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Implemented Low Level Compunications

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This commit is contained in:
AlexanderHD27
2024-10-14 09:19:00 +02:00
parent 7eebf619ae
commit b150a905a3
15 changed files with 645 additions and 60 deletions
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6
can-interface/components/mcp2521/CMakeLists.txt Normal file
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idf_component_register(SRCS "operations.cpp"
"spi_interface_init.cpp"
"spi_interface_commands.cpp"
"register_interface.cpp"
INCLUDE_DIRS "include"
REQUIRES driver)

177
can-interface/components/mcp2521/include/bitfields.hpp Normal file
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#pragma once
#include <cstdint>
/**
* @brief RXnBF PIN CONTROL AND STATUS REGISTER (ADDRESS: 0Ch)
*
*/
struct BFPCTRL {
uint8_t B0BFM : 1;
uint8_t B1BFM : 1;
uint8_t B0BFE : 1;
uint8_t B1BFE : 1;
uint8_t B0BFS : 1;
uint8_t B1BFS : 1;
uint8_t : 2;
};
/**
* @brief TXnRTS PIN CONTROL AND STATUS REGISTER
*
*/
struct TXRTSCTRL {
uint8_t B0RTSM : 1;
uint8_t B1RTSM : 1;
uint8_t B2RTSM : 1;
uint8_t B0RTS : 1;
uint8_t B1RTS : 1;
uint8_t B2RTS : 1;
uint8_t : 2;
};
struct CANSTAT {
uint8_t ICOD0 : ;
uint8_t : 1;
uint8_t OPMOD0 : 1;
uint8_t OPMOD1 : 1;
uint8_t OPMOD2 : 1;
uint8_t : 1;
};
struct CANCTRL {
uint8_t CLKPRE0 : 1;
uint8_t CLKPRE1 : 1;
uint8_t CLKEN : 1;
uint8_t OSM : 1;
uint8_t ABAT : 1;
uint8_t REQOP0 : 1;
uint8_t REQOP1 : 1;
uint8_t REQOP2 : 1;
};
struct TEC {
uint8_t TEC;
};
struct REC {
uint8_t REC;
};
struct CNF3 {
uint8_t PHSEG20 : 1;
uint8_t PHSEG21 : 1;
uint8_t PHSEG22 : 1;
uint8_t : 3;
uint8_t WAKFIL : 1;
uint8_t SOF : 1;
};
struct CNF2 {
uint8_t PRSEG0 : 1;
uint8_t PRSEG1 : 1;
uint8_t PRSEG2 : 1;
uint8_t PHSEG10 : 1;
uint8_t PHSEG11 : 1;
uint8_t PHSEG12 : 1;
uint8_t SAM : 1;
uint8_t BTLMODE : 1;
};
struct CNF1 {
uint8_t BRP0 : 1;
uint8_t BRP1 : 1;
uint8_t BRP2 : 1;
uint8_t BRP3 : 1;
uint8_t BRP4 : 1;
uint8_t BRP5 : 1;
uint8_t SJW0 : 1;
uint8_t SJW1 : 1;
};
struct CANINTE {
uint8_t RX0IE : 1;
uint8_t RX1IE : 1;
uint8_t TX0IE : 1;
uint8_t TX1IE : 1;
uint8_t TX2IE : 1;
uint8_t ERRIE : 1;
uint8_t WAKIE : 1;
uint8_t MERRE : 1;
};
struct CANINTF {
uint8_t RX0IF : 1;
uint8_t RX1IF : 1;
uint8_t TX0IF : 1;
uint8_t TX1IF : 1;
uint8_t TX2IF : 1;
uint8_t ERRIF : 1;
uint8_t WAKIF : 1;
uint8_t MERRF : 1;
};
struct EFLG {
uint8_t EWARN : 1;
uint8_t RXWAR : 1;
uint8_t TXWAR : 1;
uint8_t RXEP : 1;
uint8_t TXEP : 1;
uint8_t TXBO : 1;
uint8_t RX0OVR : 1;
uint8_t RX1OVR : 1;
};
struct TXB0CTRL {
uint8_t TXP0 : 1;
uint8_t TXP1 : 1;
uint8_t : 1;
uint8_t TXREQ : 1;
uint8_t TXERR : 1;
uint8_t MLOA : 1;
uint8_t ABTF : 1;
uint8_t : 1;
};
struct TXB1CTRL {
uint8_t TXP0 : 1;
uint8_t TXP1 : 1;
uint8_t : 1;
uint8_t TXREQ : 1;
uint8_t TXERR : 1;
uint8_t MLOA : 1;
uint8_t ABTF : 1;
uint8_t : 1;
};
struct TXB2CTRL {
uint8_t TXP0 : 1;
uint8_t TXP1 : 1;
uint8_t : 1;
uint8_t TXREQ : 1;
uint8_t TXERR : 1;
uint8_t MLOA : 1;
uint8_t ABTF : 1;
uint8_t : 1;
};
struct RXB0CTRL {
uint8_t FILHIT0 : 1;
uint8_t BUKT1 : 1;
uint8_t BUKT : 1;
uint8_t RXRTR : 1;
uint8_t : 1;
uint8_t RXM0 : 1;
uint8_t RXM1 : 1;
uint8_t : 1;
};
struct RXB1CTRL {
uint8_t FILHIT0 : 1;
uint8_t FILHIT1 : 1;
uint8_t FILHIT2 : 1;
uint8_t RXRTR : 1;
uint8_t : 1;
uint8_t RXM0 : 1;
uint8_t RXM1 : 1;
uint8_t : 1;
};

98
can-interface/components/mcp2521/include/mcp2521.hpp Normal file
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#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);
};

146
can-interface/components/mcp2521/include/reg.hpp Normal file
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#pragma once
#define MCP2521_BFPCTRL 0x0C
#define MCP2521_BFPCTRL_B1BFS (1 << 5)
#define MCP2521_BFPCTRL_B0BFS (1 << 4)
#define MCP2521_BFPCTRL_B1BFE (1 << 3)
#define MCP2521_BFPCTRL_B0BFE (1 << 2)
#define MCP2521_BFPCTRL_B1BFM (1 << 1)
#define MCP2521_BFPCTRL_B0BFM (1 << 0)
#define MCP2521_TXRTSCTRL 0x0D
#define MCP2521_TXRTSCTRL_B2RTS (1 << 5)
#define MCP2521_TXRTSCTRL_B1RTS (1 << 4)
#define MCP2521_TXRTSCTRL_B0RTS (1 << 3)
#define MCP2521_TXRTSCTRL_B2RTSM (1 << 2)
#define MCP2521_TXRTSCTRL_B1RTSM (1 << 1)
#define MCP2521_TXRTSCTRL_B0RTSM (1 << 0)
#define MCP2521_CANSTAT 0x0E
#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_CANCTRL 0x0F
#define MCP2521_CANCTRL_REQOP2 (1 << 7)
#define MCP2521_CANCTRL_REQOP1 (1 << 6)
#define MCP2521_CANCTRL_REQOP0 (1 << 5)
#define MCP2521_CANCTRL_ABAT (1 << 4)
#define MCP2521_CANCTRL_OSM (1 << 3)
#define MCP2521_CANCTRL_CLKEN (1 << 2)
#define MCP2521_CANCTRL_CLKPRE1 (1 << 1)
#define MCP2521_CANCTRL_CLKPRE0 (1 << 0)
#define MCP2521_TEC 0x1C
#define MCP2521_REC 0x1D
#define MCP2521_CNF3 0x28
#define MCP2521_CNF3_SOF (1 << 7)
#define MCP2521_CNF3_WAKFIL (1 << 6)
#define MCP2521_CNF3_PHSEG22 (1 << 2)
#define MCP2521_CNF3_PHSEG21 (1 << 1)
#define MCP2521_CNF3_PHSEG20 (1 << 0)
#define MCP2521_CNF2 0x29
#define MCP2521_CNF2_BTLMODE (1 << 7)
#define MCP2521_CNF2_SAM (1 << 6)
#define MCP2521_CNF2_PHSEG12 (1 << 5)
#define MCP2521_CNF2_PHSEG11 (1 << 4)
#define MCP2521_CNF2_PHSEG10 (1 << 3)
#define MCP2521_CNF2_PRSEG2 (1 << 2)
#define MCP2521_CNF2_PRSEG1 (1 << 1)
#define MCP2521_CNF2_PRSEG0 (1 << 0)
#define MCP2521_CNF1 0x2A
#define MCP2521_CNF1_SJW1 (1 << 7)
#define MCP2521_CNF1_SJW0 (1 << 6)
#define MCP2521_CNF1_BRP5 (1 << 5)
#define MCP2521_CNF1_BRP4 (1 << 4)
#define MCP2521_CNF1_BRP3 (1 << 3)
#define MCP2521_CNF1_BRP2 (1 << 2)
#define MCP2521_CNF1_BRP1 (1 << 1)
#define MCP2521_CNF1_BRP0 (1 << 0)
#define MCP2521_CANINTE 0x2B
#define MCP2521_CANINTE_MERRE (1 << 7)
#define MCP2521_CANINTE_WAKIE (1 << 6)
#define MCP2521_CANINTE_ERRIE (1 << 5)
#define MCP2521_CANINTE_TX2IE (1 << 4)
#define MCP2521_CANINTE_TX1IE (1 << 3)
#define MCP2521_CANINTE_TX0IE (1 << 2)
#define MCP2521_CANINTE_RX1IE (1 << 1)
#define MCP2521_CANINTE_RX0IE (1 << 0)
#define MCP2521_CANINTF 0x2C
#define MCP2521_CANINTF_MERRF (1 << 7)
#define MCP2521_CANINTF_WAKIF (1 << 6)
#define MCP2521_CANINTF_ERRIF (1 << 5)
#define MCP2521_CANINTF_TX2IF (1 << 4)
#define MCP2521_CANINTF_TX1IF (1 << 3)
#define MCP2521_CANINTF_TX0IF (1 << 2)
#define MCP2521_CANINTF_RX1IF (1 << 1)
#define MCP2521_CANINTF_RX0IF (1 << 0)
#define MCP2521_EFLG 0x2D
#define MCP2521_EFLG_RX1OVR (1 << 7)
#define MCP2521_EFLG_RX0OVR (1 << 6)
#define MCP2521_EFLG_TXBO (1 << 5)
#define MCP2521_EFLG_TXEP (1 << 4)
#define MCP2521_EFLG_RXEP (1 << 3)
#define MCP2521_EFLG_TXWAR (1 << 2)
#define MCP2521_EFLG_RXWAR (1 << 1)
#define MCP2521_EFLG_EWARN (1 << 0)
#define MCP2521_TXB0CTRL 0x30
#define MCP2521_TXB0CTRL_ABTF (1 << 6)
#define MCP2521_TXB0CTRL_MLOA (1 << 5)
#define MCP2521_TXB0CTRL_TXERR (1 << 4)
#define MCP2521_TXB0CTRL_TXREQ (1 << 3)
#define MCP2521_TXB0CTRL_TXP1 (1 << 1)
#define MCP2521_TXB0CTRL_TXP0 (1 << 0)
#define MCP2521_TXB1CTRL 0x40
#define MCP2521_TXB1CTRL_ABTF (1 << 6)
#define MCP2521_TXB1CTRL_MLOA (1 << 5)
#define MCP2521_TXB1CTRL_TXERR (1 << 4)
#define MCP2521_TXB1CTRL_TXREQ (1 << 3)
#define MCP2521_TXB1CTRL_TXP1 (1 << 1)
#define MCP2521_TXB1CTRL_TXP0 (1 << 0)
#define MCP2521_TXB2CTRL 0x50
#define MCP2521_TXB2CTRL_ABTF (1 << 6)
#define MCP2521_TXB2CTRL_MLOA (1 << 5)
#define MCP2521_TXB2CTRL_TXERR (1 << 4)
#define MCP2521_TXB2CTRL_TXREQ (1 << 3)
#define MCP2521_TXB2CTRL_TXP1 (1 << 1)
#define MCP2521_TXB2CTRL_TXP0 (1 << 0)
#define MCP2521_RXB0CTRL 0x60
#define MCP2521_RXB0CTRL_RXM1 (1 << 6)
#define MCP2521_RXB0CTRL_RXM0 (1 << 5)
#define MCP2521_RXB0CTRL_RXRTR (1 << 3)
#define MCP2521_RXB0CTRL_BUKT (1 << 2)
#define MCP2521_RXB0CTRL_BUKT1 (1 << 1)
#define MCP2521_RXB0CTRL_FILHIT0 (1 << 0)
#define MCP2521_RXB1CTRL 0x70
#define MCP2521_RXB1CTRL_RXM1 (1 << 6)
#define MCP2521_RXB1CTRL_RXM0 (1 << 5)
#define MCP2521_RXB1CTRL_RXRTR (1 << 3)
#define MCP2521_RXB1CTRL_FILHIT2 (1 << 2)
#define MCP2521_RXB1CTRL_FILHIT1 (1 << 1)
#define MCP2521_RXB1CTRL_FILHIT0 (1 << 0)
#define MCP2521_OP_RESET 0b11000000
#define MCP2521_OP_READ 0b00000011
#define MCP2521_OP_READ_RX_BUFFER 0b10010000
#define MCP2521_OP_WRITE 0b00000010
#define MCP2521_OP_LOAD_TX_BUFFER 0b01000000
#define MCP2521_OP_RTS 0b10000000
#define MCP2521_OP_READ_STATUS 0b10100000
#define MCP2521_OP_RX_STATUS 0b10110000
#define MCP2521_OP_BIT_MODIFY 0b00000101

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

4
can-interface/components/mcp2521/operations.cpp Normal file
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bool dummy_function(bool flag) {
return !flag;
}

2
can-interface/components/mcp2521/register_interface.cpp Normal file
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#include "mcp2515.hpp"
#include "register_interface.hpp"

49
can-interface/components/mcp2521/spi_interface_commands.cpp Normal file
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#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 Normal file
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#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() {
}