Implemented Low Level Compunications
This commit is contained in:
AlexanderHD27
177
can-interface/components/mcp2521/include/bitfields.hpp
Normal file
177
can-interface/components/mcp2521/include/bitfields.hpp
Normal file
@@ -0,0 +1,177 @@
|
||||
#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
98
can-interface/components/mcp2521/include/mcp2521.hpp
Normal file
@@ -0,0 +1,98 @@
|
||||
#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
146
can-interface/components/mcp2521/include/reg.hpp
Normal file
@@ -0,0 +1,146 @@
|
||||
#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
|
||||
@@ -0,0 +1,10 @@
|
||||
#pragma once
|
||||
#include <stdint.h>
|
||||
|
||||
class MCP2515 {
|
||||
private:
|
||||
|
||||
public:
|
||||
uint8_t get_TransmitErrorCounter();
|
||||
uint8_t get_ReceiveErrorCounter();
|
||||
};
|
||||
Reference in New Issue
Block a user