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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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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
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@@ -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();
};