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Inspect and output the CAN bus state

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If the bus goes to bus-off state, a reboot is performed to clear
the issue.
This commit is contained in:
Matti Airas 2022-04-01 16:17:02 +03:00
parent f3336e0ff3
commit 64ecf56190
1 changed files with 30 additions and 0 deletions
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30
src/main.cpp
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@ -13,6 +13,8 @@
#include <NMEA2000_esp32.h>
#include <ReactESP.h>
#include <esp_int_wdt.h>
#include <esp_task_wdt.h>
using namespace reactesp;
ReactESP app;
@ -52,6 +54,30 @@ void HandleStreamActisenseMsg(const tN2kMsg &message) {
nmea2000->SendMsg(message);
}
String can_state;
void PollCANStatus() {
// CAN controller registers are SJA1000 compatible.
// Bus status value 0 indicates bus-on; value 1 indicates bus-off.
unsigned int bus_status = MODULE_CAN->SR.B.BS;
switch (bus_status) {
case 0:
can_state = "RUNNING";
break;
case 1:
can_state = "BUS-OFF";
// try to automatically recover by rebooting
app.onDelay(2000, []() {
esp_task_wdt_init(1, true);
esp_task_wdt_add(NULL);
while (true)
;
});
break;
}
}
void setup() {
// setup serial output
Serial.begin(115200);
@ -109,6 +135,9 @@ void setup() {
actisense_reader.ParseMessages();
});
// enable CAN status polling
app.onRepeat(100, []() { PollCANStatus(); });
// initialize the display
i2c = new TwoWire(0);
i2c->begin(SDA_PIN, SCL_PIN);
@ -129,6 +158,7 @@ void setup() {
display->setCursor(0, 0);
display->setTextColor(SSD1306_WHITE);
display->printf("SH-ESP32 N2K USB GW\n");
display->printf("CAN: %s\n", can_state.c_str());
display->printf("Uptime: %lu\n", millis() / 1000);
display->printf("RX: %d\n", num_n2k_messages);
display->printf("TX: %d\n", num_actisense_messages);