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Add bus error states #3

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57 changes: 33 additions & 24 deletions include/can_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -438,6 +438,15 @@ class ICAN
virtual void RegisterRXMessage(ICANRXMessage &msg) = 0;

virtual void Tick() = 0;

enum class ErrorStatus
{
ERROR_ACTIVE,
ERROR_PASSIVE,
BUS_OFF
};

virtual ErrorStatus GetErrorStatus() = 0;
};

/**
Expand Down Expand Up @@ -486,7 +495,7 @@ class MultiplexedSignalGroup : public std::array<ICANSignal *, num_signals>, pub
{
public:
template <typename... Ts>
MultiplexedSignalGroup(uint64_t multiplexor_value, Ts &... signals)
MultiplexedSignalGroup(uint64_t multiplexor_value, Ts &...signals)
: std::array<ICANSignal *, num_signals>{&signals...}
{
static_assert(sizeof...(signals) == num_signals, "Wrong number of signals passed into SignalGroup.");
Expand All @@ -495,7 +504,7 @@ class MultiplexedSignalGroup : public std::array<ICANSignal *, num_signals>, pub
}

template <typename... Ts>
MultiplexedSignalGroup(bool always_active, uint64_t multiplexor_value, Ts &... signals)
MultiplexedSignalGroup(bool always_active, uint64_t multiplexor_value, Ts &...signals)
: std::array<ICANSignal *, num_signals>{&signals...}
{
static_assert(sizeof...(signals) == num_signals, "Wrong number of signals passed into SignalGroup.");
Expand Down Expand Up @@ -533,7 +542,7 @@ class CANTXMessage : public ICANTXMessage
uint8_t length,
uint32_t period,
ICANSignal &signal_1,
Ts &... signals)
Ts &...signals)
: can_interface_{can_interface},
message_{id, extended_id, length, std::array<uint8_t, 8>()},
transmit_timer_{period, [this]() { this->EncodeAndSend(); }, VirtualTimer::Type::kRepeating},
Expand All @@ -554,7 +563,7 @@ class CANTXMessage : public ICANTXMessage
* @param signals The ICANSignals contained in the message
*/
CANTXMessage(
ICAN &can_interface, uint32_t id, uint8_t length, uint32_t period, ICANSignal &signal_1, Ts &... signals)
ICAN &can_interface, uint32_t id, uint8_t length, uint32_t period, ICANSignal &signal_1, Ts &...signals)
: CANTXMessage(can_interface, id, false, length, period, signal_1, signals...)
{
}
Expand All @@ -579,7 +588,7 @@ class CANTXMessage : public ICANTXMessage
uint32_t period,
VirtualTimerGroup &timer_group,
ICANSignal &signal_1,
Ts &... signals)
Ts &...signals)
: CANTXMessage(can_interface, id, extended_id, length, period, signal_1, signals...)
{
timer_group.AddTimer(transmit_timer_);
Expand All @@ -604,7 +613,7 @@ class CANTXMessage : public ICANTXMessage
uint32_t period,
VirtualTimerGroup &timer_group,
ICANSignal &signal_1,
Ts &... signals)
Ts &...signals)
: CANTXMessage(can_interface, id, false, length, period, timer_group, signal_1, signals...)
{
}
Expand Down Expand Up @@ -666,7 +675,7 @@ class MultiplexedCANTXMessage : public ICANTXMessage
uint32_t period,
std::array<MultiplexorType, num_multiplexors_to_transmit> multiplexor_values_to_transmit,
ITypedCANSignal<MultiplexorType> &multiplexor,
Ts &... signal_groups)
Ts &...signal_groups)
: can_interface_{can_interface},
message_{id, extended_id, length, std::array<uint8_t, 8>()},
#if !defined(NATIVE) // workaround for unit tests
Expand Down Expand Up @@ -709,7 +718,7 @@ class MultiplexedCANTXMessage : public ICANTXMessage
uint32_t period,
std::array<MultiplexorType, num_multiplexors_to_transmit> multiplexor_values_to_transmit,
ITypedCANSignal<MultiplexorType> &multiplexor,
Ts &... signal_groups)
Ts &...signal_groups)
: MultiplexedCANTXMessage(
can_interface, id, false, length, period, multiplexor_values_to_transmit, multiplexor, signal_groups...)
{
Expand Down Expand Up @@ -739,7 +748,7 @@ class MultiplexedCANTXMessage : public ICANTXMessage
VirtualTimerGroup &timer_group,
std::array<MultiplexorType, num_multiplexors_to_transmit> multiplexor_values_to_transmit,
ITypedCANSignal<MultiplexorType> &multiplexor,
Ts &... signal_groups)
Ts &...signal_groups)
: MultiplexedCANTXMessage(can_interface,
id,
extended_id,
Expand Down Expand Up @@ -776,7 +785,7 @@ class MultiplexedCANTXMessage : public ICANTXMessage
VirtualTimerGroup &timer_group,
std::array<MultiplexorType, num_multiplexors_to_transmit> multiplexor_values_to_transmit,
ITypedCANSignal<MultiplexorType> &multiplexor,
Ts &... signal_groups)
Ts &...signal_groups)
: MultiplexedCANTXMessage(can_interface,
id,
false,
Expand Down Expand Up @@ -893,7 +902,7 @@ class PGNCANTXMessage : public ICANTXMessage
uint8_t length,
uint32_t period,
ICANSignal &signal_1,
Ts &... signals)
Ts &...signals)
: can_interface_{can_interface},
message_{id, length, std::array<uint8_t, 8>()},
transmit_timer_{period, [this]() { this->EncodeAndSend(); }, VirtualTimer::Type::kRepeating},
Expand Down Expand Up @@ -921,7 +930,7 @@ class PGNCANTXMessage : public ICANTXMessage
uint32_t period,
VirtualTimerGroup &timer_group,
ICANSignal &signal_1,
Ts &... signals)
Ts &...signals)
: PGNCANTXMessage(can_interface, id, length, period, signal_1, signals...)
{
timer_group.AddTimer(transmit_timer_);
Expand Down Expand Up @@ -972,7 +981,7 @@ class CANRXMessage : public ICANRXMessage
std::function<uint32_t(void)> get_millis,
std::function<void(void)> callback_function,
ICANSignal &signal_1,
Ts &... signals)
Ts &...signals)
: can_interface_{can_interface},
id_{id},
get_millis_{get_millis},
Expand All @@ -988,7 +997,7 @@ class CANRXMessage : public ICANRXMessage
uint32_t id,
std::function<uint32_t(void)> get_millis,
ICANSignal &signal_1,
Ts &... signals)
Ts &...signals)
: CANRXMessage{can_interface, id, get_millis, nullptr, signal_1, signals...}
{
}
Expand All @@ -1001,13 +1010,13 @@ class CANRXMessage : public ICANRXMessage
uint32_t id,
std::function<void(void)> callback_function,
ICANSignal &signal_1,
Ts &... signals)
Ts &...signals)
: CANRXMessage{can_interface, id, []() { return millis(); }, callback_function, signal_1, signals...}
{
}

template <typename... Ts>
CANRXMessage(ICAN &can_interface, uint32_t id, ICANSignal &signal_1, Ts &... signals)
CANRXMessage(ICAN &can_interface, uint32_t id, ICANSignal &signal_1, Ts &...signals)
: CANRXMessage{can_interface, id, []() { return millis(); }, nullptr, signal_1, signals...}
{
}
Expand Down Expand Up @@ -1075,7 +1084,7 @@ class MultiplexedCANRXMessage : public ICANRXMessage
std::function<uint32_t(void)> get_millis,
std::function<void(void)> callback_function,
ITypedCANSignal<MultiplexorType> &multiplexor,
Ts &... signal_groups)
Ts &...signal_groups)
: can_interface_{can_interface},
id_{id},
get_millis_{get_millis},
Expand All @@ -1102,7 +1111,7 @@ class MultiplexedCANRXMessage : public ICANRXMessage
uint32_t id,
std::function<uint32_t(void)> get_millis,
ITypedCANSignal<MultiplexorType> &multiplexor,
Ts &... signal_groups)
Ts &...signal_groups)
: MultiplexedCANRXMessage{can_interface, id, get_millis, nullptr, multiplexor, signal_groups...}
{
}
Expand All @@ -1115,7 +1124,7 @@ class MultiplexedCANRXMessage : public ICANRXMessage
uint32_t id,
std::function<void(void)> callback_function,
ITypedCANSignal<MultiplexorType> &multiplexor,
Ts &... signal_groups)
Ts &...signal_groups)
: MultiplexedCANRXMessage{
can_interface, id, []() { return millis(); }, callback_function, multiplexor, signal_groups...}
{
Expand All @@ -1125,7 +1134,7 @@ class MultiplexedCANRXMessage : public ICANRXMessage
MultiplexedCANRXMessage(ICAN &can_interface,
uint32_t id,
ITypedCANSignal<MultiplexorType> &multiplexor,
Ts &... signal_groups)
Ts &...signal_groups)
: MultiplexedCANRXMessage{can_interface, id, []() { return millis(); }, nullptr, multiplexor, signal_groups...}
{
}
Expand Down Expand Up @@ -1226,7 +1235,7 @@ class PGNCANRXMessage : public ICANRXMessage
std::function<uint32_t(void)> get_millis,
std::function<void(void)> callback_function,
ICANSignal &signal_1,
Ts &... signals)
Ts &...signals)
: can_interface_{can_interface},
id_{id},
get_millis_{get_millis},
Expand All @@ -1242,7 +1251,7 @@ class PGNCANRXMessage : public ICANRXMessage
PGNCANMessage::ExtendedId id,
std::function<uint32_t(void)> get_millis,
ICANSignal &signal_1,
Ts &... signals)
Ts &...signals)
: PGNCANRXMessage{can_interface, id, get_millis, nullptr, signal_1, signals...}
{
}
Expand All @@ -1255,13 +1264,13 @@ class PGNCANRXMessage : public ICANRXMessage
PGNCANMessage::ExtendedId id,
std::function<void(void)> callback_function,
ICANSignal &signal_1,
Ts &... signals)
Ts &...signals)
: PGNCANRXMessage{can_interface, id, []() { return millis(); }, callback_function, signal_1, signals...}
{
}

template <typename... Ts>
PGNCANRXMessage(ICAN &can_interface, PGNCANMessage::ExtendedId id, ICANSignal &signal_1, Ts &... signals)
PGNCANRXMessage(ICAN &can_interface, PGNCANMessage::ExtendedId id, ICANSignal &signal_1, Ts &...signals)
: PGNCANRXMessage{can_interface, id, []() { return millis(); }, nullptr, signal_1, signals...}
{
}
Expand Down
2 changes: 2 additions & 0 deletions include/esp_can.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,8 @@ class ESPCAN : public ICAN

void Tick() override;

ErrorStatus GetErrorStatus() override;

private:
static std::vector<ICANRXMessage *> rx_messages_;
twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(GPIO_NUM_5, GPIO_NUM_4, TWAI_MODE_NORMAL);
Expand Down
2 changes: 2 additions & 0 deletions include/teensy_can.h
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,8 @@ class TeensyCAN : public ICAN

void Tick() override;

ErrorStatus GetErrorStatus() override;

private:
static std::vector<ICANRXMessage *> rx_messages_;
CAN_message_t message_t{};
Expand Down
21 changes: 21 additions & 0 deletions src/esp_can.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,4 +125,25 @@ void ESPCAN::Tick()
}
}

ICAN::ErrorStatus ESPCAN::GetErrorStatus()
{
twai_status_info_t status;
twai_get_status_info(&status);

// ref:
// https://docs.espressif.com/projects/esp-idf/en/v4.2.2/esp32s2/api-reference/peripherals/twai.html#error-states-and-counters
if (status.tx_error_counter < 128 && status.rx_error_counter < 128)
{
return ICAN::ErrorStatus::ERROR_ACTIVE;
}
else if (status.tx_error_counter >= 128 || status.rx_error_counter >= 128)
{
return ICAN::ErrorStatus::ERROR_PASSIVE;
}
else if (status.tx_error_counter >= 256)
{
return ICAN::ErrorStatus::BUS_OFF;
}
}

#endif
35 changes: 34 additions & 1 deletion src/teensy_can.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,8 @@ bool TeensyCAN<bus_num>::SendMessage(CANMessage &msg)
}

template <uint8_t bus_num>
_MB_ptr TeensyCAN<bus_num>::ProcessMessage = [](const CAN_message_t &msg) {
_MB_ptr TeensyCAN<bus_num>::ProcessMessage = [](const CAN_message_t &msg)
{
std::array<uint8_t, 8> msg_data{};
memcpy(msg_data.data(), msg.buf, 8);
CANMessage received_message{static_cast<uint32_t>(msg.id), msg.len, msg_data};
Expand All @@ -101,4 +102,36 @@ _MB_ptr TeensyCAN<bus_num>::ProcessMessage = [](const CAN_message_t &msg) {
rx_messages_[i]->DecodeSignals(received_message);
}
};

template <uint8_t bus_num>
ICAN::ErrorStatus TeensyCAN<bus_num>::GetErrorStatus()
{
CAN_error_t err;
// Repeated code due to limitations of C++11, look into alternatives without repeated code
if (bus_num == 2)
{
can_bus_2.error(err, false);
}
else if (bus_num == 3)
{
can_bus_3.error(err, false);
}
else
{
can_bus_1.error(err, false);
}

if (err.FLT_CONF == "Error Active")
{
return ICAN::ErrorStatus::ERROR_ACTIVE;
}
else if (err.FLT_CONF == "Error Passive")
{
return ICAN::ErrorStatus::ERROR_PASSIVE;
}
else if (err.FLT_CONF == "Bus off")
{
return ICAN::ErrorStatus::BUS_OFF;
}
}
#endif