esp32s2: update twai api

Author: TDA-2030

Firmware/FFBoard/Src/CAN.cpp

@@ -113,7 +113,7 @@ void CANPort::setSpeedPreset(uint8_t preset){
 	HAL_CAN_AbortTxRequest(hcan, txMailbox);
 #ifdef HW_ESP32S2
 	const uint32_t rate[6]={50000, 100000, 125000, 250000, 500000, 1000000}; //bit/s
-	glue_can_set_speed(rate[preset]);
+	glue_can_set_speed(this->hcan, rate[preset]);
 #else
 	this->hcan->Instance->BTR = canSpeedBTR_preset[preset];
 #endif

Firmware/FFBoard/Src/FFBoardMainCommandThread.cpp

@@ -58,7 +58,11 @@ void FFBoardMainCommandThread::updateSys(){
 void FFBoardMainCommandThread::Run(){
 	while(true){
 		updateSys();
+#ifdef HW_ESP32S2
+		Delay(pdMS_TO_TICKS(20));
+#else
 		Delay(1); // Give the scheduler time
+#endif
 	}
 }
 

Firmware/FFBoard/Src/cppmain.cpp

@@ -150,7 +150,7 @@ void cppmain()
         }
     }
 
-    ESP_LOGI(__FILE__, "main_id=%d", main_id);
+    ESP_LOGI(TAG, "main_id=%d", main_id);
     mainclass = mainchooser.Create(main_id);
     if (mainclass == nullptr) { // invalid id
         mainclass = mainchooser.Create(0); // Baseclass
@@ -165,7 +165,7 @@ void cppmain()
         //external_spi.process();
         // taskYIELD(); // Change task if higher priority task wants to run
         vTaskDelay(pdMS_TO_TICKS(10));
-        // ESP_LOGI("usb", "run");
+        // ESP_LOGI(TAG, "run");
     }
 }
 #endif

Firmware/Targets/ESP32S2/main/glue.c

@@ -230,7 +230,7 @@ void glue_board_init(void)
     gpio_config(&io_conf);
 
     HAL_GPIO_WritePin(GPIOA, CAN_S_Pin, GPIO_PIN_RESET);
-    glue_can_set_speed(500000);
+    glue_can_set_speed(&hcan1, 500000);
     HAL_CAN_Start(&hcan1);
 }
 
@@ -269,47 +269,39 @@ void glue_ledc_set_duty(ledc_channel_t channel, uint32_t duty)
     ledc_update_duty(LEDC_LOW_SPEED_MODE, channel);
 }
 
-void glue_can_set_speed(uint32_t rate)
+void glue_can_set_speed(CAN_HandleTypeDef *hcan, uint32_t rate)
 {
     twai_timing_config_t t_50_config = TWAI_TIMING_CONFIG_50KBITS();
     twai_timing_config_t t_100_config = TWAI_TIMING_CONFIG_100KBITS();
     twai_timing_config_t t_125_config = TWAI_TIMING_CONFIG_125KBITS();
     twai_timing_config_t t_250_config = TWAI_TIMING_CONFIG_250KBITS();
     twai_timing_config_t t_500_config = TWAI_TIMING_CONFIG_500KBITS();
     twai_timing_config_t t_1m_config = TWAI_TIMING_CONFIG_1MBITS();
-    twai_timing_config_t t_config = {0};
     switch (rate) {
     case 50000:
-        t_config = t_50_config;
+        hcan->t_config = t_50_config;
         break;
     case 100000:
-        t_config = t_100_config;
+        hcan->t_config = t_100_config;
         break;
     case 125000:
-        t_config = t_125_config;
+        hcan->t_config = t_125_config;
         break;
     case 250000:
-        t_config = t_250_config;
+        hcan->t_config = t_250_config;
         break;
     case 500000:
-        t_config = t_500_config;
+        hcan->t_config = t_500_config;
         break;
     case 1000000:
-        t_config = t_1m_config;
+        hcan->t_config = t_1m_config;
         break;
 
     default:
         ESP_LOGE(TAG, "Unsupported CAN rate");
         break;
     }
     ESP_LOGI(TAG, "set CAN rate to %d", rate);
-    //Filter
-    const twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
-    //
-    const twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(CAN_TX_Pin, CAN_RX_Pin, TWAI_MODE_NORMAL);
-    //Install TWAI driver
-    ESP_ERROR_CHECK(twai_driver_install(&g_config, &t_config, &f_config));
-    ESP_LOGI(TAG, "Driver installed");
 }
 
 
@@ -341,9 +333,19 @@ static void twai_receive_task(void *arg)
 
 HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan)
 {
+    //Filter
+    twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
+    //
+    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(CAN_TX_Pin, CAN_RX_Pin, TWAI_MODE_NORMAL);
+    //Install TWAI driver
+    esp_err_t ret = twai_driver_install(&g_config, &hcan->t_config, &f_config);
+    if (ESP_ERR_INVALID_STATE == ret) {
+        ESP_LOGW(TAG, "TWAI Driver is already installed");
+    }
+    ESP_LOGI(TAG, "TWAI Driver installed");
     ESP_ERROR_CHECK(twai_start());
-    xTaskCreatePinnedToCore(twai_receive_task, "TWAI_rx", 4096, hcan, 10, &hcan->task, tskNO_AFFINITY);
-    ESP_LOGI(TAG, "Driver started");
+    xTaskCreatePinnedToCore(twai_receive_task, "TWAI_rx", 4096, hcan, 6, &hcan->task, 0);
+    ESP_LOGI(TAG, "TWAI Driver started");
     return HAL_OK;
 }
 
@@ -380,11 +382,11 @@ HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, CAN_TxHeaderType
     // for (int i = 0; i < msg.data_length_code; i++) {
     //     printf("%X, ", msg.data[i] );
     // } printf("\n");
-    esp_err_t ret = twai_transmit(&msg, portMAX_DELAY);
+    esp_err_t ret = twai_transmit(&msg, pdMS_TO_TICKS(1000));
     if (ret != ESP_OK) {
         ESP_LOGE(TAG, "twai error %s", esp_err_to_name(ret));
     }
-    return HAL_OK;
+    return ret == ESP_OK ? HAL_OK : HAL_ERROR;
 }
 
 HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
@@ -403,7 +405,7 @@ static void continuous_adc_init(uint16_t adc1_chan_mask, uint16_t adc2_chan_mask
 #define GET_UNIT(x)        ((x>>3) & 0x1)
     adc_digi_init_config_t adc_dma_config = {
         .max_store_buf_size = 1024,
-        .conv_num_each_intr = channel_num*4*2,
+        .conv_num_each_intr = channel_num * 4 * 2,
         .adc1_chan_mask = adc1_chan_mask,
         .adc2_chan_mask = adc2_chan_mask,
     };
@@ -452,7 +454,7 @@ HAL_StatusTypeDef HAL_ADC_Start_DMA(ADC_HandleTypeDef *hadc, uint32_t *pData, ui
     //     uint8_t c=0;
     //     getAnalogBuffer(NULL, &c);
     // }
-    
+
     return HAL_OK;
 }
 

Firmware/Targets/ESP32S2/main/glue.h

@@ -153,7 +153,7 @@ int16_t glue_pcnt_get_delta_value(void);
 void glue_pcnt_deinit(void);
 void glue_ledc_config(ledc_channel_t channel, ledc_timer_bit_t duty_resolution, uint32_t freq_hz);
 void glue_ledc_set_duty(ledc_channel_t channel, uint32_t duty);
-void glue_can_set_speed(uint32_t rate);
+void glue_can_set_speed(CAN_HandleTypeDef *hcan, uint32_t rate);
 void glue_can_receive_msg(CAN_HandleTypeDef *hcan, uint8_t *rxBuf, CAN_RxHeaderTypeDef *rxHeader);
 HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan);
 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan, CAN_FilterTypeDef *sFilterConfig);

Firmware/Targets/ESP32S2/main/stm32f4xx_hal.h

@@ -3,6 +3,7 @@
 #define __STM32F4xx_HAL_H
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
+#include "driver/twai.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -106,6 +107,7 @@ typedef enum
 #define GPIO_PIN_48   (48)
 
 typedef struct {
+    twai_timing_config_t t_config;
     TaskHandle_t task;
 } CAN_HandleTypeDef;