Hi to all and happy new year
I wanted to play with FreeRtos and an Esp32.
I like when i am written my code to split it in multiple Tabs (one tab for "global variables", an other one for "setup" , an other for "Loop" etc)
i have this code that when i compile it like it is (in one only tab) everything is ok
// TWAI - CANBUs
#include "driver/twai.h"
// Pins used to connect to CAN bus transceiver:
#define RX_PIN 26
#define TX_PIN 25
// Intervall:
#define POLLING_RATE_MS 1000
static bool driver_installed = false;
String texto;
///??////////////////////////////////////////////////////////////////////
TaskHandle_t Task_OneTask;
TaskHandle_t Task_TWAI;
TaskHandle_t Task_ThirdTask;
void setup() {
// put your setup code here, to run once:
Serial.begin(115200);
///////////////////////////////////////////////////////////////////////
// TWAI
// 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_LISTEN_ONLY);
twai_timing_config_t t_config = TWAI_TIMING_CONFIG_125KBITS(); //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_BUS_ERROR | TWAI_ALERT_RX_QUEUE_FULL;
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;
///////////////////////////////////////////////////////////////////////
// Free RTOS
xTaskCreate(
TaskOneTask, // Task function.
"Task OneTask", // name of task.
1024, // Stack size of task
NULL, // parameter of the task
1, // priority of the task
&Task_OneTask // Task handle to keep track of created task
); // pin task to core 0
delay(100);
xTaskCreate(
TaskTWAI, // Task function.
"Task TWAI", // name of task.
1024, // Stack size of task
NULL, // parameter of the 7
1, // priority of the task
&Task_TWAI // Task handle to keep track of created task
); // pin task to core 0
delay(100);
xTaskCreate(
TaskThirdTask, // Task function.
"Task ThirdTask", // name of task.
1024, // Stack size of task
NULL, // parameter of the task
1, // priority of the task
&Task_ThirdTask // Task handle to keep track of created task
); // pin task to core 0
delay(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("");
}
// WORKING
if (message.identifier == 0x20) {
// working also and with 02 instead of 0x02
if (message.data[1] == 0x02){
Serial.println("Message received , everything OK !! ");
}
}
}
void loop() {
// put your main code here, to run repeatedly:
}
void TaskOneTask(void* parameter) {
Serial.print("Task1 is running on core ");
Serial.println(xPortGetCoreID());
for (;;) {
Serial.println("OneTask ");
delay(200);
}
}
void TaskTWAI(void* parameter) {
Serial.print("Task1 is running on core ");
Serial.println(xPortGetCoreID());
for (;;) {
Serial.println("TWAI ");
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_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) {
// One or more messages received. Handle all.
twai_message_t message;
while (twai_receive(&message, 0) == ESP_OK) {
handle_rx_message(message);
}
}
}
}
void TaskThirdTask(void* parameter) {
Serial.print("Task1 is running on core ");
Serial.println(xPortGetCoreID());
for (;;) {
Serial.println("ThirdTask ");
delay(200);
}
}
If i split it to multiple Tabs i am getting an error
error: variable or field 'handle_rx_message' declared void
static void handle_rx_message(twai_message_t& message) {
^~~~~~~~~~~~~~
and
Compilation error: variable or field 'handle_rx_message' declared void
The problem is the : static void handle_rx_message(twai_message_t& message)
if i keep the global variables , setup and static void handle_rx_message(twai_message_t& message) in the same first Tab then i can split my remain code to other tabs
Any suggestion about what i am doing wrong when i split my code? am i missing any parammeters that have to use when i split my code?
Thanks in advance