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This commit is contained in:
AlexanderHD27
2024-12-28 22:47:46 +01:00
parent bdec2db94d
commit 801e791199
52 changed files with 5252 additions and 1417 deletions
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2
can-interface/main/CMakeLists.txt
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@@ -2,6 +2,6 @@ idf_component_register(SRCS "hello_world_main.cpp"
REQUIRES driver
REQUIRES mcp2521
REQUIRES mcp2521_hardware_interface
REQUIRES CAN-Protocol-Stack
REQUIRES gobot_rpc
REQUIRES spi_flash
INCLUDE_DIRS "")

51
can-interface/main/hello_world_main.cpp
View File

@@ -34,32 +34,32 @@
#define CAN_INT1_PIN GPIO_NUM_26
void onRX0(void *arg) {
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
MCP2521 *mcp2521 = (MCP2521 *)arg;
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
uint8_t data[8];
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
//mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
printf("RX0: (%x) ", info.id);
for (int i = 0; i < info.length; i++) {
printf("%x ", data[i]);
}
//for (int i = 0; i < 8; i++) {
// printf("%x ", data[i]);
//}
printf("\n");
}
void onRX1(void *arg) {
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
MCP2521 *mcp2521 = (MCP2521 *)arg;
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
uint8_t data[8];
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
//mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
printf("RX1: (%x) ", info.id);
for (int i = 0; i < info.length; i++) {
printf("%x ", data[i]);
}
//for (int i = 0; i < 8; i++) {
// printf("%x ", data[i]);
//}
printf("\n");
}
@@ -86,7 +86,7 @@ extern "C" void app_main() {
MCP2521 mcp2521_0(&hardware_mcp2521_0);
MCP2521 mcp2521_1(&hardware_mcp2521_1);
uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
uint8_t data[8] = {0x1, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
mcp2521_0.reset();
mcp2521_1.reset();
@@ -98,23 +98,28 @@ extern "C" void app_main() {
mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
//printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
//printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
vTaskDelay(20 / portTICK_PERIOD_MS);
mcp2521_0.prepare_tx(
MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
mcp2521_1.prepare_tx(
MCP2521_TX_BUFFER::TXB0, 0x042, data, 8, false, false);
//mcp2521_1.prepare_tx(
// MCP2521_TX_BUFFER::TXB0, 0x041, data, 4, false, false);
vTaskDelay(20 / portTICK_PERIOD_MS);
mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
//vTaskDelay(10 / portTICK_PERIOD_MS);
//mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
//mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
//vTaskDelay(20 / portTICK_PERIOD_MS);
//mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x042, false);
//mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
vTaskDelay(20 / portTICK_PERIOD_MS);