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Implemented Command-Level Interaction with CAN Interface

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This commit is contained in:
AlexanderHD27
2024-10-16 21:28:36 +02:00
parent 9c0c676be8
commit 5683168a47
19 changed files with 555 additions and 214 deletions
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10
can-interface/components/mcp2521/CMakeLists.txt
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@@ -1,6 +1,6 @@
idf_component_register(SRCS "operations.cpp"
"spi_interface_init.cpp"
"spi_interface_commands.cpp"
"register_interface.cpp"
idf_component_register(SRCS
"interface_commands.cpp"
INCLUDE_DIRS "include"
REQUIRES driver)
REQUIRES driver
REQUIRES mcp2521_hardware_interface
)

99
can-interface/components/mcp2521/include/mcp2521.hpp
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@@ -1,98 +1,5 @@
#pragma once
#include "reg.hpp"
#include <stdint.h>
#include "driver/gpio.h"
#include "driver/spi_master.h"
bool dummy_function(bool flag);
enum MCP2521_RX_BUFFER {
RXB0 = 0,
RXB1 = 1
};
enum MCP2521_TX_BUFFER {
TXB0 = 0,
TXB1 = 1,
TXB2 = 2
};
enum MCP2521_BUFFER_TYPE {
ID = 0,
DATA = 1
};
class MCP2521_SPI_Interface {
private:
char spi_rx_buffer[32];
char spi_tx_buffer[32];
spi_bus_config_t * spi_bus_config;
spi_device_interface_config_t spi_device_config;
spi_device_handle_t spi_device_handle;
public:
spi_bus_config_t * getSPI_bus_config();
MCP2521_SPI_Interface(
spi_host_device_t spi_host,
spi_bus_config_t *bus_config,
gpio_num_t mosi,
gpio_num_t miso,
gpio_num_t sclk,
gpio_num_t cs,
gpio_num_t int_pin
);
MCP2521_SPI_Interface(
spi_host_device_t spi_host,
spi_bus_config_t *bus_config,
gpio_num_t cs,
gpio_num_t int_pin
);
~MCP2521_SPI_Interface();
static void initSPIBus(
spi_host_device_t spi_host,
gpio_num_t mosi,
gpio_num_t miso,
gpio_num_t sclk,
spi_bus_config_t *bus_config
);
void initSPIDevice(
spi_host_device_t spi_host,
gpio_num_t cs
);
void deinitSPI();
void initPins(
gpio_num_t int_pin
);
void deinitPins();
void reset();
void read_reg(uint8_t address, uint8_t *data, size_t length);
uint8_t read_reg(uint8_t address);
void read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
void write_reg(uint8_t address, uint8_t *data, size_t length);
void write_reg(uint8_t address, uint8_t data);
void write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
void request_to_send(bool txb2, bool txb1, bool txb0);
void request_to_send(MCP2521_TX_BUFFER buffer);
uint8_t read_status();
uint8_t read_rx_status();
void bit_modify(uint8_t address, uint8_t mask, uint8_t data);
};
#include "mcp2521_command.hpp"
#include "mcp2521_hardware_esp.hpp"
#include "mcp2521_addresses.hpp"

24
can-interface/components/mcp2521/include/reg.hpp → can-interface/components/mcp2521/include/mcp2521_addresses.hpp
View File

@@ -20,9 +20,16 @@
#define MCP2521_CANSTAT_OPMOD2 (1 << 7)
#define MCP2521_CANSTAT_OPMOD1 (1 << 6)
#define MCP2521_CANSTAT_OPMOD0 (1 << 5)
#define MCP2521_CANSTAT_ICOD2 (1 << 3)
#define MCP2521_CANSTAT_ICOD1 (1 << 2)
#define MCP2521_CANSTAT_ICOD0 (1 << 1)
#define MCP2521_CANSTAT_ICOD2 (1 << 2)
#define MCP2521_CANSTAT_ICOD1 (1 << 1)
#define MCP2521_CANSTAT_ICOD0 (1 << 0)
struct CANSTAT_Register {
uint8_t ICOD : 3;
uint8_t : 1; // Unused bit
uint8_t OPMOD : 3;
uint8_t : 1; // Unused bit
};
#define MCP2521_CANCTRL 0x0F
#define MCP2521_CANCTRL_REQOP2 (1 << 7)
@@ -119,6 +126,17 @@
#define MCP2521_TXB2CTRL_TXP1 (1 << 1)
#define MCP2521_TXB2CTRL_TXP0 (1 << 0)
struct TXBnCTRL_Register {
uint8_t TXP : 2;
uint8_t : 1; // Unused bit
uint8_t TXREQ : 1;
uint8_t TXERR : 1;
uint8_t MLOA : 1;
uint8_t ABTF : 1;
uint8_t : 1; // Unused bit
};
#define MCP2521_RXB0CTRL 0x60
#define MCP2521_RXB0CTRL_RXM1 (1 << 6)
#define MCP2521_RXB0CTRL_RXM0 (1 << 5)

53
can-interface/components/mcp2521/include/mcp2521_command.hpp Normal file
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@@ -0,0 +1,53 @@
#pragma once
#include "mcp2521_addresses.hpp"
#include <stdint.h>
#include "mcp2521_hardware_handle.hpp"
enum MCP2521_RX_BUFFER {
RXB0 = 0,
RXB1 = 1
};
enum MCP2521_TX_BUFFER {
TXB0 = 0,
TXB1 = 1,
TXB2 = 2
};
enum MCP2521_BUFFER_TYPE {
ID = 0,
DATA = 1
};
class MCP2521_Command_Interface {
private:
MCP2521_Hardware_Handle * hardware_handle;
public:
MCP2521_Command_Interface(
MCP2521_Hardware_Handle * hardware_handle
);
void reset();
void read_reg(uint8_t address, uint8_t *data, size_t length);
uint8_t read_reg(uint8_t address);
void read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
void write_reg(uint8_t address, uint8_t *data, size_t length);
void write_reg(uint8_t address, uint8_t data);
void write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
void request_to_send(bool txb2, bool txb1, bool txb0);
void request_to_send(MCP2521_TX_BUFFER buffer);
uint8_t read_status();
uint8_t read_rx_status();
void bit_modify(uint8_t address, uint8_t mask, uint8_t data);
};

52
can-interface/components/mcp2521/include/mcp2521_register.hpp Normal file
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@@ -0,0 +1,52 @@
#pragma once
#include <stdint.h>
#include "mcp2521.hpp"
class MCP2515 {
private:
public:
MCP2515();
~MCP2515();
void reset();
// Interrupts
void register_rx_callback(void (*callback)(uint32_t id, uint8_t *data, size_t length));
void register_tx_callback(void (*callback)(MCP2521_TX_BUFFER buffer));
void register_error_callback(void (*callback)(uint8_t error_flags));
void register_message_error_callback(void (*callback)(uint8_t error_flags));
// Transmittion
void set_tx_id(MCP2521_TX_BUFFER buffer, uint32_t id);
void set_tx_data(MCP2521_TX_BUFFER buffer, uint8_t *data, size_t length);
void set_tx_priority(MCP2521_TX_BUFFER buffer, uint8_t priority);
void set_one_shot(MCP2521_TX_BUFFER buffer, bool one_shot);
void request_to_send(MCP2521_TX_BUFFER buffer);
void request_to_send(bool txb2, bool txb1, bool txb0);
void abort_tx(MCP2521_TX_BUFFER buffer);
void abort_all_tx();
TXBnCTRL_Register get_TXBnCTRL(MCP2521_TX_BUFFER buffer);
void transmit(MCP2521_TX_BUFFER buffer, uint32_t id, uint8_t *data, size_t length, uint8_t priority, bool one_shot);
// Reception
uint8_t get_TransmitErrorCounter();
uint8_t get_ReceiveErrorCounter();
};

10
can-interface/components/mcp2521/include/register_interface.hpp
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@@ -1,10 +0,0 @@
#pragma once
#include <stdint.h>
class MCP2515 {
private:
public:
uint8_t get_TransmitErrorCounter();
uint8_t get_ReceiveErrorCounter();
};

76
can-interface/components/mcp2521/interface_commands.cpp Normal file
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@@ -0,0 +1,76 @@
#include <cstring>
#include "mcp2521.hpp"
#include "mcp2521_addresses.hpp"
MCP2521_Command_Interface::MCP2521_Command_Interface(
MCP2521_Hardware_Handle * hardware_handle
) {
this->hardware_handle = hardware_handle;
}
void MCP2521_Command_Interface::reset() {
hardware_handle->execute(MCP2521_OP_RESET);
}
void MCP2521_Command_Interface::read_reg(uint8_t address, uint8_t *data, size_t length) {
hardware_handle->read(MCP2521_OP_READ, data, length, address);
}
uint8_t MCP2521_Command_Interface::read_reg(uint8_t address) {
return hardware_handle->read(MCP2521_OP_READ, address);
}
void MCP2521_Command_Interface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
uint8_t address = (buffer << 1) | (type << 2);
hardware_handle->read(MCP2521_OP_READ_RX_BUFFER | address, data, length);
}
void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t *data, size_t length) {
hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
}
void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t data) {
hardware_handle->write(MCP2521_OP_WRITE, data, address);
}
void MCP2521_Command_Interface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
uint8_t address = buffer | (type << 2);
hardware_handle->write(MCP2521_OP_LOAD_TX_BUFFER | address, data, length);
}
void MCP2521_Command_Interface::request_to_send(bool txb2, bool txb1, bool txb0) {
uint8_t data = (txb2 << 2) | (txb1 << 1) | txb0;
hardware_handle->execute(MCP2521_OP_RTS | data);
}
void MCP2521_Command_Interface::request_to_send(MCP2521_TX_BUFFER buffer) {
uint8_t mask = 0;
switch (buffer) {
case MCP2521_TX_BUFFER::TXB0:
mask = 0b001;
break;
case MCP2521_TX_BUFFER::TXB1:
mask = 0b010;
break;
case MCP2521_TX_BUFFER::TXB2:
mask = 0b100;
break;
}
hardware_handle->execute(MCP2521_OP_RTS | mask);
}
uint8_t MCP2521_Command_Interface::read_status() {
return hardware_handle->read(MCP2521_OP_READ_STATUS);
}
uint8_t MCP2521_Command_Interface::read_rx_status() {
return hardware_handle->read(MCP2521_OP_RX_STATUS);
}
void MCP2521_Command_Interface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
uint8_t data_array[3] = {address, mask, data};
hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
}

4
can-interface/components/mcp2521/operations.cpp
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@@ -1,4 +0,0 @@
bool dummy_function(bool flag) {
return !flag;
}

2
can-interface/components/mcp2521/register_interface.cpp
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@@ -1,2 +0,0 @@
#include "mcp2515.hpp"
#include "register_interface.hpp"

49
can-interface/components/mcp2521/spi_interface_commands.cpp
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@@ -1,49 +0,0 @@
#include <string.h>
#include "mcp2521.hpp"
#include "reg.hpp"
void MCP2521_SPI_Interface::reset() {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = MCP2521_OP_RESET,
.addr = 8,
.length = 0,
.rxlength = 0,
.tx_buffer = NULL,
.rx_buffer = NULL
},
.command_bits = 8,
.address_bits = 0,
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
}
void MCP2521_SPI_Interface::read_reg(uint8_t address, uint8_t *data, size_t length) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = MCP2521_OP_READ,
.addr = address,
.length = 8 * length,
.rxlength = 8 * length,
.tx_buffer = &this->spi_tx_buffer,
.rx_buffer = &this->spi_rx_buffer,
},
.command_bits = 8,
.address_bits = 8,
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
memcpy(data, this->spi_rx_buffer, length);
}
uint8_t MCP2521_SPI_Interface::read_reg(uint8_t address) {
uint8_t data;
read_reg(address, &data, 1);
return data;
}

99
can-interface/components/mcp2521/spi_interface_init.cpp
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@@ -1,99 +0,0 @@
#include "mcp2521.hpp"
#include <stdint.h>
#include <string.h>
#include "driver/gpio.h"
#include "driver/spi_master.h"
MCP2521_SPI_Interface::MCP2521_SPI_Interface(
spi_host_device_t spi_host,
spi_bus_config_t *bus_config,
gpio_num_t mosi,
gpio_num_t miso,
gpio_num_t sclk,
gpio_num_t cs,
gpio_num_t int_pin
) {
initPins(int_pin);
initSPIBus(spi_host, mosi, miso, sclk, bus_config);
this->spi_bus_config = bus_config;
initSPIDevice(spi_host, cs);
}
MCP2521_SPI_Interface::MCP2521_SPI_Interface(
spi_host_device_t spi_host,
spi_bus_config_t *bus_config,
gpio_num_t cs,
gpio_num_t int_pin
) {
initPins(int_pin);
this->spi_bus_config = bus_config;
initSPIDevice(spi_host, cs);
}
void MCP2521_SPI_Interface::initSPIBus(
spi_host_device_t spi_host,
gpio_num_t mosi,
gpio_num_t miso,
gpio_num_t sclk,
spi_bus_config_t *bus_config
) {
memset(bus_config, 0, sizeof(spi_bus_config_t));
bus_config->mosi_io_num = mosi;
bus_config->miso_io_num = miso;
bus_config->sclk_io_num = sclk;
bus_config->quadwp_io_num = -1;
bus_config->quadhd_io_num = -1;
bus_config->flags = SPICOMMON_BUSFLAG_MASTER;
spi_bus_initialize(spi_host, bus_config, SPI_DMA_CH_AUTO);
}
void MCP2521_SPI_Interface::initSPIDevice(
spi_host_device_t spi_host,
gpio_num_t cs
) {
memset(&this->spi_device_config, 0, sizeof(spi_device_interface_config_t));
this->spi_device_config = {
.command_bits = 8,
.address_bits = 0,
.dummy_bits = 0,
.mode = 0,
.duty_cycle_pos = 128,
// cs_ena_pretrans = 0 and cs_ena_posttrans = 0 need to be set to zero, if not its not compatible with full-duplex mode
// Learned this the hard way
.cs_ena_pretrans = 0,
.cs_ena_posttrans = 0,
.clock_speed_hz = 10000,
.spics_io_num = cs,
.flags = SPI_DEVICE_NO_DUMMY,
.queue_size = 5,
};
spi_bus_add_device(spi_host, &this->spi_device_config, &this->spi_device_handle);
memset(&this->spi_tx_buffer, 0, sizeof(this->spi_tx_buffer));
memset(&this->spi_rx_buffer, 0, sizeof(this->spi_rx_buffer));
}
spi_bus_config_t * MCP2521_SPI_Interface::getSPI_bus_config() {
return this->spi_bus_config;
}
MCP2521_SPI_Interface::~MCP2521_SPI_Interface() {
deinitSPI();
deinitPins();
}
void MCP2521_SPI_Interface::initPins(gpio_num_t int_pin) {
}
void MCP2521_SPI_Interface::deinitPins() {
}