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Code Issues Releases Wiki Activity

[esp32_can] Configurable enqueue timeout (#8453)

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Patrick 2025-03-26 05:06:23 +01:00 committed by GitHub
parent bb988604c8
commit 4bb59ce1d1
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GPG Key ID: B5690EEEBB952194
5 changed files with 44 additions and 2 deletions
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11
esphome/components/canbus/__init__.py
View File

@ -1,3 +1,4 @@
import re
from esphome import automation
import esphome.codegen as cg
import esphome.config_validation as cv
@ -68,6 +69,16 @@ CAN_SPEEDS = {
"800KBPS": CanSpeed.CAN_800KBPS,
"1000KBPS": CanSpeed.CAN_1000KBPS,
}
def get_rate(value):
match = re.match(r"(\d+)(?:K(\d+)?)?BPS", value, re.IGNORECASE)
if not match:
raise ValueError(f"Invalid rate format: {value}")
fraction = match.group(2) or "0"
return int((float(match.group(1)) + float(f"0.{fraction}")) * 1000)
CANBUS_SCHEMA = cv.Schema(
{
cv.GenerateID(): cv.declare_id(CanbusComponent),

8
esphome/components/canbus/canbus.cpp
View File

@ -46,7 +46,13 @@ void Canbus::send_data(uint32_t can_id, bool use_extended_id, bool remote_transm
ESP_LOGVV(TAG, " data[%d]=%02x", i, can_message.data[i]);
}
this->send_message(&can_message);
if (this->send_message(&can_message) != canbus::ERROR_OK) {
if (use_extended_id) {
ESP_LOGW(TAG, "send to extended id=0x%08" PRIx32 " failed!", can_id);
} else {
ESP_LOGW(TAG, "send to standard id=0x%03" PRIx32 " failed!", can_id);
}
}
}
void Canbus::add_trigger(CanbusTrigger *trigger) {

21
esphome/components/esp32_can/canbus.py
View File

@ -1,3 +1,5 @@
import math
from esphome import pins
import esphome.codegen as cg
from esphome.components import canbus
@ -23,6 +25,8 @@ from esphome.const import (
CODEOWNERS = ["@Sympatron"]
DEPENDENCIES = ["esp32"]
CONF_TX_ENQUEUE_TIMEOUT = "tx_enqueue_timeout"
esp32_can_ns = cg.esphome_ns.namespace("esp32_can")
esp32_can = esp32_can_ns.class_("ESP32Can", CanbusComponent)
@ -84,10 +88,20 @@ CONFIG_SCHEMA = canbus.CANBUS_SCHEMA.extend(
cv.Required(CONF_TX_PIN): pins.internal_gpio_output_pin_number,
cv.Optional(CONF_RX_QUEUE_LEN): cv.uint32_t,
cv.Optional(CONF_TX_QUEUE_LEN): cv.uint32_t,
cv.Optional(CONF_TX_ENQUEUE_TIMEOUT): cv.positive_time_period_milliseconds,
}
)
def get_default_tx_enqueue_timeout(bit_rate):
bit_rate_numeric = canbus.get_rate(bit_rate)
bits_per_packet = 140 # ~max CAN message length
ms_per_packet = bits_per_packet / bit_rate_numeric * 1000
return int(
max(min(math.ceil(10 * ms_per_packet), 1000), 1)
) # ~10 packet lengths, min 1ms, max 1000ms
async def to_code(config):
var = cg.new_Pvariable(config[CONF_ID])
await canbus.register_canbus(var, config)
@ -98,3 +112,10 @@ async def to_code(config):
cg.add(var.set_rx_queue_len(rx_queue_len))
if (tx_queue_len := config.get(CONF_TX_QUEUE_LEN)) is not None:
cg.add(var.set_tx_queue_len(tx_queue_len))
if CONF_TX_ENQUEUE_TIMEOUT in config:
tx_enqueue_timeout_ms = config[CONF_TX_ENQUEUE_TIMEOUT].total_milliseconds
else:
tx_enqueue_timeout_ms = get_default_tx_enqueue_timeout(config[CONF_BIT_RATE])
cg.add(var.set_tx_enqueue_timeout_ms(tx_enqueue_timeout_ms))

2
esphome/components/esp32_can/esp32_can.cpp
View File

@ -124,7 +124,7 @@ canbus::Error ESP32Can::send_message(struct canbus::CanFrame *frame) {
memcpy(message.data, frame->data, frame->can_data_length_code);
}
if (twai_transmit(&message, pdMS_TO_TICKS(1000)) == ESP_OK) {
if (twai_transmit(&message, this->tx_enqueue_timeout_ticks_) == ESP_OK) {
return canbus::ERROR_OK;
} else {
return canbus::ERROR_ALLTXBUSY;

4
esphome/components/esp32_can/esp32_can.h
View File

@ -14,6 +14,9 @@ class ESP32Can : public canbus::Canbus {
void set_tx(int tx) { tx_ = tx; }
void set_tx_queue_len(uint32_t tx_queue_len) { this->tx_queue_len_ = tx_queue_len; }
void set_rx_queue_len(uint32_t rx_queue_len) { this->rx_queue_len_ = rx_queue_len; }
void set_tx_enqueue_timeout_ms(uint32_t tx_enqueue_timeout_ms) {
this->tx_enqueue_timeout_ticks_ = pdMS_TO_TICKS(tx_enqueue_timeout_ms);
}
ESP32Can(){};
protected:
@ -23,6 +26,7 @@ class ESP32Can : public canbus::Canbus {
int rx_{-1};
int tx_{-1};
TickType_t tx_enqueue_timeout_ticks_{};
optional<uint32_t> tx_queue_len_{};
optional<uint32_t> rx_queue_len_{};
};