Rx7man
November 25, 2021, 11:25pm
1
OK, I'm trying to read data on a CAN bus with an ESP32 and a sn65hvd230 CAN transceiver, I've tried every library out there, tried swapping RX/TX pins, CANH/CANL pins, fiddling with bitrates, etc.. NOTHING will work, I've spent 2 days on this and I'm absolutely frustrated now.
I have no problem doing this with my Leo and MCP2515/2551 breakout board.
Last library I used was this one GitHub - sandeepmistry/arduino-CAN: An Arduino library for sending and receiving data using CAN bus.
Any ideas?
Rx7man
November 26, 2021, 3:51am
3
Thanks I've tried that one extensively.. no way to make it work.. seems like there's a lot of different ones based on it, I've tried them all!
As a note, it works for me.
#include <CAN_config.h>
#include <ESP32CAN.h>
CAN_device_t CAN_cfg;
setup()
{
CAN_cfg.speed = CAN_SPEED_1000KBPS;
CAN_cfg.tx_pin_id = GPIO_NUM_12; // green wire
CAN_cfg.rx_pin_id = GPIO_NUM_13; // white wire
CAN_cfg.rx_queue = xQueueCreate(3, sizeof(CAN_frame_t));
//start CAN Module
ESP32Can.CANInit();
xTaskCreatePinnedToCore ( fSendCAN_Buss, "fSendCAN_Buss", TaskStack15K, NULL, Priority4, NULL, TaskCore0 );
sema__Send_CAN_Bus = xSemaphoreCreateMutex();
xSemaphoreGive ( sema__Send_CAN_Bus );
}
void fSendCAN_Buss( void *pvParameters )
{
stuSERVO_Message pxServo_Message;
for ( ;; )
{
xEventGroupWaitBits (eg, evtSendCAN_Buss, pdTRUE, pdTRUE, portMAX_DELAY);
if ( xSemaphoreTake( sema__Send_CAN_Bus, xTicksToWait0 ) == pdTRUE ) // grab semaphore no wait
{
CAN_frame_t rx_frame;
// Serial.println ( " fSendCAN_Buss 2 " );
if ( (CAN_cfg.rx_queue != NULL) && (uxQueueMessagesWaiting(CAN_cfg.rx_queue)) ) // if queue not null and something is waiting in queue
{
// Serial.println ( uxQueueMessagesWaiting(CAN_cfg.rx_queue) );
if (xQueueReceive( CAN_cfg.rx_queue, &rx_frame , xTicksToWait0) == pdTRUE )
{
if ( rx_frame.MsgID == 2 )
{
// Serial.println ( rx_frame.data.u8[0] );
if ( rx_frame.data.u8[0] == '6' )
{
EOT = false;
// Serial.print ( " frame ID " );
// Serial.print ( rx_frame.MsgID );
// Serial.println ( "ACK" );
// rx_frame.FIR.B.FF = CAN_frame_std;
// rx_frame.MsgID = xServo_EOT.MsgID;
// rx_frame.FIR.B.DLC = xServo_EOT.DLC;
// rx_frame.data.u8[0] = xServo_EOT.Servo_EOT;
// rx_frame.data.u8[1] = xServo_EOT.p4; // send all '0'
// rx_frame.data.u8[2] = xServo_EOT.p4;
// rx_frame.data.u8[3] = xServo_EOT.p4;
// rx_frame.data.u8[4] = xServo_EOT.p4;
// rx_frame.data.u8[5] = xServo_EOT.p4;
// rx_frame.data.u8[6] = xServo_EOT.p4;
// rx_frame.data.u8[7] = xServo_EOT.p4;
// ESP32Can.CANWriteFrame(&rx_frame);
// Serial.println ( " sent Servo controller ack " );
// vTaskDelay( pdMS_TO_TICKS( 6 ) );
}
// if (rx_frame.data.u8[0] = '3')
// {
// EOT = false;
// }
if ( rx_frame.data.u8[0] == '4' )
{
// rx_frame.FIR.B.FF = CAN_frame_std;
// rx_frame.MsgID = xServo_EOT.MsgID;
// rx_frame.FIR.B.DLC = xServo_EOT.DLC;
// rx_frame.data.u8[0] = '4';
// rx_frame.data.u8[1] = xServo_EOT.p4;
// rx_frame.data.u8[2] = xServo_EOT.p4;
// rx_frame.data.u8[3] = xServo_EOT.p4;
// rx_frame.data.u8[4] = xServo_EOT.p4;
// rx_frame.data.u8[5] = xServo_EOT.p4;
// rx_frame.data.u8[6] = xServo_EOT.p4;
// rx_frame.data.u8[7] = xServo_EOT.p4;
// ESP32Can.CANWriteFrame(&rx_frame);
// Serial.println ( "InitComplete ack " );
EOT = false;
xSemaphoreGive ( sema_HexaPodAdjustment ); // begin walking forward task
}
} // if ( rx_frame.MsgID == 2 )
} // if (xQueueReceive( CAN_cfg.rx_queue, &rx_frame , xTicksToWait5) == pdTRUE )
} // if ( (CAN_cfg.rx_queue != NULL) && (uxQueueMessagesWaiting(CAN_cfg.rx_queue)) )
// // ack the initialization
if ( xQueueReceive ( xQ_SERVO_Message, &pxServo_Message, QueueReceiveDelayTime ) == pdTRUE )
{
rx_frame.FIR.B.FF = CAN_frame_std;
rx_frame.MsgID = pxServo_Message.MsgID;
rx_frame.FIR.B.DLC = pxServo_Message.DLC;
rx_frame.data.u8[0] = pxServo_Message.Instruction;
rx_frame.data.u8[1] = pxServo_Message.p1;
rx_frame.data.u8[2] = pxServo_Message.p2;
rx_frame.data.u8[3] = pxServo_Message.p3;
rx_frame.data.u8[4] = pxServo_Message.p4; // end of torque to position
rx_frame.data.u8[5] = pxServo_Message.p5;
rx_frame.data.u8[6] = pxServo_Message.p6;
rx_frame.data.u8[7] = pxServo_Message.p7;
// Serial.print ( " message in sendCanBus " );
// Serial.print ( ", " );
// Serial.print ( rx_frame.data.u8[0] );
// Serial.print ( ", " );
// Serial.print ( rx_frame.data.u8[1] );
// Serial.print ( ", " );
// Serial.print (rx_frame.data.u8[2] );
// Serial.print ( ", " );
// Serial.print ( rx_frame.data.u8[3] );
// Serial.print ( ", " );
// Serial.print ( rx_frame.data.u8[4] );
// Serial.println ( " message end." );
ESP32Can.CANWriteFrame(&rx_frame);
}
//
xSemaphoreGive ( sema__Send_CAN_Bus );
////
// Serial.print( "fSendCAN_Buss " );
// Serial.print(uxTaskGetStackHighWaterMark( NULL ));
// Serial.println();
// Serial.flush();
} // if ( xSemaphoreTake( sema__Send_CAN_Bus, xTicksToWait0 ) == pdTRUE ) // grab semaphore no wait
} // the for loop
vTaskDelete( NULL );
} // void fSendCAN_Buss( void *pvParameters )
/////////////////////////////////////////////////////
Rx7man
November 26, 2021, 10:02pm
5
I'll try the same libraries with entirely different hardware and see if there's a problem in my hardware.. I have several of each device.. give that a shot!
I know this is a little old, but I'm having the same problem. Did anyone get this to work with a VD230? Like Rx7Man I've tried several libraries.
I got the transceiver from Amazon. An interesting thing is the labelling on the VD230 wears off. If they were really from TI, I don't think it would do that. I've ordered a different transceiver but it will take several weeks to arrive.
system
July 14, 2022, 7:32pm
7
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