Unified can

Author: zjwhitehead

inc/sp140/bms.h

@@ -24,6 +24,7 @@ extern bool bmsTwaiInitialized;
 // BMS functions
 void initBMS();
 void updateBMSData();
+bool isBMSMessage(uint32_t id);
 void parseBMSPacket(const twai_message_t* message);
 bool isBMSConnected();
 void printBMSData();

inc/sp140/can_bus.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#include <Arduino.h>
+#include "driver/twai.h"
+#include "sp140/structs.h"
+
+// Unified CAN bus management
+void initUnifiedCANBus();
+void unifiedCANBusTask(void* parameter);
+void processCANMessage(const twai_message_t& message);
+
+// External references to ESC functions
+extern void processESCMessage(const twai_message_t& message);
+extern void processESCTasks();
+
+// Task handle
+extern TaskHandle_t canBusTaskHandle;

inc/sp140/esc.h

@@ -20,6 +20,8 @@
 void initESC();
 void setESCThrottle(int throttlePWM);
 void readESCTelemetry();
+void processESCMessage(const twai_message_t& message);
+void processESCTasks();
 bool setupTWAI();
 
 // Get the highest temperature from all ESC sensors

platformio.ini

@@ -50,7 +50,7 @@ lib_deps =
 	adafruit/Adafruit ST7735 and ST7789 Library@1.11.0
 	adafruit/Adafruit NeoPixel@1.14.0
 	https://github.com/rlogiacco/CircularBuffer@1.4.0
-	https://github.com/openppg/SINE-ESC-CAN
+	https://github.com/openppg/SINE-ESC-CAN#4ea824aedba818ee04e301a8bf46f62010e5b363
 	lvgl/lvgl@^8.3.11
 lib_ignore =
 	Adafruit SleepyDog Library

src/sp140/bms.cpp

@@ -69,6 +69,17 @@ void initBMS() {
   memset(cellVoltages, 0, sizeof(cellVoltages));
 }
 
+/**
+ * Check if this is a BMS message ID
+ */
+bool isBMSMessage(uint32_t id) {
+  return (id == BMS_BASIC_INFO_1 || id == BMS_BASIC_INFO_2 || id == BMS_CYCLE_INFO ||
+          id == BMS_TEMPERATURE ||
+          (id >= BMS_BATTERY_ID_BASE && id <= (BMS_BATTERY_ID_BASE + 2)) ||
+          ((id >> 24) == 0x18 && ((id >> 8) & 0xFF) == 0x28 &&
+           ((id >> 16) & 0xFF) >= 0xC8 && ((id >> 16) & 0xFF) < (0xC8 + BMS_MAX_CELLS/4)));
+}
+
 /**
  * Parse BMS CAN packet and update internal data
  */
@@ -173,38 +184,14 @@ bool isBMSConnected() {
 }
 
 /**
- * Update BMS data by reading from TWAI and processing messages
- * This function should be called regularly to check for new BMS messages
- * Processes only a limited number of messages per call to avoid blocking
+ * Update BMS telemetry structure with latest parsed data
+ * Called by unified CAN bus after BMS messages are processed
  */
 void updateBMSData() {
   if (!bmsTwaiInitialized) {
     return;
   }
 
-  // Process only a few messages per call to avoid blocking the ESC
-  int messagesProcessed = 0;
-  const int maxMessagesPerCall = 10;
-
-  twai_message_t message;
-  while (messagesProcessed < maxMessagesPerCall && twai_receive(&message, 0) == ESP_OK) {
-    messagesProcessed++;
-
-    // Only process messages that could be from BMS
-    uint32_t id = message.identifier;
-
-    // Check if this is a BMS message ID
-    if (id == BMS_BASIC_INFO_1 || id == BMS_BASIC_INFO_2 || id == BMS_CYCLE_INFO ||
-        id == BMS_TEMPERATURE ||
-        (id >= BMS_BATTERY_ID_BASE && id <= (BMS_BATTERY_ID_BASE + 2)) ||
-        ((id >> 24) == 0x18 && ((id >> 8) & 0xFF) == 0x28 &&
-         ((id >> 16) & 0xFF) >= 0xC8 && ((id >> 16) & 0xFF) < (0xC8 + BMS_MAX_CELLS/4))) {
-
-      parseBMSPacket(&message);
-    }
-    // Other messages are ignored and will be available for ESC processing
-  }
-
   // Update connection status
   bool connected = isBMSConnected();
   if (connected != (bmsTelemetryData.bmsState == TelemetryState::CONNECTED)) {

src/sp140/can_bus.cpp

@@ -0,0 +1,81 @@
+#include "sp140/can_bus.h"
+#include "sp140/bms.h"
+#include "sp140/esc.h"
+#include "sp140/globals.h"
+#include "driver/twai.h"
+
+TaskHandle_t canBusTaskHandle = NULL;
+
+/**
+ * Initialize the unified CAN bus management system
+ * This should be called after both ESC and BMS systems are initialized
+ */
+void initUnifiedCANBus() {
+  USBSerial.println("Initializing unified CAN bus management...");
+
+  // Create the unified CAN bus task with high priority
+  xTaskCreatePinnedToCore(
+    unifiedCANBusTask,
+    "UnifiedCANBus",
+    4096,
+    NULL,
+    6,  // High priority to ensure messages are processed quickly
+    &canBusTaskHandle,
+    1   // Pin to core 1
+  );
+
+  USBSerial.println("Unified CAN bus task created successfully");
+}
+
+/**
+ * Unified CAN bus task that handles all TWAI message processing
+ * Routes messages to appropriate systems (BMS or ESC) based on message ID
+ */
+void unifiedCANBusTask(void* parameter) {
+  twai_message_t message;
+  const TickType_t maxWaitTime = pdMS_TO_TICKS(1); // 1ms timeout
+
+  USBSerial.println("Unified CAN bus task started");
+
+  while (true) {
+    // Only process if TWAI is initialized
+    if (!escTwaiInitialized) {
+      vTaskDelay(pdMS_TO_TICKS(10));
+      continue;
+    }
+
+        // Process all available messages
+    while (twai_receive(&message, 0) == ESP_OK) {
+      processCANMessage(message);
+    }
+
+    // Process ESC tasks (alerts, transmission, stale transfers)
+    processESCTasks();
+
+    // Small delay to prevent task from consuming too much CPU
+    vTaskDelay(pdMS_TO_TICKS(2));
+  }
+}
+
+/**
+ * Process a single CAN message and route it to the appropriate system
+ * @param message The received TWAI message
+ */
+void processCANMessage(const twai_message_t& message) {
+  // Check if this is a BMS message
+  if (isBMSMessage(message.identifier)) {
+    // Route to BMS system
+    parseBMSPacket(&message);
+
+    #ifdef CAN_DEBUG
+    USBSerial.printf("BMS message processed: ID=0x%08X\n", message.identifier);
+    #endif
+    } else {
+    // Route to ESC system
+    processESCMessage(message);
+
+    #ifdef CAN_DEBUG
+    USBSerial.printf("ESC message processed: ID=0x%08X\n", message.identifier);
+    #endif
+  }
+}

src/sp140/esc.cpp

@@ -134,7 +134,7 @@ void readESCTelemetry() {
     }
   }
 
-  adapter.processTxRxOnce();  // Process CAN messages
+  // Note: CAN message processing is now handled by unified CAN bus task
 }
 
 /**
@@ -202,6 +202,22 @@ bool setupTWAI() {
   return true;
 }
 
+/**
+ * Process a single ESC message from the unified CAN bus
+ */
+void processESCMessage(const twai_message_t& message) {
+  adapter.processRxMessage(message);
+}
+
+/**
+ * Process ESC tasks (alerts, transmission, stale transfers)
+ */
+void processESCTasks() {
+  adapter.processAlerts();
+  adapter.processTx();
+  adapter.processStaleTransfers();
+}
+
 /**
  * Debug function to dump ESC throttle response data to serial
  * @param res Pointer to the throttle response structure from ESC

src/sp140/sp140.ino

@@ -28,6 +28,7 @@
 #include "../../inc/sp140/esc.h"
 #include "../../inc/sp140/lvgl/lvgl_display.h"
 #include "../../inc/sp140/bms.h"
+#include "../../inc/sp140/can_bus.h"
 #include "../../inc/sp140/altimeter.h"
 #include "../../inc/sp140/debug.h"
 
@@ -365,9 +366,9 @@ void spiCommTask(void *pvParameters) {
         xQueueOverwrite(escTelemetryQueue, &escTelemetryData);  // Always latest data
         refreshDisplay();
       #else
-        // 1. Update BMS data if TWAI is initialized
+        // 1. Update BMS telemetry structure (CAN messages processed by unified CAN bus)
         if (bmsTwaiInitialized) {
-          updateBMSData();  // This function handles TWAI message processing
+          updateBMSData();  // This function updates telemetry structure only
         }
 
         // 2. Use BMS data if connected, otherwise use ESC data
@@ -490,6 +491,9 @@ void setup() {
   #ifndef SCREEN_DEBUG
     // Initialize BMS on shared TWAI bus (must be after ESC init)
     initBMS();
+
+    // Initialize unified CAN bus management (must be after both ESC and BMS init)
+    initUnifiedCANBus();
   #endif
   eepromSemaphore = xSemaphoreCreateBinary();
   xSemaphoreGive(eepromSemaphore);