcpy(aux3_str, "ON");
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} else {
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strcpy(aux3_str, "OFF");
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}
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if (aux4 == 1){
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strcpy(aux4_str, "ON");
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} else {
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strcpy(aux4_str, "OFF");
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}
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if (aux5 == 1){
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strcpy(aux5_str, "ON");
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} else {
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strcpy(aux5_str, "OFF");
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}
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if (aux6 == 1){
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strcpy(aux6_str, "ON");
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} else {
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strcpy(aux6_str, "OFF");
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}
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if (aux7 == 1){
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strcpy(aux7_str, "ON");
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} else {
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strcpy(aux7_str, "OFF");
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}
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if (aux8 == 1){
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strcpy(aux8_str, "ON");
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} else {
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strcpy(aux8_str, "OFF");
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}
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if (dig1 == 1){
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strcpy(dig1_str, "ON");
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} else {
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strcpy(dig1_str, "OFF");
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}
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_crow_panel_controller -> set_string_to_label(ui_auxstatus3, aux3_str);
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if(aux3 == 1 && change_screen_requested == false){
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switch(current_display){
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case 0:
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_crow_panel_controller->change_screen(ui_Screen1);
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break;
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case 1:
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_crow_panel_controller->change_screen(ui_Screen2);
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break;
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case 2:
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_crow_panel_controller->change_screen(ui_Screen3);
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break;
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case 3:
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_crow_panel_controller->change_screen(ui_Screen4);
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break;
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}
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current_display++;
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change_screen_requested = true;
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if(current_display > 3){
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current_display = 0;
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}
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}else if(aux3 == 0 && change_screen_requested == true){
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change_screen_requested = false;
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}
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_crow_panel_controller -> set_string_to_label(ui_auxstatus4, aux4_str);
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_crow_panel_controller -> set_string_to_label(ui_auxstatus5, aux5_str);
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_crow_panel_controller -> set_string_to_label(ui_auxstatus6, aux6_str);
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_crow_panel_controller -> set_string_to_label(ui_auxstatus7, aux7_str);
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_crow_panel_controller -> set_string_to_label(ui_auxstatus8, aux8_str);
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_crow_panel_controller -> set_string_to_label(ui_digitalstatus1, dig1_str);
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}
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void DataProcessor::send_serial_frame_4(int dig3, int dig4, int dig5, int dig6, int dig7, int dig8, int dig9){
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Serial.println("send_serial_frame_4");
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char dig3_str[10];
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char dig4_str[10];
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char dig5_str[10];
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||||
char dig6_str[10];
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char dig7_str[10];
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char dig8_str[10];
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char dig9_str[10];
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if (dig3 == 1){
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strcpy(dig3_str, "ON");
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} else {
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strcpy(dig3_str, "OFF");
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}
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||||
|
||||
if (dig4 == 1){
|
||||
strcpy(dig4_str, "ON");
|
||||
} else {
|
||||
strcpy(dig4_str, "OFF");
|
||||
}
|
||||
|
||||
if (dig5 == 1){
|
||||
strcpy(dig5_str, "ON");
|
||||
} else {
|
||||
strcpy(dig5_str, "OFF");
|
||||
}
|
||||
|
||||
if (dig6 == 1){
|
||||
strcpy(dig6_str, "ON");
|
||||
} else {
|
||||
strcpy(dig6_str, "OFF");
|
||||
}
|
||||
|
||||
if (dig7 == 1){
|
||||
strcpy(dig7_str, "ON");
|
||||
} else {
|
||||
strcpy(dig7_str, "OFF");
|
||||
}
|
||||
|
||||
if (dig8 == 1){
|
||||
strcpy(dig8_str, "ON");
|
||||
} else {
|
||||
strcpy(dig8_str, "OFF");
|
||||
}
|
||||
|
||||
if (dig9 == 1){
|
||||
strcpy(dig9_str, "ON");
|
||||
} else {
|
||||
strcpy(dig9_str, "OFF");
|
||||
}
|
||||
|
||||
_crow_panel_controller -> set_string_to_label(ui_digitalstatus3, dig3_str);
|
||||
_crow_panel_controller -> set_string_to_label(ui_digitalstatus4, dig4_str);
|
||||
_crow_panel_controller -> set_string_to_label(ui_digitalstatus5, dig5_str);
|
||||
_crow_panel_controller -> set_string_to_label(ui_digitalstatus6, dig6_str);
|
||||
_crow_panel_controller -> set_string_to_label(ui_digitalstatus7, dig7_str);
|
||||
_crow_panel_controller -> set_string_to_label(ui_digitalstatus8, dig8_str);
|
||||
_crow_panel_controller -> set_string_to_label(ui_digitalstatus9, dig9_str);
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue