startet canbus implementation

software/.vscode/settings.json

@@ -7,6 +7,9 @@
         "modbus.h": "c",
         "array": "c",
         "string": "c",
-        "string_view": "c"
+        "string_view": "c",
+        "canbus.h": "c",
+        "kernel.h": "c",
+        "settings.h": "c"
     }
 }

software/boards/iten/valve_node/Kconfig.valve_node

@@ -1,2 +1,18 @@
 config BOARD_VALVE_NODE
-    select SOC_STM32F103XB
+    select SOC_STM32F103XB
+
+mainmenu "Controller Area Network sample application"
+config LOOPBACK_MODE
+	bool "Loopback LOOPBACK_MODE"
+	default n
+	help
+	  Set the can controller to loopback mode.
+	  This allows testing without a second board.
+
+config LOG_CAN_LEVEL
+	int "Log level for CAN"
+	default 3
+	range 0 7
+	help
+	  Set the log level for CAN messages.
+	  0 = None, 1 = Error, 2 = Warning, 3 = Info, 4 = Debug, 5 = Trace, 6 = Debug2, 7 = Debug3

software/boards/iten/valve_node/valve_node_defconfig

@@ -7,3 +7,24 @@ CONFIG_CONSOLE=y
 
 # enable GPIO
 CONFIG_GPIO=y
+
+# modbus config
+CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_UART_LINE_CTRL=n
+CONFIG_MODBUS=y
+CONFIG_MODBUS_ROLE_CLIENT=y
+
+# can config
+CONFIG_CAN=y
+CONFIG_CAN_INIT_PRIORITY=80
+#CONFIG_CAN_MAX_FILTER=5
+
+# settings
+CONFIG_FLASH=y
+CONFIG_FLASH_MAP=y
+CONFIG_SETTINGS=y
+CONFIG_SETTINGS_RUNTIME=y
+CONFIG_NVS=y
+CONFIG_SETTINGS_NVS=y
+CONFIG_HEAP_MEM_POOL_SIZE=256
+CONFIG_MPU_ALLOW_FLASH_WRITE=y

software/lib/canbus.c

@@ -0,0 +1,75 @@
+#include "canbus.h"
+#include <zephyr/logging/log.h>
+#include <zephyr/kernel.h>
+#include "settings.h"
+
+const struct device *const can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
+
+K_THREAD_STACK_DEFINE(rx_thread_stack, RX_THREAD_STACK_SIZE);
+
+static uint8_t node_id = 12; // Default node ID
+
+LOG_MODULE_REGISTER(canbus, CONFIG_LOG_CAN_LEVEL);
+
+static int canbus_set(const char *key, size_t len, settings_read_cb read_cb, void *cb_arg)
+{
+    // Handle setting values for CAN bus configuration
+    LOG_DBG("Setting CAN bus configuration: key=%s, len=%zu", key, len);
+    // Implement the logic to set the CAN bus configuration based on the key and value
+    return 0; // Return 0 on success
+}
+
+struct settings_handler canbus_settings_handler = {
+    .name = "canbus",
+    .h_set = canbus_set, // No settings set handler
+};
+
+int canbus_init(void)
+{
+    int rc;
+    settings_subsys_init();
+    settings_register(&canbus_settings_handler);
+    settings_load();
+    
+    rc = settings_get_val_len("canbus/node_id");
+    if (rc < 0)
+    {
+        LOG_ERR("Failed to check CAN bus settings: %d", rc);
+        return rc;
+    }
+
+    else if (rc == 0)
+    {
+        LOG_WRN("No CAN bus node id found in settings, using default default (%d)", node_id);
+        settings_save_one("canbus/node_id", &node_id, sizeof(node_id));
+        if (rc < 0)
+        {
+            LOG_ERR("Failed to save default CAN bus node id: %d", rc);
+            return rc;
+        }
+    } else {
+        rc = settings_load_one("canbus/node_id", &node_id, sizeof(node_id));
+        if (rc < 0)
+        {
+            LOG_ERR("Failed to load CAN bus node id from settings: %d", rc);
+            return rc;
+        }
+        LOG_DBG("Loaded CAN bus node id: %d", node_id);
+    }
+
+    if (!device_is_ready(can_dev))
+    {
+        LOG_ERR("CAN device %s is not ready", can_dev->name);
+        return -ENODEV;
+    }
+
+#ifdef CONFIG_LOOPBACK_MODE
+    rc = can_set_mode(can_dev, CAN_MODE_LOOPBACK);
+    if (rc != 0)
+    {
+        LOG_ERR("Failed to set CAN loopback mode: %d", rc);
+        return rc;
+    }
+#endif
+    return 0;
+}

software/lib/canbus.h

@@ -0,0 +1,13 @@
+#ifndef __CANBUS_H__
+#define __CANBUS_H__
+
+#include <zephyr/drivers/can.h>
+#include <zephyr/kernel.h>
+
+#define RX_THREAD_STACK_SIZE 512
+#define RX_THREAD_PRIORITY 2
+
+int canbus_init(void);
+int canbus_send_message(const struct can_frame *frame);
+
+#endif // __CANBUS_H__

software/lib/settings.h

@@ -0,0 +1,17 @@
+#ifndef __SETTINGS_H__
+#define __SETTINGS_H__
+
+#include <zephyr/settings/settings.h>
+
+#include <errno.h>
+#include <zephyr/sys/printk.h>
+
+#if defined(CONFIG_SETTINGS_FILE)
+#include <zephyr/fs/fs.h>
+#include <zephyr/fs/littlefs.h>
+#endif
+
+#define STORAGE_PARTITION storage_partition
+#define STORAGE_PARTITION_ID FIXED_PARTITION_ID(STORAGE_PARTITION)
+
+#endif // __SETTINGS_H__

software/test_canbus/.gitignore

@@ -0,0 +1 @@
+build

software/test_canbus/.vscode/c_cpp_properties.json

@@ -0,0 +1,16 @@
+{
+    "configurations": [
+        {
+            "name": "Win32",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [
+                "_DEBUG",
+                "UNICODE",
+                "_UNICODE"
+            ]
+        }
+    ],
+    "version": 4
+}

software/test_canbus/CMakeLists.txt

@@ -0,0 +1,14 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+list(APPEND BOARD_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/..)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(hello_world)
+
+target_sources(app PRIVATE src/main.c)
+target_sources(app PRIVATE ../lib/canbus.c)
+target_include_directories(app PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/../lib
+)

software/test_canbus/boards/nucleo_f103rb.overlay

@@ -0,0 +1,9 @@
+&usart1 {
+	status = "okay";
+	current-speed = <9600>;
+	modbus0 {
+		compatible = "zephyr,modbus-serial";
+		status = "okay";
+		// de-gpios = <&arduino_header 15 GPIO_ACTIVE_LOW>;	/* D9 */
+	};
+};

software/test_canbus/prj.conf

@@ -0,0 +1,10 @@
+CONFIG_LOG=y
+CONFIG_LOG_DEFAULT_LEVEL=3
+CONFIG_CBPRINTF_FP_SUPPORT=y
+
+CONFIG_UART_CONSOLE=y # Console on USART1
+#CONFIG_RTT_CONSOLE=y
+#CONFIG_USE_SEGGER_RTT=y
+
+CONFIG_LOOPBACK_MODE=y
+CONFIG_LOG_CAN_LEVEL=4

software/test_canbus/src/main.c

@@ -0,0 +1,26 @@
+/* Testing MODBUS functionality
+   This code initializes a Modbus client, sets the zero point and the 2m point for water level,
+   and reads the water level in both meters and millimeters.
+   It uses the Zephyr RTOS and its Modbus library to communicate with a Modbus server.
+*/
+
+#include <zephyr/logging/log.h>
+#include <zephyr/kernel.h>
+#include <zephyr/drivers/gpio.h>
+
+#include "canbus.h"
+
+LOG_MODULE_REGISTER(main, CONFIG_LOG_DEFAULT_LEVEL);
+
+int main(void)
+{
+	int rc;
+	rc = canbus_init();
+	if (rc != 0)
+	{
+		LOG_ERR("Failed to initialize CAN bus: %d", rc);
+		return rc;
+	}
+	LOG_INF("CAN bus initialized successfully");
+	return 0;
+}

software/test_modbus/prj.conf

@@ -4,10 +4,4 @@ CONFIG_CBPRINTF_FP_SUPPORT=y
 
 CONFIG_UART_CONSOLE=y # Console on USART1
 #CONFIG_RTT_CONSOLE=y
-#CONFIG_USE_SEGGER_RTT=y
-
-CONFIG_UART_INTERRUPT_DRIVEN=y
-CONFIG_UART_LINE_CTRL=n
-
-CONFIG_MODBUS=y
-CONFIG_MODBUS_ROLE_CLIENT=y
+#CONFIG_USE_SEGGER_RTT=y