Implemented Low Level Compunications

2024-10-14 09:19:00 +02:00
parent 7eebf619ae
commit b150a905a3
15 changed files with 645 additions and 60 deletions
--- a/can-interface/components/mcp2521/spi_interface_init.cpp
+++ b/can-interface/components/mcp2521/spi_interface_init.cpp
@@ -0,0 +1,99 @@
+#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() {
+
+
+}
+