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Merge pull request #9 from hatlabs/bus_off_2

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Try to recover from BUS-OFF
This commit is contained in:
Matti Airas 2023-11-04 16:58:35 +02:00 committed by GitHub
commit 09a8cabceb
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2 changed files with 49 additions and 11 deletions
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1
platformio.ini
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@ -21,6 +21,7 @@ lib_deps =
ttlappalainen/NMEA2000-library ttlappalainen/NMEA2000-library
ttlappalainen/NMEA2000_esp32 ttlappalainen/NMEA2000_esp32
Adafruit SSD1306 Adafruit SSD1306
pfeerick/elapsedMillis
[espressif32_base] [espressif32_base]
platform = espressif32 platform = espressif32

59
src/main.cpp
View File

@ -15,6 +15,8 @@
#include <esp_int_wdt.h> #include <esp_int_wdt.h>
#include <esp_task_wdt.h> #include <esp_task_wdt.h>
#include "elapsedMillis.h"
using namespace reactesp; using namespace reactesp;
ReactESP app; ReactESP app;
@ -22,6 +24,8 @@ ReactESP app;
#define SCREEN_WIDTH 128 // OLED display width, in pixels #define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels #define SCREEN_HEIGHT 64 // OLED display height, in pixels
#define RECOVERY_RETRY_MS 1000 // How long to attempt CAN bus recovery
TwoWire *i2c; TwoWire *i2c;
Stream *read_stream = &Serial; Stream *read_stream = &Serial;
@ -33,20 +37,26 @@ Adafruit_SSD1306 *display;
tNMEA2000 *nmea2000; tNMEA2000 *nmea2000;
int num_n2k_messages = 0;
int num_actisense_messages = 0;
elapsedMillis time_since_last_can_rx = 0;
// Time after which we should reboot if we haven't received any CAN messages
#define MAX_RX_WAIT_TIME_MS 30000
void ToggleLed() { void ToggleLed() {
static bool led_state = false; static bool led_state = false;
digitalWrite(LED_BUILTIN, led_state); digitalWrite(LED_BUILTIN, led_state);
led_state = !led_state; led_state = !led_state;
} }
int num_n2k_messages = 0;
void HandleStreamN2kMsg(const tN2kMsg &message) { void HandleStreamN2kMsg(const tN2kMsg &message) {
// N2kMsg.Print(&Serial); // N2kMsg.Print(&Serial);
num_n2k_messages++; num_n2k_messages++;
time_since_last_can_rx = 0;
ToggleLed(); ToggleLed();
} }
int num_actisense_messages = 0;
void HandleStreamActisenseMsg(const tN2kMsg &message) { void HandleStreamActisenseMsg(const tN2kMsg &message) {
// N2kMsg.Print(&Serial); // N2kMsg.Print(&Serial);
num_actisense_messages++; num_actisense_messages++;
@ -56,6 +66,29 @@ void HandleStreamActisenseMsg(const tN2kMsg &message) {
String can_state; String can_state;
void RecoverFromCANBusOff() {
// This recovery routine first discussed in
// https://www.esp32.com/viewtopic.php?t=5010 and also implemented in
// https://github.com/wellenvogel/esp32-nmea2000
static bool recovery_in_progress = false;
static elapsedMillis recovery_timer;
if (recovery_in_progress && recovery_timer < RECOVERY_RETRY_MS) {
return;
}
recovery_in_progress = true;
recovery_timer = 0;
// Abort transmission
MODULE_CAN->CMR.B.AT = 1;
// read SR after write to CMR to settle register changes
(void)MODULE_CAN->SR.U;
// Reset error counters
MODULE_CAN->TXERR.U = 127;
MODULE_CAN->RXERR.U = 0;
// Release Reset mode
MODULE_CAN->MOD.B.RM = 0;
}
void PollCANStatus() { void PollCANStatus() {
// CAN controller registers are SJA1000 compatible. // CAN controller registers are SJA1000 compatible.
// Bus status value 0 indicates bus-on; value 1 indicates bus-off. // Bus status value 0 indicates bus-on; value 1 indicates bus-off.
@ -67,13 +100,8 @@ void PollCANStatus() {
break; break;
case 1: case 1:
can_state = "BUS-OFF"; can_state = "BUS-OFF";
// try to automatically recover by rebooting // try to automatically recover
app.onDelay(2000, []() { RecoverFromCANBusOff();
esp_task_wdt_init(1, true);
esp_task_wdt_add(NULL);
while (true)
;
});
break; break;
} }
} }
@ -131,12 +159,21 @@ void setup() {
// No need to parse the messages at every single loop iteration; 1 ms will do // No need to parse the messages at every single loop iteration; 1 ms will do
app.onRepeat(1, []() { app.onRepeat(1, []() {
PollCANStatus();
nmea2000->ParseMessages(); nmea2000->ParseMessages();
actisense_reader.ParseMessages(); actisense_reader.ParseMessages();
}); });
// enable CAN status polling app.onRepeat(100, []() {
app.onRepeat(100, []() { PollCANStatus(); }); if (time_since_last_can_rx > MAX_RX_WAIT_TIME_MS) {
// No CAN messages received in a while; reboot
esp_task_wdt_init(1, true);
esp_task_wdt_add(NULL);
while (true) {
// wait for watchdog to trigger
}
}
});
// initialize the display // initialize the display
i2c = new TwoWire(0); i2c = new TwoWire(0);