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Merge pull request #190 from bobbycar-graz/feature_canbus_reset

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feature can bus reset on error
This commit is contained in:
Peter Pötzi
2021-12-29 03:18:54 +01:00
committed by GitHub
parent b9c48fe886 189535b059
commit 309e829f1f
2 changed files with 35 additions and 0 deletions
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31
main/can.cpp
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@ -18,6 +18,7 @@
#include "bobbycar-can.h"
#include "globals.h"
#include "buttons.h"
#include "newsettings.h"
using namespace std::chrono_literals;
@ -279,6 +280,9 @@ void parseCanInput()
break;
}
uint32_t can_total_error_cnt = 0;
uint32_t can_sequential_error_cnt = 0;
void sendCanCommands()
{
constexpr auto send = [](uint32_t addr, auto value){
@ -290,11 +294,38 @@ void sendCanCommands()
std::memcpy(message.data, &value, sizeof(value));
const auto timeout = std::chrono::ceil<espcpputils::ticks>(espchrono::milliseconds32{settings.controllerHardware.canTransmitTimeout}).count();
const auto timestamp_before = espchrono::millis_clock::now();
const auto result = twai_transmit(&message, timeout);
if (result != ESP_OK && result != ESP_ERR_TIMEOUT)
{
ESP_LOGE(TAG, "ERROR: twai_transmit() failed with %s", esp_err_to_name(result));
}
if (result == ESP_ERR_TIMEOUT) {
can_sequential_error_cnt++;
can_total_error_cnt++;
ESP_LOGW(TAG, "twai_transmit() took %lld ms, seq err: %d, total err: %d",
espchrono::ago(timestamp_before).count(),
can_sequential_error_cnt,
can_total_error_cnt);
} else {
can_sequential_error_cnt = 0;
}
if (can_sequential_error_cnt > 3) {
can_sequential_error_cnt = 0;
if (configs.canBusResetOnError.value) {
if (const auto err = twai_stop(); err != ESP_OK || true)
ESP_LOGE(TAG, "ERROR: twai_stop() failed with %s", esp_err_to_name(err));
if (const auto err = twai_start(); err != ESP_OK || true)
ESP_LOGE(TAG, "ERROR: twai_start() failed with %s", esp_err_to_name(err));
}
}
return result;
};

4
main/newsettings.h
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@ -78,6 +78,8 @@ public:
ConfigWrapper<uint8_t> wifiApChannel {1, DoReset, {}, "wifiApChannel" };
ConfigWrapper<wifi_auth_mode_t> wifiApAuthmode{WIFI_AUTH_WPA2_PSK, DoReset, {}, "wifiApAuthmode" };
ConfigWrapper<bool> canBusResetOnError {false, DoReset, {}, "canBusRstErr" };
ConfigWrapper<std::string> bluetoothName {defaultHostname, DoReset, StringMinMaxSize<4, 32>, "bluetoothName" };
#define NEW_SETTINGS(x) \
@ -194,6 +196,8 @@ public:
x(wifiApChannel) \
x(wifiApAuthmode) \
\
x(canBusResetOnError) \
\
//x(bluetoothName)
template<typename T>