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fix(balance): TWAI bus-off detection, auto-recovery, console off UART0

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- vesc_can: poll twai_get_status_info() every 500ms; auto-recover from
  bus-off (twai_initiate_recovery) and stopped state (twai_start)
- vesc_can: expose g_twai_bus_off / g_twai_tx_err_count / g_twai_rx_err_count
- main: set flags bit2 when TWAI is bus-off (visible in TELEM_STATUS)
- sdkconfig: switch console from UART0 (conflicts with binary protocol
  at 460800) to USB serial JTAG — eliminates log corruption on Orin

Flags byte: bit0=estop, bit1=hb_timeout, bit2=twai_bus_off

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
sl-firmware 2026-04-19 22:54:03 -04:00
parent b830420efc
commit 4335d71187
4 changed files with 47 additions and 8 deletions
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10
esp32s3/balance/main/main.c
View File

@ -41,9 +41,10 @@ static void telem_task(void *arg)
state = BAL_ARMED;
}
/* flags: bit0=estop_active, bit1=heartbeat_timeout */
/* flags: bit0=estop_active, bit1=heartbeat_timeout, bit2=twai_bus_off */
uint8_t flags = (g_orin_ctrl.estop ? 0x01u : 0x00u) |
(hb_timeout ? 0x02u : 0x00u);
(hb_timeout ? 0x02u : 0x00u) |
(g_twai_bus_off ? 0x04u : 0x00u);
/* Battery voltage from VESC_ID_A STATUS_5 (V×10 → mV) */
uint16_t vbat_mv = (uint16_t)((int32_t)g_vesc[0].voltage_x10 * 100);
@ -96,8 +97,9 @@ void app_main(void)
s_orin_tx_q = xQueueCreate(ORIN_TX_QUEUE_DEPTH, sizeof(orin_tx_frame_t));
configASSERT(s_orin_tx_q);
/* Seed heartbeat timer so we don't immediately timeout */
g_orin_ctrl.hb_last_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
/* Seed timers so we don't immediately trip hb_timeout or drive_stale */
g_orin_ctrl.hb_last_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
g_orin_drive.updated_ms = g_orin_ctrl.hb_last_ms;
/* Create tasks */
xTaskCreate(orin_serial_rx_task, "orin_rx", 4096, s_orin_tx_q, 10, NULL);

36
esp32s3/balance/main/vesc_can.c
View File

@ -17,6 +17,9 @@
static const char *TAG = "vesc_can";
vesc_state_t g_vesc[2] = {0};
volatile bool g_twai_bus_off = false;
volatile uint32_t g_twai_tx_err_count = 0;
volatile uint32_t g_twai_rx_err_count = 0;
/* Index for a given VESC node ID: 0=VESC_ID_A, 1=VESC_ID_B */
static int vesc_idx(uint8_t id)
@ -55,15 +58,46 @@ void vesc_can_send_rpm(uint8_t vesc_id, int32_t erpm)
msg.data[1] = (uint8_t)(u >> 16u);
msg.data[2] = (uint8_t)(u >> 8u);
msg.data[3] = (uint8_t)(u);
twai_transmit(&msg, pdMS_TO_TICKS(5));
esp_err_t ret = twai_transmit(&msg, pdMS_TO_TICKS(5));
if (ret != ESP_OK) {
ESP_LOGW(TAG, "twai_transmit vesc_id=%u erpm=%ld: %s",
vesc_id, (long)erpm, esp_err_to_name(ret));
}
}
void vesc_can_rx_task(void *arg)
{
QueueHandle_t tx_q = (QueueHandle_t)arg;
twai_message_t msg;
uint32_t status_tick = 0;
for (;;) {
/* Poll TWAI health every 500 ms and recover from bus-off */
uint32_t now_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
if ((now_ms - status_tick) >= 500u) {
status_tick = now_ms;
twai_status_info_t si;
if (twai_get_status_info(&si) == ESP_OK) {
g_twai_bus_off = (si.state == TWAI_STATE_BUS_OFF);
g_twai_tx_err_count = si.tx_error_counter;
g_twai_rx_err_count = si.rx_error_counter;
if (si.state == TWAI_STATE_BUS_OFF) {
ESP_LOGW(TAG, "TWAI bus-off — initiating recovery");
twai_initiate_recovery();
} else if (si.state == TWAI_STATE_STOPPED) {
ESP_LOGW(TAG, "TWAI stopped — restarting");
twai_start();
}
if (si.tx_error_counter > 0 || si.rx_error_counter > 0) {
ESP_LOGW(TAG, "TWAI errs tx=%lu rx=%lu msgs_tx=%lu msgs_rx=%lu",
(unsigned long)si.tx_error_counter,
(unsigned long)si.rx_error_counter,
(unsigned long)si.msgs_to_tx,
(unsigned long)si.msgs_to_rx);
}
}
}
if (twai_receive(&msg, pdMS_TO_TICKS(50)) != ESP_OK) {
continue;
}

5
esp32s3/balance/main/vesc_can.h
View File

@ -28,6 +28,11 @@ typedef struct {
/* ── Globals (two VESC nodes: index 0 = VESC_ID_A=56, 1 = VESC_ID_B=68) ── */
extern vesc_state_t g_vesc[2];
/* TWAI bus health — set by vesc_can_rx_task, read by telem_task for flags bit2 */
extern volatile bool g_twai_bus_off;
extern volatile uint32_t g_twai_tx_err_count;
extern volatile uint32_t g_twai_rx_err_count;
/* ── API ── */
void vesc_can_init(void);
void vesc_can_send_rpm(uint8_t vesc_id, int32_t erpm);

4
esp32s3/balance/sdkconfig.defaults
View File

@ -5,7 +5,5 @@ CONFIG_ESP_TASK_WDT_EN=y
CONFIG_ESP_TASK_WDT_TIMEOUT_S=5
CONFIG_TWAI_ISR_IN_IRAM=y
CONFIG_UART_ISR_IN_IRAM=y
CONFIG_ESP_CONSOLE_UART_DEFAULT=y
CONFIG_ESP_CONSOLE_UART_NUM=0
CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y
CONFIG_LOG_DEFAULT_LEVEL_INFO=y