initial commit

components/CANBus_Driver/CMakeLists.txt

@@ -0,0 +1,32 @@
+set(SRCS "")
+list(APPEND SRCS
+    "src/CANBus_Driver.cpp"
+)
+
+set(INCLUDE_DIRS "")
+list(APPEND INCLUDE_DIRS "include")
+
+foreach(SRC_DIR IN LISTS SRC_DIRS)
+    file(GLOB_RECURSE SRC ${SRC_DIR}/*.c)
+    list(APPEND SRCS ${SRC})
+    list(APPEND INCLUDE_DIRS ${SRC_DIR}/include)
+endforeach()
+
+idf_component_register(
+    SRCS ${SRCS}
+    INCLUDE_DIRS ${INCLUDE_DIRS}
+    REQUIRES driver
+    PRIV_REQUIRES esp_timer fatfs esp_psram esp_mm
+)
+
+target_compile_options(
+    ${COMPONENT_LIB} PRIVATE
+        -Wno-format
+        -Wno-int-conversion
+        -Wno-incompatible-pointer-types
+        -Wunused-function
+        -Wno-unused-variable
+        -Wno-unused-function
+        -Wno-overflow
+        -Wno-unused-but-set-variable
+        -Wno-discarded-qualifiers)

components/CANBus_Driver/include/CANBus_Driver.h

@@ -0,0 +1,23 @@
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "driver/twai.h"
+
+#define CAN_TX_GPIO     (gpio_num_t)21
+#define CAN_RX_GPIO     (gpio_num_t)22
+#define CANBUS_SPEED    500000   // 500kbps
+
+#define CAN_QUEUE_LENGTH 32
+#define CAN_QUEUE_ITEM_SIZE sizeof(twai_message_t)
+#define TAG "TWAI"
+
+extern bool receiving_data;
+extern void (*can_message_handler)(twai_message_t *message);
+
+void canbus_init(void);
+void start_can_tasks(void);
+
+#ifdef __cplusplus
+}
+#endif

components/CANBus_Driver/src/CANBus_Driver.cpp

@@ -0,0 +1,59 @@
+#include "CANBus_Driver.h"
+
+QueueHandle_t canMsgQueue;
+
+void receive_can_task(void *arg) {
+     while (1) {
+    twai_message_t message;
+    esp_err_t err = twai_receive(&message, pdMS_TO_TICKS(5)); // lower timeout for faster response
+    if (err == ESP_OK) {
+      receiving_data = true;
+      if (xQueueSend(canMsgQueue, &message, 0) != pdPASS) {
+      }
+      vTaskDelay(pdMS_TO_TICKS(1));
+      // No delay after successful receive
+    } else if (err == ESP_ERR_TIMEOUT) {
+        receiving_data = false;
+      // Minimal delay when idle
+      vTaskDelay(pdMS_TO_TICKS(1));
+    } else {
+       receiving_data = false;
+      vTaskDelay(pdMS_TO_TICKS(5));
+    }
+  }
+}
+
+void process_can_queue_task(void *arg) {
+  twai_message_t message;
+  while (1) {
+    if (xQueueReceive(canMsgQueue, &message, pdMS_TO_TICKS(1)) == pdPASS) {
+            if (can_message_handler) {
+                can_message_handler(&message);
+            }
+        }
+        vTaskDelay(pdMS_TO_TICKS(1));
+  }
+}
+
+void canbus_init(void) {
+  // Configure TWAI (CAN)
+    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(CAN_TX_GPIO, CAN_RX_GPIO, TWAI_MODE_NORMAL);
+    twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS();
+    twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();  // Accept all IDs
+ 
+    // Install and start TWAI driver
+    twai_driver_install(&g_config, &t_config, &f_config);
+    twai_start();
+
+    // setup TWAI
+}
+
+void start_can_tasks(void) {
+  canMsgQueue = xQueueCreate(CAN_QUEUE_LENGTH, CAN_QUEUE_ITEM_SIZE);
+  if (canMsgQueue == NULL) {
+    while (1) vTaskDelay(1000);
+  }
+
+  xTaskCreatePinnedToCore(receive_can_task, "Receive_CAN_Task", 4096, NULL, 2, NULL, 1);
+  xTaskCreatePinnedToCore(process_can_queue_task, "Process_CAN_Queue_Task", 4096, NULL, 2, NULL, 1);
+}