improved sensor canbus code

2025-12-06 04:01:16 +01:00
parent 6ffbf710d3
commit ca2fd8a5e1
5 changed files with 97 additions and 58 deletions
--- a/Software/MainBoard/rust/src/hal/v4_sensor.rs
+++ b/Software/MainBoard/rust/src/hal/v4_sensor.rs
@@ -10,12 +10,12 @@ use canapi::id::{classify, plant_id, MessageKind, IDENTIFY_CMD_OFFSET};
 use canapi::SensorSlot;
 use embassy_embedded_hal::shared_bus::blocking::i2c::I2cDevice;
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
-use embassy_time::{Duration, Timer, WithTimeout};
+use embassy_time::{Duration, Instant, Timer, WithTimeout};
 use embedded_can::{Frame, Id};
 use esp_hal::gpio::Output;
 use esp_hal::i2c::master::I2c;
 use esp_hal::pcnt::unit::Unit;
-use esp_hal::twai::{EspTwaiFrame, StandardId, Twai, TwaiConfiguration};
+use esp_hal::twai::{EspTwaiError, EspTwaiFrame, StandardId, Twai, TwaiConfiguration};
 use esp_hal::{Async, Blocking};
 use log::{error, info, warn};
 use pca9535::{GPIOBank, Pca9535Immediate, StandardExpanderInterface};
@@ -129,10 +129,12 @@ impl SensorImpl {
                // Power on CAN transceiver and start controller
                can_power.set_high();
                let config = twai_config.take().expect("twai config not set");
+                info!("convert can");
                let mut as_async = config.into_async().start();
                // Give CAN some time to stabilize
                Timer::after_millis(10).await;

+                info!("Sending info messages now");
                // Send a few test messages per potential sensor node
                for plant in 0..crate::hal::PLANT_COUNT {
                    for sensor in [Sensor::A, Sensor::B] {
@@ -145,7 +147,7 @@ impl SensorImpl {
                        let can_buffer = [0_u8; 0];
                        if let Some(frame) = EspTwaiFrame::new(target, &can_buffer) {
                            // Try a few times; we intentionally ignore rx here and rely on stub logic
-                            let resu = as_async.transmit_async(&frame).await;
+                            let resu = as_async.transmit_async(&frame).with_timeout(Duration::from_millis(1000)).await;
                            match resu {
                                Ok(_) => {
                                    info!("Sent test message to plant {plant} sensor {sensor:?}");
@@ -164,7 +166,7 @@ impl SensorImpl {

                let mut moistures = Moistures::default();
                let _ = Self::wait_for_can_measurements(&mut as_async, &mut moistures)
-                    .with_timeout(Duration::from_millis(5000))
+                    .with_timeout(Duration::from_millis(1000))
                    .await;

                let config = as_async.stop().into_blocking();
@@ -200,15 +202,18 @@ impl SensorImpl {
                                    let plant = msg.1 as usize;
                                    let sensor = msg.2;
                                    let data = can_frame.data();
-
-                                    match sensor {
-                                        SensorSlot::A => {
-                                            moistures.sensor_a_hz[plant] = data[0] as f32;
-                                        }
-                                        SensorSlot::B => {
-                                            moistures.sensor_b_hz[plant] = data[0] as f32;
+                                    if data.len() == 2 {
+                                        let  frequency = u16::from_be_bytes([data[0], data[1]]);
+                                        match sensor {
+                                            SensorSlot::A => {
+                                                moistures.sensor_a_hz[plant] =  frequency as f32;
+                                            }
+                                            SensorSlot::B => {
+                                                moistures.sensor_b_hz[plant] = frequency as f32;
+                                            }
                                        }
                                    }
+
                                }
                            }
                        }
@@ -218,6 +223,13 @@ impl SensorImpl {
                    }
                },
                Err(err) => {
+                    match err {
+                        EspTwaiError::BusOff => {
+                            bail!("Bus offline")
+                        }
+                        EspTwaiError::NonCompliantDlc(_) => {}
+                        EspTwaiError::EmbeddedHAL(_) => {}
+                    }
                    error!("Error receiving CAN message: {err:?}");
                }
            }
--- a/Software/MainBoard/rust/src_webpack/package-lock.json
+++ b/Software/MainBoard/rust/src_webpack/package-lock.json
@@ -707,7 +707,6 @@
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      "integrity": "sha512-NZyJarBfL7nWwIq+FDL6Zp/yHEhePMNnnJ0y3qfieCrmNvYct8uvtiV41UvlSe6apAfk0fY1FbWx+NwfmpvtTg==",
      "license": "MIT",
-      "peer": true,
      "bin": {
        "acorn": "bin/acorn"
      },
@@ -732,7 +731,6 @@
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      "integrity": "sha512-B/gBuNg5SiMTrPkC+A2+cW0RszwxYmn6VYxB/inlBStS5nx6xHIt/ehKRhIMhqusl7a8LjQoZnjCs5vhwxOQ1g==",
      "license": "MIT",
-      "peer": true,
      "dependencies": {
        "fast-deep-equal": "^3.1.3",
        "fast-uri": "^3.0.1",
@@ -959,7 +957,6 @@
        }
      ],
      "license": "MIT",
-      "peer": true,
      "dependencies": {
        "baseline-browser-mapping": "^2.8.3",
        "caniuse-lite": "^1.0.30001741",
@@ -2277,7 +2274,6 @@
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      "dev": true,
      "license": "MIT",
-      "peer": true,
      "dependencies": {
        "@types/html-minifier-terser": "^6.0.0",
        "html-minifier-terser": "^6.0.2",
@@ -3384,7 +3380,6 @@
      "integrity": "sha512-j3fVLgvTo527anyYyJOGTYJbG+vnnQYvE0m5mmkc1TK+nxAppkCLMIL0aZ4dblVCNoGShhm+kzE4ZUykBoMg4g==",
      "dev": true,
      "license": "MIT",
-      "peer": true,
      "dependencies": {
        "fast-deep-equal": "^3.1.1",
        "fast-json-stable-stringify": "^2.0.0",
@@ -4343,8 +4338,7 @@
      "resolved": "https://registry.npmjs.org/tslib/-/tslib-2.8.1.tgz",
      "integrity": "sha512-oJFu94HQb+KVduSUQL7wnpmqnfmLsOA/nAh6b6EH0wCEoK0/mPeXU6c3wKDV83MkOuHPRHtSXKKU99IBazS/2w==",
      "dev": true,
-      "license": "0BSD",
-      "peer": true
+      "license": "0BSD"
    },
    "node_modules/type-is": {
      "version": "1.6.18",
@@ -4366,7 +4360,6 @@
      "integrity": "sha512-CWBzXQrc/qOkhidw1OzBTQuYRbfyxDXJMVJ1XNwUHGROVmuaeiEm3OslpZ1RV96d7SKKjZKrSJu3+t/xlw3R9A==",
      "dev": true,
      "license": "Apache-2.0",
-      "peer": true,
      "bin": {
        "tsc": "bin/tsc",
        "tsserver": "bin/tsserver"
@@ -4515,7 +4508,6 @@
      "resolved": "https://registry.npmjs.org/webpack/-/webpack-5.101.3.tgz",
      "integrity": "sha512-7b0dTKR3Ed//AD/6kkx/o7duS8H3f1a4w3BYpIriX4BzIhjkn4teo05cptsxvLesHFKK5KObnadmCHBwGc+51A==",
      "license": "MIT",
-      "peer": true,
      "dependencies": {
        "@types/eslint-scope": "^3.7.7",
        "@types/estree": "^1.0.8",
@@ -4565,7 +4557,6 @@
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      "dev": true,
      "license": "MIT",
-      "peer": true,
      "dependencies": {
        "@discoveryjs/json-ext": "^0.5.0",
        "@webpack-cli/configtest": "^2.1.1",