i am using the Arduino IDE to make a program for my ESP32 with FreeRTOS
i have almost 9 tasks with the same priority level.
i am using the TWAI to connect 2 devices (Esp32 with an arduino nano)
as a code for TWAI i am using the combined codes from ESP32->TWAI->TWAIreceive,TWAItransmit examples
when i start my system everything work fine... the esp32 transmit a default message to the Arduino Nano , Nano received it and when i press a button in the Nano then transmit a message and the ESP32 receiving it...
i have leave it like that for a day and more and everything work fine.
when the button i press in the nano sends a message that esp32 have to start one oparation (one task) then after 8-9 seconds my bus line failing.... the nano stops receiving any message and the esp32 gives me an error : Failed to queue message for transmission
that comes from this line of the code :
Code: Select all
if (twai_transmit(&message, pdMS_TO_TICKS(3000)) == ESP_OK) {
printf("Message queued for transmission\n");
} else {
printf("Failed to queue message for transmission\n");
Is any method that could make the TWAI reset ? now i have to hard reset the esp32 to fix the communication or any method that will ignore the problem and continue (until i find out what produce the error in the first place)
here is the code i am using to receive and trasmit based on the examples :
Code: Select all
#include "driver/twai.h"
// Pins used to connect to CAN bus transceiver:
#define RX_PIN 26
#define TX_PIN 27
// Intervall:
#define TRANSMIT_RATE_MS 1000
#define POLLING_RATE_MS 1000
static bool driver_installed = false;
unsigned long previousMillis = 0; // will store last time a message was send
String texto;
Calls = 0;
void setup() {
// put your setup code here, to run once:
Serial.begin(115200);
xTaskCreate(
TaskTWAI, // Task function.
"Task TWAI", // name of task.
2048, // Stack size of task
NULL, // parameter of the task
1, // priority of the task
&Task_TWAI // Task handle to keep track of created task
); // pin task to core 0
//tskNO_AFFINITY); // pin task to core is automatic depends the load of each core
}
void loop() {
// put your main code here, to run repeatedly:
}
void TaskTWAI(void *pvParameters) {
// give some time at boot the cpu setup other parameters
//vTaskDelay(1000 / portTICK_PERIOD_MS);
// Initialize configuration structures using macro initializers
twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT((gpio_num_t)TX_PIN, (gpio_num_t)RX_PIN, TWAI_MODE_NO_ACK); // TWAI_MODE_NO_ACK , TWAI_MODE_LISTEN_ONLY , TWAI_MODE_NORMAL
twai_timing_config_t t_config = TWAI_TIMING_CONFIG_50KBITS(); //Look in the api-reference for other speed sets.
twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
// Install TWAI driver
if (twai_driver_install(&g_config, &t_config, &f_config) == ESP_OK) {
Serial.println("Driver installed");
} else {
Serial.println("Failed to install driver");
return;
}
// Start TWAI driver
if (twai_start() == ESP_OK) {
Serial.println("Driver started");
} else {
Serial.println("Failed to start driver");
return;
}
// Reconfigure alerts to detect frame receive, Bus-Off error and RX queue full states
uint32_t alerts_to_enable = TWAI_ALERT_RX_DATA | TWAI_ALERT_ERR_PASS | TWAI_ALERT_RX_QUEUE_FULL | TWAI_ALERT_TX_IDLE | TWAI_ALERT_TX_SUCCESS | TWAI_ALERT_TX_FAILED | TWAI_ALERT_BUS_ERROR;
if (twai_reconfigure_alerts(alerts_to_enable, NULL) == ESP_OK) {
Serial.println("CAN Alerts reconfigured");
} else {
Serial.println("Failed to reconfigure alerts");
return;
}
// TWAI driver is now successfully installed and started
driver_installed = true;
for (;;) {
if (!driver_installed) {
// Driver not installed
delay(1000);
return;
}
// Check if alert happened
uint32_t alerts_triggered;
twai_read_alerts(&alerts_triggered, pdMS_TO_TICKS(POLLING_RATE_MS));
twai_status_info_t twaistatus;
twai_get_status_info(&twaistatus);
// Handle alerts
if (alerts_triggered & TWAI_ALERT_ERR_PASS) {
Serial.println("Alert: TWAI controller has become error passive.");
}
if (alerts_triggered & TWAI_ALERT_BUS_ERROR) {
Serial.println("Alert: A (Bit, Stuff, CRC, Form, ACK) error has occurred on the bus.");
Serial.printf("Bus error count: %d\n", twaistatus.bus_error_count);
}
if (alerts_triggered & TWAI_ALERT_TX_FAILED) {
Serial.println("Alert: The Transmission failed.");
Serial.printf("TX buffered: %d\t", twaistatus.msgs_to_tx);
Serial.printf("TX error: %d\t", twaistatus.tx_error_counter);
Serial.printf("TX failed: %d\n", twaistatus.tx_failed_count);
}
if (alerts_triggered & TWAI_ALERT_TX_SUCCESS) {
Serial.println("Alert: The Transmission was successful.");
Serial.printf("TX buffered: %d\t", twaistatus.msgs_to_tx);
}
if (alerts_triggered & TWAI_ALERT_RX_QUEUE_FULL) {
Serial.println("Alert: The RX queue is full causing a received frame to be lost.");
Serial.printf("RX buffered: %d\t", twaistatus.msgs_to_rx);
Serial.printf("RX missed: %d\t", twaistatus.rx_missed_count);
Serial.printf("RX overrun %d\n", twaistatus.rx_overrun_count);
}
// Check if message is received
if (alerts_triggered & TWAI_ALERT_RX_DATA) {
Serial.println("Testing line");
// One or more messages received. Handle all.
twai_message_t message;
while (twai_receive(&message, 0) == ESP_OK) {
handle_rx_message(message);
}
}
// Send message
unsigned long currentMillis = millis();
if (currentMillis - previousMillis >= TRANSMIT_RATE_MS) {
previousMillis = currentMillis;
send_message();
}
vTaskDelay(10);
}
}
static void send_message() {
// Send message
// Configure message to transmit
twai_message_t message;
message.identifier = 0x25;
message.data_length_code = 8;
for (int i = 0; i < 4; i++) {
message.data[i] = 10;
}
// Queue message for transmission
if (twai_transmit(&message, pdMS_TO_TICKS(3000)) == ESP_OK) {
printf("Message queued for transmission\n");
} else {
printf("Failed to queue message for transmission\n");
//twai_initiate_recovery();
twai_stop();
printf("twai Stoped\n");
vTaskDelay(500);
twai_start();
printf("twai Started\n");
vTaskDelay(500);
}
vTaskDelay(100);
}
///*
static void handle_rx_message(twai_message_t& message) {
// Process received message
if (message.extd) {
Serial.println("Message is in Extended Format");
} else {
Serial.println("Message is in Standard Format");
}
Serial.printf("ID: %x\nByte:", message.identifier);
if (!(message.rtr)) {
for (int i = 0; i < message.data_length_code; i++) {
Serial.printf(" %d = %02x,", i, message.data[i]);
}
Serial.println("");
}
// WORKING0
if (message.identifier == 0x20) {
// working also and with 02 instead of 0x02
if (message.data[0] == 0x01) {
if (Moving == false) {
Serial.println("Down call");
if (Calls != 0 && FloorPosition != 0) {
Calls = 0;
}
}
}
if (message.data[0] == 0x02) {
if (Moving == false) {
Serial.println("up call");
if (Calls != 1 && FloorPosition != 1) {
Calls = 1;
}
}
}
}
}
Thanks in advance