esp32_can_builtin_local.h

/*
  MCP2515.h - Library for Microchip MCP2515 CAN Controller
  
  Author: David Harding
  Maintainer: RechargeCar Inc (http://rechargecar.com)
  Further Modification: Collin Kidder
  
  Created: 11/08/2010
  
  For further information see:
  
  http://ww1.microchip.com/downloads/en/DeviceDoc/21801e.pdf
  http://en.wikipedia.org/wiki/CAN_bus


  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/

#ifndef __ESP32_CAN__
#define __ESP32_CAN__

#include "Arduino.h"
#include "can_common_local.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "driver/gpio.h"
#include "driver/adc.h"
#include "esp_system.h"
#include "esp_adc_cal.h"
#include "driver/twai.h"

//#define DEBUG_SETUP
#define BI_NUM_FILTERS 32

#define BI_RX_BUFFER_SIZE	64
#define BI_TX_BUFFER_SIZE  16

typedef struct
{
  uint32_t mask;
  uint32_t id;
  bool extended;
  bool configured;
} ESP32_FILTER;

typedef struct
{
    twai_timing_config_t cfg;
    uint32_t speed;
} VALID_TIMING;

class ESP32CAN : public CAN_COMMON
{
public:
  ESP32CAN(gpio_num_t rxPin, gpio_num_t txPin);
  ESP32CAN();

  //block of functions which must be overriden from CAN_COMMON to implement functionality for this hardware
  int _setFilterSpecific(uint8_t mailbox, uint32_t id, uint32_t mask, bool extended);
  int _setFilter(uint32_t id, uint32_t mask, bool extended);
  void _init();
  uint32_t init(uint32_t ul_baudrate);
  uint32_t beginAutoSpeed();
  uint32_t set_baudrate(uint32_t ul_baudrate);
  void setListenOnlyMode(bool state);
  void enable();
  void disable();
  bool sendFrame(CAN_FRAME& txFrame);
  void setTXBufferSize(int newSize);
  void setRXBufferSize(int newSize);
  void demo_checkForReceivedFramesAndConsume(void);
  uint8_t isReceiveDataAvailable(void);
  void consumeReceivedData(CAN_FRAME &msg);

  void setCANPins(gpio_num_t rxPin, gpio_num_t txPin);

  friend void CAN_WatchDog_Builtin( void *pvParameters );

protected:
  bool initializedResources;
  int cyclesSinceTraffic;

private:
  // Pin variables
  ESP32_FILTER filters[BI_NUM_FILTERS];
  int rxBufferSize;
};


#endif