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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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4
can-interface/components/mcp2521_hardware_interface/CMakeLists.txt Normal file
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idf_component_register(SRCS "esp_implementation_init.cpp"
"esp_implementation_cmd.cpp"
INCLUDE_DIRS "include"
REQUIRES driver)

201
can-interface/components/mcp2521_hardware_interface/esp_implementation_cmd.cpp Normal file
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#include "mcp2521_hardware_handle.hpp"
#ifdef ESP_PLATFORM
#include "mcp2521_hardware_esp.hpp"
void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = 0,
.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_Hardware_Handle_ESP::execute(uint8_t cmd, uint8_t address) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = address,
.length = 0,
.rxlength = 0,
.tx_buffer = NULL,
.rx_buffer = NULL
},
.command_bits = 8,
.address_bits = 8,
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = address,
.length = 8*length,
.rxlength = 8*length,
.tx_buffer = NULL,
.rx_buffer = data
},
.command_bits = 8,
.address_bits = 0,
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = 0,
.length = 8*length,
.rxlength = 8*length,
.tx_buffer = NULL,
.rx_buffer = data
},
.command_bits = 8,
.address_bits = 0,
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
}
uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
uint8_t result = 0;
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = address,
.length = 8,
.rxlength = 8,
.tx_buffer = NULL,
.rx_buffer = &result
},
.command_bits = 8,
.address_bits = 8,
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
return result;
}
uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
uint8_t result;
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = 0,
.length = 8,
.rxlength = 8,
.tx_buffer = NULL,
.rx_buffer = &result
},
.command_bits = 8,
.address_bits = 0,
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
return result;
}
void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
uint8_t result;
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = address,
.length = 8*length,
.rxlength = 0,
.tx_buffer = data,
.rx_buffer = NULL
},
.command_bits = 8,
.address_bits = 8,
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = 0,
.length = 8*length,
.rxlength = 0,
.tx_buffer = data,
.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_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data, uint8_t address) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = address,
.length = 8,
.rxlength = 0,
.tx_buffer = &data,
.rx_buffer = NULL
},
.command_bits = 8,
.address_bits = 8,
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = 0,
.length = 8,
.rxlength = 0,
.tx_buffer = &data,
.rx_buffer = NULL
},
.command_bits = 8,
.address_bits = 0,
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
}
#endif

98
can-interface/components/mcp2521_hardware_interface/esp_implementation_init.cpp Normal file
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#include "mcp2521_hardware_handle.hpp"
#ifdef ESP_PLATFORM
#include "mcp2521_hardware_esp.hpp"
#include <string.h>
MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
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_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
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);
}
MCP2521_Hardware_Handle_ESP::~MCP2521_Hardware_Handle_ESP() {
}
void MCP2521_Hardware_Handle_ESP::initPins(
gpio_num_t int_pin
) {
gpio_config_t io_conf;
io_conf.intr_type = GPIO_INTR_DISABLE;
io_conf.mode = GPIO_MODE_INPUT;
io_conf.pin_bit_mask = 1 << int_pin;
io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
gpio_config(&io_conf);
}
void MCP2521_Hardware_Handle_ESP::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_Hardware_Handle_ESP::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);
}
spi_bus_config_t * MCP2521_Hardware_Handle_ESP::getSPI_bus_config() {
return this->spi_bus_config;
}
#endif

70
can-interface/components/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp Normal file
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#pragma once
#include "mcp2521_hardware_handle.hpp"
#ifdef ESP_PLATFORM
#include "driver/gpio.h"
#include "driver/spi_master.h"
class MCP2521_Hardware_Handle_ESP : public MCP2521_Hardware_Handle {
char spi_tmp_buffer;
spi_bus_config_t * spi_bus_config;
spi_device_interface_config_t spi_device_config;
spi_device_handle_t spi_device_handle;
public:
MCP2521_Hardware_Handle_ESP(
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_Hardware_Handle_ESP(
spi_host_device_t spi_host,
spi_bus_config_t *bus_config,
gpio_num_t cs,
gpio_num_t int_pin
);
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 initPins(
gpio_num_t int_pin
);
~MCP2521_Hardware_Handle_ESP();
spi_bus_config_t * getSPI_bus_config();
// Inherited from MCP2521_Hardware_Handle
void execute(uint8_t cmd);
void execute(uint8_t cmd, uint8_t address);
void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
void read(uint8_t cmd, uint8_t *data, size_t length);
uint8_t read(uint8_t cmd, uint8_t address);
uint8_t read(uint8_t cmd);
void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
void write(uint8_t cmd, uint8_t *data, size_t length);
void write(uint8_t cmd, uint8_t data, uint8_t address);
void write(uint8_t cmd, uint8_t data);
};
#endif

20
can-interface/components/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp Normal file
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#pragma once
#include <cstdint>
#include <strings.h>
class MCP2521_Hardware_Handle {
public:
virtual void execute(uint8_t cmd) = 0;
virtual void execute(uint8_t cmd, uint8_t address) = 0;
virtual void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
virtual void read(uint8_t cmd, uint8_t *data, size_t length) = 0;
virtual uint8_t read(uint8_t cmd, uint8_t address) = 0;
virtual uint8_t read(uint8_t cmd) = 0;
virtual void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
virtual void write(uint8_t cmd, uint8_t *data, size_t length) = 0;
virtual void write(uint8_t cmd, uint8_t data, uint8_t address) = 0;
virtual void write(uint8_t cmd, uint8_t data) = 0;
};