425 lines
No EOL
12 KiB
C++
425 lines
No EOL
12 KiB
C++
#include <Arduino.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <CAN.h>
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#include "esp_log.h"
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static SemaphoreHandle_t mutex;
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// Task handles
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TaskHandle_t xCANSendTaskHandle = NULL;
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TaskHandle_t xSerialConsoleTaskHandle = NULL;
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// Task functions
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void vCANSendTask(void *pvParameters);
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void vSerialConsoleTask(void *pvParameters);
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// Define CAN frame IDs and data
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struct CANFrame
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{
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unsigned long id;
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byte length;
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byte data[8];
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};
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CANFrame frames[] = {
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{0x418, 8, {0x30, 0x07, 0x00, 0x03, 0x28, 0x28, 0xF8, 0xA0}},
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{0x46B, 8, {0x01, 0x00, 0xA3, 0x00, 0x01, 0x00, 0x00, 0xC0}},
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{0x47C, 8, {0x64, 0x7D, 0x42, 0x01, 0x91, 0x00, 0x70, 0x04}},
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{0x47D, 8, {0x04, 0xC1, 0x77, 0x95, 0x60, 0x01, 0x20, 0xC4}},
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{0x47F, 8, {0x04, 0x0C, 0xFA, 0x00, 0xEA, 0x72, 0x44, 0x00}},
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{0x25B, 6, {0x04, 0x46, 0x00, 0xFF, 0xFF, 0xC0}},
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{0x69F, 4, {0x75, 0x01, 0x33, 0x6F}}}; // Easylink anti-theft protecion, last 7 number of VIN in reverse order + last byte F.
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// Define byte indices for CAN frame modification
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#define STANDBY_BYTE_INDEX 0
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#define MUTE_BYTE_INDEX 2
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#define REVERSE_BYTE_INDEX 0
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#define BRIGHTNESS_BYTE_INDEX 1
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#define BRIGHTNESS_LEVEL_BYTE_INDEX 2
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#define VOLUME_BYTE_INDEX 4
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// Define GPIO pins
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#define IGNITION_GPIO_PIN 6
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#define REVERSE_GPIO_PIN 7
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#define DEBOUNCE_DELAY_IGNITION 1000
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#define DEBOUNCE_DELAY_OTHERS 100
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#define STANDBY_DURATION 3600000 // 60 minutes in milliseconds
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// Define initial states for variables
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bool ignitionState = false;
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bool reverseState = false;
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bool brightnessState = false; // false: day, true: night
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bool muteState = false;
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bool standbyState = false;
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bool volumeState = false; // false: normal, true: lowered
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int brightnessLevel = 50; // Default brightness level (0-100)
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bool gpioEnabled = false;
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unsigned long lastIgnitionTime = 0;
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unsigned long lastReverseTime = 0;
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bool gpioIgnitionState = false; // Tracks the state of GPIO ignition
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unsigned long standbyStartTime = 0; // Tracks the start time of standby mode
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// Internal variables
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bool serial_init = false;
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bool can_enabled = false;
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// Function to initialize CAN bus
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void initCAN()
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{
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while (!CAN.begin(500E3))
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{
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ESP_LOGE("CAN Interface", "Initialization failed, retrying...");
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vTaskDelay(100);
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}
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ESP_LOGI("CAN Interface", "Initialization succeeded!");
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can_enabled = true;
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}
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void stopCAN()
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{
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CAN.end();
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ESP_LOGI("CAN Interface", "Shutdown succeeded!");
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can_enabled = false;
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}
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// Function to send a CAN message
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void sendCANFrame(unsigned long canId, const byte *data, int len)
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{
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ESP_LOGD("CAN Interface", "TX ID 0x%02X DATA %02X", canId, data);
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CAN.beginPacket(canId);
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CAN.write(data, len);
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CAN.endPacket();
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ESP_LOGD("CAN Interface", "TX successful");
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}
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// Function to update CAN frame data based on variables
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void updateCANFrameData(CANFrame *frames)
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{
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frames[4].data[BRIGHTNESS_BYTE_INDEX] = brightnessState ? 0x8C : 0x0C;
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frames[4].data[VOLUME_BYTE_INDEX] = volumeState ? 0xEE : 0xEA;
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frames[4].data[BRIGHTNESS_LEVEL_BYTE_INDEX] = map(brightnessLevel, 0, 100, 0x00, 0xFA);
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frames[5].data[REVERSE_BYTE_INDEX] = reverseState ? 0x08 : 0x04;
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frames[3].data[MUTE_BYTE_INDEX] = muteState ? 0x00 : 0x77;
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frames[1].data[STANDBY_BYTE_INDEX] = standbyState ? 0x00 : 0x01;
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ESP_LOGD("CAN", "Frame update successful");
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}
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// Function to handle GPIO inputs
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void handleGPIO()
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{
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// If GPIO is disabled, return without processing GPIO inputs
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if (!gpioEnabled)
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{
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return;
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}
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unsigned long currentMillis = millis();
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// Ignition input
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if (currentMillis - lastIgnitionTime >= DEBOUNCE_DELAY_IGNITION)
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{
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bool newIgnitionState = digitalRead(IGNITION_GPIO_PIN);
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if (newIgnitionState != ignitionState)
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{
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if (!newIgnitionState)
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{
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ESP_LOGI("GPIO State machine", "Ignition turned off");
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standbyState = true;
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ESP_LOGI("State machine", "Ignition set to standby mode");
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}
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else
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{
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ESP_LOGI("GPIO State machine", "Ignition turned on");
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ignitionState = true;
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// Initialize CAN interface if ignition is on
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if (ignitionState)
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{
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initCAN();
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}
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}
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}
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}
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// Handle reverse input
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if (gpioEnabled && currentMillis - lastReverseTime >= DEBOUNCE_DELAY_OTHERS)
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{
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bool newReverseState = digitalRead(REVERSE_GPIO_PIN);
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if (newReverseState != reverseState)
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{
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if (newReverseState)
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{
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// Reverse engaged
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ESP_LOGI("GPIO State machine", "Reversing engaged");
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reverseState = true;
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volumeState = true;
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}
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else
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{
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// Reverse disengaged
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ESP_LOGI("GPIO State machine", "Reversing disengaged");
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reverseState = false;
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volumeState = false;
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}
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}
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}
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}
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// Function to print summary of all serial variables
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void printVariableSummary()
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{
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Serial.println("---CAN status summary----");
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Serial.println("-------------------------");
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Serial.print("Ignition: ");
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Serial.println(ignitionState ? "on" : "off");
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Serial.print("Standby: ");
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Serial.println(standbyState ? "yes" : "no");
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Serial.print("Reverse: ");
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Serial.println(reverseState ? "on" : "off");
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Serial.print("Brightness: ");
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Serial.println(brightnessState ? "night" : "day");
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Serial.print("Mute: ");
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Serial.println(muteState ? "on" : "off");
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Serial.print("Volume: ");
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Serial.println(volumeState ? "lowered" : "normal");
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Serial.print("Brightness Level: ");
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Serial.println(brightnessLevel);
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Serial.print("GPIO: ");
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Serial.println(gpioEnabled ? "enable" : "disable");
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Serial.println("-------------------------");
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}
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void vCANSendTask(void *pvParameters)
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{
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(void)pvParameters;
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while (1)
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{
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handleGPIO();
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// Send CAN frames at 10Hz if ignition is on
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if (ignitionState || gpioIgnitionState)
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{
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unsigned long currentMillis = millis();
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static unsigned long lastTxTime = 0;
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if (currentMillis - lastTxTime >= 100)
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{
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// Update CAN frame data based on variables
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updateCANFrameData(frames);
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// Send all CAN frames
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int i = 0;
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if (standbyState)
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{
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i = 1;
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}
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else
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{
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i = 0;
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}
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for (i; i < 6; i++)
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{
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sendCANFrame(frames[i].id, frames[i].data, frames[i].length);
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}
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lastTxTime = currentMillis;
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}
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// Send CAN frame at 1Hz
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static unsigned long lastTxTime69F = 0;
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if (currentMillis - lastTxTime69F >= 1000)
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{
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sendCANFrame(frames[6].id, frames[6].data, frames[6].length); // Send anti-theft frame
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lastTxTime69F = currentMillis;
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}
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}
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// Check if ignition should go into standby mode
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if (!gpioIgnitionState && ignitionState && !standbyStartTime && standbyState)
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{
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standbyStartTime = millis(); // Start the standby timer
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ESP_LOGI("State machine", "Start standby timer");
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}
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// Check if standby duration has elapsed and gpio ignition is still false
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if (standbyStartTime && millis() - standbyStartTime >= STANDBY_DURATION && !gpioIgnitionState)
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{
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ignitionState = false; // Set ignition to off after standby duration
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ESP_LOGI("State machine", "Ignition turned off after standby duration");
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standbyState = false;
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standbyStartTime = 0; // Reset standby timer
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}
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// If GPIO ignition is true, reset standby timer
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if (gpioIgnitionState && standbyState)
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{
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standbyStartTime = 0; // Reset standby timer
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standbyState = false;
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ESP_LOGI("State machine", "Ignition standby timer disabled");
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}
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vTaskDelay(10);
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}
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}
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void vSerialConsoleTask(void *pvParameters)
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{
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(void)pvParameters;
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while (1)
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{
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if (Serial.available() > 0)
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{
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String input = Serial.readStringUntil('\n');
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input.trim();
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if (input.length() == 0)
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{
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printVariableSummary();
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}
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else
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{
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// Parse input commands
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if (input.startsWith("ignition"))
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{
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if (input.endsWith("on"))
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{
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ignitionState = true;
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ESP_LOGI("State machine", "Ignition turned on");
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standbyState = false;
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if (!can_enabled)
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{
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ESP_LOGD("State machine", "Try to enable CAN Interface");
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initCAN();
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}
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if (standbyStartTime != 0) {
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standbyStartTime = 0; // Reset standby timer
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ESP_LOGI("State machine"," Ignition standby timer disabled");
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}
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}
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else if (input.endsWith("off"))
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{
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ignitionState = false;
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standbyStartTime = millis();
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ESP_LOGI("State machine", "Ignition turned off");
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if (can_enabled)
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{
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ESP_LOGD("State machine", "Try to disable CAN Interface");
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stopCAN();
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}
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}
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else if (input.endsWith("standby"))
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{
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// Print current standby duration if ignition is in standby mode
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if (standbyStartTime)
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{
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unsigned long remainingTime = STANDBY_DURATION - (millis() - standbyStartTime);
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standbyState = true;
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ESP_LOGI("State machine", "Ignition in standby mode, remaining time: %d minutes", remainingTime / 60000);
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}
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else
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{
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standbyStartTime = millis();
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ESP_LOGI("State machine", "Ignition set to standby mode, retype command to see duration left");
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if (!can_enabled)
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{
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ESP_LOGD("State machine", "Try to enable CAN Interface");
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initCAN();
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}
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standbyState = true;
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ignitionState = true;
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}
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}
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}
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else if (input.startsWith("gpio"))
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{
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if (input.endsWith("enable"))
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{
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gpioEnabled = true;
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ESP_LOGI("Variables", "GPIO enabled");
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}
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else if (input.endsWith("disable"))
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{
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gpioEnabled = false;
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ESP_LOGI("Variables", "GPIO disabled");
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}
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}
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else if (input.startsWith("mute"))
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{
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if (input.endsWith("on"))
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{
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muteState = true;
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ESP_LOGI("Variables", "MUTE turned on");
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}
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else if (input.endsWith("off"))
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{
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muteState = false;
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ESP_LOGI("Variables", "MUTE turned off");
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}
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}
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else if (input.startsWith("reverse"))
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{
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if (input.endsWith("on"))
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{
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reverseState = true;
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ESP_LOGI("Variables", "REVERSE turned on");
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}
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else if (input.endsWith("off"))
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{
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reverseState = false;
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ESP_LOGI("Variables", "REVERSE turned off");
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}
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}
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else if (input.startsWith("brightness"))
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{
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if (input.endsWith("day"))
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{
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brightnessState = false;
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ESP_LOGI("Variables", "Brightness set to DAY");
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}
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else if (input.endsWith("night"))
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{
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brightnessState = true;
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ESP_LOGI("Variables", "Brightness set to NIGHT");
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}
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}
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else if (input.startsWith("volume"))
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{
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if (input.endsWith("normal"))
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{
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volumeState = false;
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ESP_LOGI("Variables", "VOLUME set to NORMAL");
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}
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else if (input.endsWith("lowered"))
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{
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volumeState = true;
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ESP_LOGI("Variables", "VOLUME set to LOWERED");
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}
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}
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else
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{
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ESP_LOGE("Variables", "Invalid command received");
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}
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}
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}
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vTaskDelay(10);
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}
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}
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void setup()
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{
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Serial.begin(115200);
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Serial.setTimeout(5000);
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ESP_LOGI("SYS", "Easylink CAN Waker application starting up...");
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mutex = xSemaphoreCreateMutex();
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//Print state of variables during bootup
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ESP_LOGD("SYS", "Print actual variable states");
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printVariableSummary();
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xTaskCreatePinnedToCore(vCANSendTask, "CANSendTask", 8096, NULL, 10, &xCANSendTaskHandle, 0);
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ESP_LOGD("SYS", "Start CANSendTask");
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xTaskCreatePinnedToCore(vSerialConsoleTask, "SerialConsoleTask", 8096, NULL, 10, &xSerialConsoleTaskHandle, 1);
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ESP_LOGD("SYS", "Start SerialConsoleTask");
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}
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void loop()
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{
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//We are using tasks instead
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} |