Merged i2c-helper in Main

common-libaries/gobot_rpc/CMakeLists.txt

@@ -0,0 +1,10 @@
+idf_component_register(SRCS
+                        "gobot_rpc_sender.cpp"
+                        "gobot_rpc_receiver.cpp"
+                        "gobot_rpc_statemaschine.cpp"
+                        "gobot_rpc_numberMap.cpp"
+                        "gobot_rpc_transiver.cpp"
+                    REQUIRES mcp2521
+                    REQUIRES mcp2521_hardware_interface
+                    REQUIRES driver
+                    INCLUDE_DIRS "include")

common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp

@@ -0,0 +1,19 @@
+#include "gobot_rpc.hpp"
+#include "protocol_spec.hpp"
+#include <string.h>
+
+GobotRPCNumberMap::GobotRPCNumberMap() {
+    memset(rpc_number_map, 0xffffffff, 16);
+}
+
+GobotRPCNumberMap::~GobotRPCNumberMap() {
+
+}
+
+void GobotRPCNumberMap::set(RpcNum rpc_num, uint32_t id) {
+    rpc_number_map[(int)rpc_num] = id;
+}
+
+uint32_t GobotRPCNumberMap::get(RpcNum rpc_num) {
+    return rpc_number_map[(int)rpc_num];
+}

common-libaries/gobot_rpc/gobot_rpc_receiver.cpp

@@ -0,0 +1,43 @@
+#include <string.h>
+#include "gobot_rpc.hpp"
+#include "sm.hpp"
+#include "protocol_spec.hpp"
+
+#include "freertos/FreeRTOS.h"
+
+GobotRPCReciver::GobotRPCReciver(MCP2521 * can_interface) {
+    this->can_interface = can_interface;
+    this->state_mashine = GobotRPCStateMashine();
+
+    can_interface->register_rx0_handler(onRX0_GoboRPC, can_interface);
+}
+
+
+void onRX0_GoboRPC(void *arg) {
+    GobotRPCReciver *rpc_socket = (GobotRPCReciver *)arg;
+    rpc_socket->onRX();
+}
+
+void GobotRPCReciver::onRX() {
+    rx_info info = can_interface->get_rx_id(MCP2521_RX_BUFFER::RXB0);
+    uint8_t data[8];
+
+    can_interface->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
+
+    RPCFrame frame;
+    memcpy(((char *)data) + 1, (char *)frame.data, 7);
+    frame.header = (RPCHeader)(data[0]);
+
+    SMResult smResult;
+    state_mashine.submitFrame(&frame, &smResult);
+
+    if(smResult.done) {
+        
+    }
+}
+
+void GobotRPCReciver::registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg) {
+    onDoneFrameHandler = handler;
+    argOnDoneFrameHandler = arg;
+}
+

common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp

@@ -0,0 +1,74 @@
+#include "sm.hpp"
+#include "protocol_spec.hpp"
+#include <string.h>
+
+GobotRPCStateMashine::GobotRPCStateMashine() {
+    memset(requestDataBuffer, 0, REQUEST_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
+    memset(responseDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
+    memset(errorDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
+
+    memset(requestSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
+    memset(responseSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
+    memset(errorSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
+
+    slotCounter = 0;
+    rpc_number_map = GobotRPCNumberMap();
+}
+
+void GobotRPCStateMashine::registerRPC(RpcNum rpc_num) {
+    rpc_number_map.set(rpc_num, slotCounter);
+    slotCounter = (slotCounter + 1) % SLOTS;
+}
+
+void GobotRPCStateMashine::submitFrame(RPCFrame * frame, SMResult * result) {
+    RpcNum rpcNum = (RpcNum)(frame->header.rpc_num);
+
+    result->done = false;
+    result->rpc_num = rpcNum;
+
+    if(rpcNum == RpcNum::INVALID)
+        return;
+
+    size_t slot = rpc_number_map.get(rpcNum);
+    if (slot == 0xffffffff)
+        return;
+
+    uint8_t segNum = frame->header.rpc_segement;
+
+    if(frame->header.error) {
+        memcpy(result->data, frame->data, 7);
+        errorSegmentArrivedFlags[slot] |= (1 << segNum);
+
+        result->done = true;
+        result->type = RPCPackageType::ERROR;
+
+    } else if(frame->header.response) {
+        memcpy(responseDataBuffer[slot] + segNum, frame->data, 7);
+        responseSegmentArrivedFlags[slot] |= (1 << segNum);
+        
+        uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
+
+        if(((responseSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
+            responseSegmentArrivedFlags[slot] = 0;
+
+            result->done = true;
+            memcpy(result->data, responseDataBuffer[slot], 7*4);
+            result->type = RPCPackageType::RESPONSE;
+        }
+
+    } else {
+        memcpy(requestDataBuffer[slot] + segNum, frame->data, 7);
+        requestSegmentArrivedFlags[slot] |= (1 << segNum);
+        
+        uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
+        
+        if(((requestSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
+            requestSegmentArrivedFlags[slot] = 0;
+
+            result->done = true;
+            memcpy(result->data, requestDataBuffer[slot], 7*4);
+            result->type = RPCPackageType::REQUEST;
+        }
+    }
+
+}

common-libaries/gobot_rpc/include/gobot_rpc.hpp

@@ -0,0 +1,56 @@
+#pragma once
+#include "protocol_spec.hpp"
+#include "mcp2521.hpp"
+#include "sm.hpp"
+
+#include "freertos/FreeRTOS.h"
+
+
+
+typedef void (*GobotRPCHandler_t)(void *);
+typedef void (*GobotRPCFrameHandler)(void *, RPCFrame *);
+
+class GobotRPCReciver {
+protected:
+    MCP2521 * can_interface;
+    GobotRPCStateMashine state_mashine;
+
+    GobotRPCHandler_t onDoneFrameHandler;
+    void * argOnDoneFrameHandler;
+
+public:
+    GobotRPCReciver(MCP2521 * can_interface);
+    ~GobotRPCReciver();
+
+    void onRX();
+
+    void registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg);
+};
+
+void onRX0_GoboRPC(void *arg);
+
+class GoboRPCTransiver {
+private:
+    MCP2521 * can_interface;
+    GobotRPCReciver rx;
+
+    GobotRPCHandler_t onRequestHandler;
+    GobotRPCHandler_t onResponseHandler;
+    GobotRPCHandler_t onResponseErrorHandler;
+
+    void * argOnRequestHandler;
+    void * argOnResponseHandler;
+    void * argOnResponseErrorHandler;
+
+
+
+public:
+    GoboRPCTransiver(MCP2521 * can_interface);
+    ~GoboRPCTransiver();
+
+    void send(RPCFrame * frame);
+
+    void registerOnRequestHandler(GobotRPCHandler_t handler, void * arg);
+    void registerOnResponseHandler(GobotRPCHandler_t handler, void * arg);
+    void registerOnResponseErrorHandler(GobotRPCHandler_t handler, void * arg);
+};

common-libaries/gobot_rpc/include/protocol_spec.hpp

@@ -0,0 +1,123 @@
+#pragma once
+#include <stdint.h>
+
+enum RpcNum {
+    Get_Info            = 0x0,
+    Home                = 0x1,
+    Move_Step           = 0x2,
+    Move_XY             = 0x3,
+    Set_Padding         = 0x4,
+    Release_Motors      = 0x5,
+    Drop_Stones         = 0x6,
+    Get_Stone_Status    = 0x7,
+    Mov_Z_Axis          = 0x8,
+    Set_Vacum           = 0x9,
+    INVALID             = 0xF,
+};
+
+struct RPCHeader {
+    unsigned char rpc_num : 4;
+    unsigned char response : 1;
+    unsigned char error : 1;
+    unsigned char rpc_segement : 1;
+};
+
+struct RPCFrame {
+    RPCHeader header;
+    uint8_t data[7];
+};
+
+enum RPC_Node_Type {
+    NODE_ALL        = 0x0,
+    NODE_CORE_XY    = 0x1,
+    NODE_HEAD       = 0x2,
+    NODE_VACUM      = 0x3,
+};
+
+// RPC Request and Response structures
+struct RPC_RES_Get_Info {
+    uint32_t can_address;
+    RPC_Node_Type node_type;
+    uint32_t status;
+    uint32_t error;
+};
+
+enum RPC_Home_Corner {
+    HOME_CORNER_0 = 0b00,
+    HOME_CORNER_1 = 0b01,
+    HOME_CORNER_2 = 0b10,
+    HOME_CORNER_3 = 0b11,
+};
+
+struct RPC_REQ_Home {
+    RPC_Home_Corner corner;
+};
+
+struct RPC_RES_Home {
+    uint32_t x;
+    uint32_t y;
+};
+
+struct RPC_REQ_Move_Step {
+    int32_t x;
+    int32_t y;
+};
+
+struct RPC_RES_Move_Step {
+    uint32_t x;
+    uint32_t y;
+};
+
+struct RPC_REQ_Set_Padding {
+    uint32_t c_1x;
+    uint32_t c_1y;
+    uint32_t c_2x;
+    uint32_t c_2y;
+    uint8_t n_x;
+    uint8_t n_y;
+};
+
+struct RPC_REQ_Move_Z_Axis {
+    bool up;
+};
+
+struct RPC_REQ_Set_Vacum {
+    bool on;
+};
+
+// Segment3, Segment2, Segment1, Segment0
+const uint8_t SEGMENT_MASK_REQUEST[16] = {
+    0b0001, // Get_Info
+    0b0001, // Home
+    0b0001, // Move_Step
+    0b0001, // Move_XY
+    0b0111, // Set_Padding
+    0b0001, // Release_Motors
+    0b0001, // Drop_Stones
+    0b0001, // Get_Stone_Status
+    0b0001, // Mov_Z_Axis
+    0b0001, // Set_Vacum
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+};
+
+const uint8_t SEGMENT_MASK_RESPONSE[16] = {
+    0b0001, // Get_Info
+    0b0001, // Home
+    0b0001, // Move_Step
+    0b0001, // Move_XY
+    0b0001, // Set_Padding
+    0b0001, // Release_Motors
+    0b0001, // Drop_Stones
+    0b0001, // Get_Stone_Status
+    0b0001, // Mov_Z_Axis
+    0b0001, // Set_Vacum
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+};

common-libaries/gobot_rpc/include/sm.hpp

@@ -0,0 +1,58 @@
+#pragma once
+#include <stdint.h>
+#include "protocol_spec.hpp"
+#include <strings.h>
+
+class GobotRPCNumberMap {
+private:
+    int32_t rpc_number_map[16];
+public:
+    GobotRPCNumberMap();
+    ~GobotRPCNumberMap();
+
+    void set(RpcNum rpc_num, uint32_t id);
+    uint32_t get(RpcNum rpc_num);
+};
+
+
+enum RPCPackageType {
+    REQUEST,
+    RESPONSE,
+    ERROR
+};
+
+struct SMResult {
+    bool done;
+    uint8_t data[7*4];
+    RpcNum rpc_num;
+    RPCPackageType type;
+};
+
+class GobotRPCStateMashine {
+private:
+    static const size_t SLOTS = 6;
+    static const size_t REQUEST_DATA_BUFFER_SIZE = 7*4;
+    static const size_t RESPONSE_DATA_BUFFER_SIZE = 7*4;
+
+
+    GobotRPCNumberMap rpc_number_map;
+    size_t slotCounter;
+
+    uint8_t requestDataBuffer[REQUEST_DATA_BUFFER_SIZE][SLOTS];
+    bool requestSegmentArrivedFlags [SLOTS];
+    
+    uint8_t responseDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
+    uint8_t responseSegmentArrivedFlags [SLOTS];
+
+    uint8_t errorDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
+    uint8_t errorSegmentArrivedFlags [SLOTS];
+
+public:
+    GobotRPCStateMashine();
+    ~GobotRPCStateMashine();
+
+    void registerRPC(RpcNum rpc_num);
+
+    void submitFrame(RPCFrame * frame, SMResult * result);
+
+};

common-libaries/mcp2521/CMakeLists.txt

@@ -0,0 +1,8 @@
+idf_component_register(SRCS
+                         "interface_commands.cpp"
+                         "interface_interrupts.cpp"
+                         "toplevel_commands.cpp"
+                       INCLUDE_DIRS "include"
+                       REQUIRES driver
+                       REQUIRES mcp2521_hardware_interface
+                       )

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common-libaries/mcp2521/include/bitfields.hpp

@@ -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;
+};

common-libaries/mcp2521/include/mcp2521.hpp

@@ -0,0 +1,7 @@
+#pragma once
+
+#include "mcp2521_toplevel.hpp"
+#include "mcp2521_command.hpp"
+#include "mcp2521_hardware_esp.hpp"
+#include "mcp2521_hardware_esp_bus_factory.hpp"
+#include "mcp2521_addresses.hpp"

common-libaries/mcp2521/include/mcp2521_addresses.hpp

@@ -0,0 +1,192 @@
+#pragma once
+#include <stdint.h> 
+
+#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 << 2)
+#define MCP2521_CANSTAT_ICOD1 (1 << 1)
+#define MCP2521_CANSTAT_ICOD0 (1 << 0)
+
+struct CANSTAT_Register {
+    uint8_t ICOD : 3;
+    uint8_t : 1; // Unused bit
+    uint8_t OPMOD : 3;
+    uint8_t : 1; // Unused bit
+};
+
+#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_TXB0DLC 0x35
+#define MCP2521_TXB1DLC 0x45
+#define MCP2521_TXB2DLC 0x55
+
+#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)
+
+struct TXBnCTRL_Register {
+    uint8_t TXP : 2;
+    uint8_t : 1; // Unused bit
+    uint8_t TXREQ : 1;
+    uint8_t TXERR : 1;
+    uint8_t MLOA : 1;
+    uint8_t ABTF : 1;
+    uint8_t : 1; // Unused bit
+};
+
+
+#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
+
+#define MCP2521_TXB0SIDH 0x31
+#define MCP2521_TXB1SIDH 0x41
+#define MCP2521_TXB2SIDH 0x51
+
+#define MCP2521_TXB0SIDL 0x32
+#define MCP2521_TXB1SIDL 0x42
+#define MCP2521_TXB2SIDL 0x52
+
+#define MCP2521_RXB0SIDH 0x61
+#define MCP2521_RXB1SIDH 0x71
+
+#define MCP2521_RXB0SIDL 0x62
+#define MCP2521_RXB1SIDL 0x72
+
+#define MCP2521_RXB0EID8 0x63
+#define MCP2521_RXB1EID8 0x73
+
+#define MCP2521_RXB0EID0 0x64
+#define MCP2521_RXB1EID0 0x74
+
+#define MCP2521_RXB0DLC 0x65
+#define MCP2521_RXB1DLC 0x75

common-libaries/mcp2521/include/mcp2521_command.hpp

@@ -0,0 +1,102 @@
+#pragma once
+#include "mcp2521_addresses.hpp"
+#include "mcp2521_hardware_handle.hpp"
+
+#include <stdint.h>
+
+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
+};
+
+enum MCP2521_OPERATION_MODE {
+    NORMAL      = 0b000,
+    SLEEP       = 0b001,
+    LOOPBACK    = 0b010,
+    LISTEN_ONLY = 0b011,
+    CONFIG      = 0b100
+};
+
+struct rx_info {
+    bool extended;
+
+    uint16_t id;
+    uint32_t extended_id;
+
+    bool rtr;
+    bool extended_rtr;
+
+    uint8_t length;
+};
+
+class MCP2521_CommandInterface {
+private:
+    I_MCP2521_HardwareHandle * hardware_handle;
+
+    intHandlerFunction_t rx0_handler;
+    intHandlerFunction_t rx1_handler;
+    intHandlerFunction_t tx0_handler;
+    intHandlerFunction_t tx1_handler;
+    intHandlerFunction_t tx2_handler;
+    intHandlerFunction_t error_handler;
+    intHandlerFunction_t wakeup_handler;
+    intHandlerFunction_t message_error_handler;
+
+    void * rx0_handler_arg;
+    void * rx1_handler_arg;
+    void * tx0_handler_arg;
+    void * tx1_handler_arg;
+    void * tx2_handler_arg;
+    void * error_handler_arg;
+    void * wakeup_handler_arg;
+    void * message_error_handler_arg;
+public:
+
+    MCP2521_CommandInterface(
+        I_MCP2521_HardwareHandle * hardware_handle
+    );
+
+    void handleInterrupt();
+    
+    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);
+
+    // Registering Handlers for Interrupts
+    void register_rx0_handler(intHandlerFunction_t handler, void * arg);
+    void register_rx1_handler(intHandlerFunction_t handler, void * arg);
+    void register_tx0_handler(intHandlerFunction_t handler, void * arg);
+    void register_tx1_handler(intHandlerFunction_t handler, void * arg);
+    void register_tx2_handler(intHandlerFunction_t handler, void * arg);
+    void register_error_handler(intHandlerFunction_t handler, void * arg);
+    void register_wakeup_handler(intHandlerFunction_t handler, void * arg);
+    void register_message_error_handler(intHandlerFunction_t handler, void * arg);
+};
+

common-libaries/mcp2521/include/mcp2521_toplevel.hpp

@@ -0,0 +1,38 @@
+#pragma once
+#include <stdint.h>
+
+#include "mcp2521.hpp"
+#include "mcp2521_command.hpp"
+#include "mcp2521_addresses.hpp"
+
+class MCP2521 : public MCP2521_CommandInterface {
+    private:
+    public:
+        void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);
+
+        /**
+         * @brief Loads the Data Length Code register for the specified buffer
+         * 
+         * @param buffer What Buffer to load the DLC register for
+         * @param length How many bytes are in the message (0-8)
+         * @param rtr: Remote Transmission Request
+         */
+        void set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr);
+
+        /**
+         * @brief Loads the data and id into the specified buffer
+         * 
+         * @param buffer 
+         * @param id 
+         * @param data 
+         * @param length 
+         */
+        void prepare_tx(MCP2521_TX_BUFFER buffer, uint32_t id, uint8_t *data, size_t length, bool rtr, bool extended);
+
+        void set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot);
+        void set_singleshot_mode(bool enable);
+        
+        void enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1);
+        rx_info get_rx_id(MCP2521_RX_BUFFER buffer);
+
+};

common-libaries/mcp2521/interface_commands.cpp

@@ -0,0 +1,100 @@
+#include <cstring>
+
+#include "mcp2521.hpp"
+#include "mcp2521_addresses.hpp"
+
+void runIntHandler(void *arg) {
+    MCP2521_CommandInterface *command_interface = (MCP2521_CommandInterface *)arg;
+    command_interface->handleInterrupt();
+}
+
+MCP2521_CommandInterface::MCP2521_CommandInterface(
+    I_MCP2521_HardwareHandle * hardware_handle
+) {
+    this->hardware_handle = hardware_handle;
+    this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
+
+    rx0_handler = NULL;
+    rx1_handler = NULL;
+    tx0_handler = NULL;
+    tx1_handler = NULL;
+    tx2_handler = NULL;
+    error_handler = NULL;
+    wakeup_handler = NULL;
+    message_error_handler = NULL;
+
+    rx0_handler_arg = NULL;
+    rx1_handler_arg = NULL;
+    tx0_handler_arg = NULL;
+    tx1_handler_arg = NULL;
+    tx2_handler_arg = NULL;
+    error_handler_arg = NULL;
+    wakeup_handler_arg = NULL;
+    message_error_handler_arg = NULL;
+}
+
+void MCP2521_CommandInterface::reset() {
+    hardware_handle->execute(MCP2521_OP_RESET);
+}
+
+void MCP2521_CommandInterface::read_reg(uint8_t address, uint8_t *data, size_t length) {
+    hardware_handle->read(MCP2521_OP_READ, data, length, address);
+}
+
+uint8_t MCP2521_CommandInterface::read_reg(uint8_t address) {
+    return hardware_handle->read(MCP2521_OP_READ, address);
+}
+
+void MCP2521_CommandInterface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
+    uint8_t address = (buffer << 1) | (type << 2);
+    hardware_handle->read(MCP2521_OP_READ_RX_BUFFER | address, data, length);
+}
+
+void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t *data, size_t length) {
+    hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
+}
+
+void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t data) {
+    hardware_handle->write(MCP2521_OP_WRITE, data, address);
+}
+
+void MCP2521_CommandInterface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
+    uint8_t address = (buffer << 1) | (type);
+    hardware_handle->write(MCP2521_OP_LOAD_TX_BUFFER | address, data, length);
+}
+
+void MCP2521_CommandInterface::request_to_send(bool txb2, bool txb1, bool txb0) {
+    uint8_t data = (txb2 << 2) | (txb1 << 1) | txb0;
+    hardware_handle->execute(MCP2521_OP_RTS | data);
+}
+
+void MCP2521_CommandInterface::request_to_send(MCP2521_TX_BUFFER buffer) {
+    uint8_t mask = 0;
+
+    switch (buffer) {
+        case MCP2521_TX_BUFFER::TXB0:
+            mask = 0b001;
+            break;
+        case MCP2521_TX_BUFFER::TXB1:
+            mask = 0b010;
+            break;
+        case MCP2521_TX_BUFFER::TXB2:
+            mask = 0b100;
+            break;
+    }
+
+    hardware_handle->execute(MCP2521_OP_RTS | mask);
+}
+
+uint8_t MCP2521_CommandInterface::read_status() {
+    return hardware_handle->read(MCP2521_OP_READ_STATUS);
+}
+
+uint8_t MCP2521_CommandInterface::read_rx_status() {
+    return hardware_handle->read(MCP2521_OP_RX_STATUS);
+}
+
+void MCP2521_CommandInterface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
+    uint8_t data_array[3] = {address, mask, data};
+    hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
+}

common-libaries/mcp2521/interface_interrupts.cpp

@@ -0,0 +1,113 @@
+#include "mcp2521.hpp"
+#include "mcp2521_addresses.hpp"
+
+void MCP2521_CommandInterface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
+    rx0_handler = handler;
+    rx0_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
+    rx1_handler = handler;
+    rx1_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
+    tx0_handler = handler;
+    tx0_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
+    tx1_handler = handler;
+    tx1_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
+    tx2_handler = handler;
+    tx2_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_error_handler(intHandlerFunction_t handler, void* args) {
+    error_handler = handler;
+    error_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
+    wakeup_handler = handler;
+    wakeup_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
+    message_error_handler = handler;
+    message_error_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::handleInterrupt() {
+    uint8_t flags = read_reg(MCP2521_CANINTF);
+    uint8_t clearBits = 0;
+
+    if (flags & MCP2521_CANINTF_RX0IF) {
+        if (rx0_handler) {
+            rx0_handler(rx0_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_RX0IF;
+        clearBits |= MCP2521_CANINTF_RX0IF;
+    }
+
+    if (flags & MCP2521_CANINTF_RX1IF) {
+        if (rx1_handler) {
+            rx1_handler(rx1_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_RX1IF;
+        clearBits |= MCP2521_CANINTF_RX1IF;
+    }
+
+    if (flags & MCP2521_CANINTF_TX0IF) {
+        if (tx0_handler) {
+            tx0_handler(tx0_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_TX0IF;
+        clearBits |= MCP2521_CANINTF_TX0IF;
+    }
+
+    if (flags & MCP2521_CANINTF_TX1IF) {
+        if (tx1_handler) {
+            tx1_handler(tx1_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_TX1IF;
+        clearBits |= MCP2521_CANINTF_TX1IF;
+    }
+
+    if (flags & MCP2521_CANINTF_TX2IF) {
+        if (tx2_handler) {
+            tx2_handler(tx2_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_TX2IF;
+        clearBits |= MCP2521_CANINTF_TX2IF;
+    }
+
+    if (flags & MCP2521_CANINTF_ERRIF) {
+        if (error_handler) {
+            error_handler(error_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_ERRIF;
+        clearBits |= MCP2521_CANINTF_ERRIF;
+    }
+
+    if (flags & MCP2521_CANINTF_WAKIF) {
+        if (wakeup_handler) {
+            wakeup_handler(wakeup_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_WAKIF;
+        clearBits |= MCP2521_CANINTF_WAKIF;
+    }
+
+    if (flags & MCP2521_CANINTF_MERRF) {
+        if (message_error_handler) {
+            message_error_handler(message_error_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_MERRF;
+        clearBits |= MCP2521_CANINTF_MERRF;
+    }
+
+    bit_modify(MCP2521_CANINTF, clearBits, 0);
+}

common-libaries/mcp2521/toplevel_commands.cpp

@@ -0,0 +1,119 @@
+#include <cstring>
+
+#include "mcp2521.hpp"
+#include "mcp2521_addresses.hpp"
+
+void MCP2521::set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended) {
+    uint8_t addr_offset = 0;
+    switch (buffer)
+    {
+    case MCP2521_TX_BUFFER::TXB0:
+        addr_offset = 0x00;
+        break;
+    case MCP2521_TX_BUFFER::TXB1:
+        addr_offset = 0x10;
+        break;
+    case MCP2521_TX_BUFFER::TXB2:
+        addr_offset = 0x20;
+        break;
+    }
+
+    uint8_t upper_id = (id >> 3) & 0xFF;
+    uint8_t lower_id = ((id & 0b111) << 5);
+
+    if(extended) {
+        lower_id |= 0b1000;
+        lower_id |= (id >> 8) & 0b11;
+    }
+
+    write_reg(MCP2521_TXB0SIDH | addr_offset, upper_id);
+    write_reg(MCP2521_TXB0SIDL | addr_offset, lower_id);
+}
+
+void MCP2521::set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr) {
+    uint8_t data = length;
+
+    if (rtr)
+        data |= 0b01000000;
+
+    uint8_t reg_address = 0;
+
+    switch (buffer) {
+        case MCP2521_TX_BUFFER::TXB0:
+            reg_address = MCP2521_TXB0DLC;
+            break;
+        case MCP2521_TX_BUFFER::TXB1:
+            reg_address = MCP2521_TXB1DLC;
+            break;
+        case MCP2521_TX_BUFFER::TXB2:
+            reg_address = MCP2521_TXB2DLC;
+            break;
+    }
+
+    write_reg(reg_address, data);
+}
+
+void MCP2521::set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot) {
+    
+    uint8_t single = singleshot ? 0b00001000 : 0x0;
+
+    bit_modify(MCP2521_CANCTRL, 0b11101000 , (mode << 5) | single);
+}
+
+void MCP2521::set_singleshot_mode(bool enable) {
+    uint8_t data = enable ? 0x08 : 0x00;
+    bit_modify(MCP2521_CANCTRL, 0x08, data);
+}
+
+void MCP2521::enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1) {
+    uint8_t interrupt_flags = 0;
+
+    if (MessageError) interrupt_flags   |= 0b10000000;
+    if (WakeUp) interrupt_flags         |= 0b01000000;
+    if (ErrorInterrupt) interrupt_flags |= 0b00100000;
+    if (TXB2) interrupt_flags           |= 0b00010000;
+    if (TXB1) interrupt_flags           |= 0b00001000;
+    if (TXB0) interrupt_flags           |= 0b00000100;
+    if (RXB1) interrupt_flags           |= 0b00000010;
+    if (RXB0) interrupt_flags           |= 0b00000001;
+
+    write_reg(MCP2521_CANINTE, interrupt_flags);
+}
+
+rx_info MCP2521::get_rx_id(MCP2521_RX_BUFFER buffer) {
+    uint8_t data[5];
+    uint8_t addr_offset = MCP2521_RXB0SIDH;
+
+    switch (buffer) {
+    case MCP2521_RX_BUFFER::RXB0:
+        addr_offset |= 0x00;
+        break;
+    case MCP2521_RX_BUFFER::RXB1:
+        addr_offset |= 0x10;
+        break;
+    }
+
+    read_reg(addr_offset, data, 5);
+
+    rx_info res;
+    res.extended = data[1] & 0b1000;
+    res.id = (data[0] << 3) | (data[1] >> 5);
+    res.extended_id = ((data[1] & 0b11) << 16) | (data[2] << 8) | data[3];
+    res.rtr = data[1] & 0b10000;
+    res.extended_rtr = (data[4] & 0b1000000);
+    res.length = (data[4] & 0b1111);
+
+    return res;
+}
+
+void MCP2521::prepare_tx(
+    MCP2521_TX_BUFFER buffer, 
+    uint32_t id, 
+    uint8_t *data, 
+    size_t length, 
+    bool rtr, bool extended) {
+
+    set_tx_id(buffer, id, extended);
+    set_DLC_reg(buffer, length, rtr);
+    write_tx_buf(buffer, MCP2521_BUFFER_TYPE::DATA, data, length);
+}

common-libaries/mcp2521_hardware_interface/CMakeLists.txt

@@ -0,0 +1,7 @@
+idf_component_register(SRCS "esp_implementation_init.cpp"
+                            "esp_implementation_cmd.cpp"
+                            "esp_implementation_int.cpp"
+                            "esp_implementation_bus.cpp"
+                            "esp_implementation_bus_factory.cpp"
+                       INCLUDE_DIRS "include"
+                       REQUIRES driver)

common-libaries/mcp2521_hardware_interface/esp_implementation_bus.cpp

@@ -0,0 +1,58 @@
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+
+#include "mcp2521_hardware_esp_bus.hpp"
+#include "mcp2521_hardware_esp.hpp"
+
+MCP2521_HardwareHandle_ESPBus::MCP2521_HardwareHandle_ESPBus(
+        QueueHandle_t send_queue,
+        spi_host_device_t spi_host,
+        spi_bus_config_t * bus_config,
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+) : MCP2521_HardwareHandle_ESP(spi_host, bus_config, cs, int_pin) {
+    this->send_queue = send_queue;
+    this->receive_queue = xQueueCreate(3, sizeof(spi_message_t));
+}
+
+void MCP2521_HardwareHandle_ESPBus::spi_transmit(spi_transaction_t *t) {
+    spi_message_t message = {
+        .transaction = t,
+        .queue = send_queue,
+        .spi_device_handle = spi_device_handle
+    };
+
+    xQueueSend(send_queue, &message, portMAX_DELAY);
+    xQueueReceive(receive_queue, &message, portMAX_DELAY);
+}
+
+void MCP2521_HardwareHandle_ESPBus::initPins(
+    gpio_num_t int_pin
+) {
+    canInterruptSemaphore = xSemaphoreCreateBinary();
+
+    gpio_config_t io_conf;
+    io_conf.intr_type = GPIO_INTR_NEGEDGE;
+    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);
+
+    gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
+
+    char taskName[32];
+    sprintf(taskName, "canInterruptTask_%d", int_pin);
+
+    xTaskCreatePinnedToCore(
+        (TaskFunction_t)&handleInteruptTaskCallerFn,
+        taskName,
+        2048,
+        this,
+        5,
+        &canInterruptTaskHandle,
+        0
+    );
+}
+
+#endif

common-libaries/mcp2521_hardware_interface/esp_implementation_bus_factory.cpp

@@ -0,0 +1,67 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+
+#include "mcp2521_hardware_esp_bus_factory.hpp"
+#include "mcp2521_hardware_esp_bus.hpp"
+#include "mcp2521_hardware_esp.hpp"
+
+void transactionTaskWrapperFn(void *pvParameters) {
+    MCP2521_HardwareHandleFactory_ESPBus *factory = (MCP2521_HardwareHandleFactory_ESPBus *)pvParameters;
+    factory->transactionTaskFn();
+
+}
+
+MCP2521_HardwareHandleFactory_ESPBus::MCP2521_HardwareHandleFactory_ESPBus(
+    spi_host_device_t spi_host,
+    gpio_num_t mosi, 
+    gpio_num_t miso, 
+    gpio_num_t sclk
+) {
+    this->spi_host = spi_host;
+    this->mosi = mosi;
+    this->miso = miso;
+    this->sclk = sclk;
+
+    
+    gpio_install_isr_service(0);
+
+    MCP2521_HardwareHandle_ESP::initSPIBus(spi_host, mosi, miso, sclk, &bus_config);
+    
+    spi_queue = xQueueCreate(12, sizeof(spi_message_t));
+    xTaskCreatePinnedToCore(
+        (TaskFunction_t)&transactionTaskWrapperFn,
+        "transactionTask",
+        2048,
+        this,
+        3,
+        &transactionTaskHandle,
+        0
+    );
+}
+
+void MCP2521_HardwareHandleFactory_ESPBus::transactionTaskFn() {
+    spi_message_t message;
+
+    while(true) {
+        xQueueReceive(spi_queue, &message, portMAX_DELAY);
+        spi_device_transmit(message.spi_device_handle, message.transaction);
+    }
+}
+
+MCP2521_HardwareHandle_ESPBus MCP2521_HardwareHandleFactory_ESPBus::create(
+    gpio_num_t int_pin,
+    gpio_num_t cs
+) {
+    return MCP2521_HardwareHandle_ESPBus(
+        spi_queue,
+        spi_host,
+        &bus_config,
+        cs,
+        int_pin
+    );
+}
+
+
+#endif

common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp

@@ -0,0 +1,209 @@
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+#include "mcp2521_hardware_esp.hpp"
+
+const uint8_t null_buffer[32] = {0};
+
+void MCP2521_HardwareHandle_ESP::spi_transmit(spi_transaction_t *t) {
+    xSemaphoreTake(spiMutex, portMAX_DELAY);
+    spi_device_transmit(this->spi_device_handle, t);
+    xSemaphoreGive(spiMutex);
+}
+
+void MCP2521_HardwareHandle_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_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_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_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_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_buffer,
+            .rx_buffer = data
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_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_buffer,
+            .rx_buffer = data
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+uint8_t MCP2521_HardwareHandle_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_buffer,
+            .rx_buffer = &result
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+    return result;
+}
+
+uint8_t MCP2521_HardwareHandle_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_buffer,
+            .rx_buffer = &result
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+    return result;
+}
+
+void MCP2521_HardwareHandle_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_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_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_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_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_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_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_transmit((spi_transaction_t*)(&t));
+}
+
+#endif

common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp

@@ -0,0 +1,92 @@
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+#include "mcp2521_hardware_esp.hpp"
+#include "driver/gpio.h"
+#include <string.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_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_HardwareHandle_ESP::MCP2521_HardwareHandle_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_HardwareHandle_ESP::~MCP2521_HardwareHandle_ESP() {
+
+}
+
+void MCP2521_HardwareHandle_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_HardwareHandle_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 = 2000,
+
+        .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);
+
+    spiMutex = xSemaphoreCreateMutex();
+}
+
+spi_bus_config_t * MCP2521_HardwareHandle_ESP::getSPI_bus_config() {
+    return this->spi_bus_config;
+}
+
+#endif

common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp

@@ -0,0 +1,66 @@
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "mcp2521_hardware_esp.hpp"
+
+static void IRAM_ATTR gpio_isr_can_handler(void* arg) {
+    MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
+    handle->isr_can_interrupt();
+}
+
+static void handleInteruptTaskCallerFn(void *arg) {
+    MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
+    handle->handleIntteruptTaskFn();
+}
+
+void MCP2521_HardwareHandle_ESP::initPins(
+    gpio_num_t int_pin
+) {
+    canInterruptSemaphore = xSemaphoreCreateBinary();
+
+    gpio_config_t io_conf;
+    io_conf.intr_type = GPIO_INTR_NEGEDGE;
+    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);
+
+    gpio_install_isr_service(0);
+    gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
+
+    xTaskCreatePinnedToCore(
+        (TaskFunction_t)&handleInteruptTaskCallerFn,
+        "canInterruptTask",
+        2048,
+        this,
+        5,
+        &canInterruptTaskHandle,
+        0
+    );
+}
+
+void MCP2521_HardwareHandle_ESP::handleIntteruptTaskFn() {
+    while(true) {
+        xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
+        intHandler(intHandlerArg);
+    }
+}
+
+void MCP2521_HardwareHandle_ESP::isr_can_interrupt() {
+    BaseType_t wokenTask = pdFALSE;
+    xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);
+
+    if(wokenTask) {
+        portYIELD_FROM_ISR();
+    }
+}
+
+void MCP2521_HardwareHandle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
+    intHandlerArg = arg;
+    intHandler = handler;
+}
+
+#endif

common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp

@@ -0,0 +1,131 @@
+/**
+ * @file mcp2521_hardware_esp.hpp
+ * @author AlexanderHD27
+ * @brief 
+ * @version 0.1
+ * @date 2024-11-16
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+#pragma once
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+static void handleInteruptTaskCallerFn(void *arg);
+static void IRAM_ATTR gpio_isr_can_handler(void* arg);
+
+/**
+ * @brief Hardware handle for MCP2521 over SPI on ESP32
+ * This is should not be used if multiple MCP2521 are on the same SPI bus
+ */
+class MCP2521_HardwareHandle_ESP : public I_MCP2521_HardwareHandle {
+protected:
+    void spi_transmit(spi_transaction_t *t);
+    
+    /**
+     * @brief Sempahore, that is set every time the MCP2521 triggers an interrupt by the canInterruptTaskHandle
+     */
+    SemaphoreHandle_t canInterruptSemaphore = NULL;
+
+
+    /**
+     * @brief Handle to task that handles the MCP2521 interrupt
+     * A Handle can be registered via the registerIntHandler method
+     */
+    TaskHandle_t canInterruptTaskHandle = NULL;
+
+    spi_device_handle_t spi_device_handle;
+    
+private:
+    spi_bus_config_t * spi_bus_config;
+    char spi_tmp_buffer;
+    
+    spi_device_interface_config_t spi_device_config;
+
+    /**
+     * @brief Sempahore, that protects the SPI bus from being accessed by multiple tasks at the same time
+     * 
+     */
+    SemaphoreHandle_t spiMutex = NULL;
+
+    void * intHandlerArg = NULL;
+    intHandlerFunction_t intHandler = NULL;
+
+public:
+    MCP2521_HardwareHandle_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_HardwareHandle_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_HardwareHandle_ESP();
+
+    spi_bus_config_t * getSPI_bus_config();
+
+    // ISR Stuff
+    /**
+     * @brief This function is called by the ISR, that is triggered by the MCP2521
+     * This function just set the canInterruptSemaphore, that then unblocks the canInterruptTaskHandle.
+     * So this function should be as short as possible, let the reset of the work be done in the canInterruptTaskHandle
+     */
+    void isr_can_interrupt();
+
+    /**
+     * This is the methode run as canInterruptTaskHandle.
+     * It should continously aquire the canInterruptSemaphore and then call the intHandler
+     */
+    void handleIntteruptTaskFn();
+
+    // 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);
+
+    void registerIntHandler(intHandlerFunction_t handler, void * arg);
+};
+
+#endif

common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus.hpp

@@ -0,0 +1,46 @@
+#pragma once
+
+#include "mcp2521_hardware_esp.hpp"
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+struct spi_message_t {
+    spi_transaction_t *transaction;
+    QueueHandle_t queue;
+    spi_device_handle_t spi_device_handle;
+};
+
+/**
+ * @brief Hardware handle for MCP2521 over SPI in a multi-Bus-Setup on ESP32 
+ * This should not be created directly, use the MCP2521_HardwareHandleFactory_ESPBus instead
+ */
+class MCP2521_HardwareHandle_ESPBus : public MCP2521_HardwareHandle_ESP {
+    using MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP;
+private:
+    QueueHandle_t send_queue;
+    QueueHandle_t receive_queue;
+
+    /**
+     * @brief Wrapper around the spi_transmit function, that locks the spiMutex before calling spi_transmit.
+     * The muxtex is shared with all other MCP2521_HardwareHandle_ESPBus instances created by the same MCP2521_HardwareHandleFactory_ESPBus
+     * @overload
+     * 
+     * @param t ESP32 SPI Transaction struct
+     */
+    void spi_transmit(spi_transaction_t *t);
+public:
+    MCP2521_HardwareHandle_ESPBus(
+        QueueHandle_t send_queue,
+        spi_host_device_t spi_host,
+        spi_bus_config_t * bus_config,
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+    );
+
+    void initPins(
+        gpio_num_t int_pin
+    );
+};

common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus_factory.hpp

@@ -0,0 +1,41 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include "mcp2521_hardware_handle.hpp"
+#include "mcp2521_hardware_esp_bus.hpp"
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+
+class MCP2521_HardwareHandleFactory_ESPBus {
+private:
+    spi_bus_config_t bus_config;
+    spi_host_device_t spi_host;
+
+    gpio_num_t mosi; 
+    gpio_num_t miso;
+    gpio_num_t sclk;
+
+    QueueHandle_t spi_queue;
+    TaskHandle_t transactionTaskHandle;
+
+public:
+    MCP2521_HardwareHandleFactory_ESPBus(
+        spi_host_device_t spi_host,
+        gpio_num_t mosi, 
+        gpio_num_t miso, 
+        gpio_num_t sclk
+    );
+
+    void transactionTaskFn();
+
+    MCP2521_HardwareHandle_ESPBus create(
+        gpio_num_t int_pin,
+        gpio_num_t cs
+    );
+};
+
+#endif

common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp

@@ -0,0 +1,119 @@
+#pragma once
+#include <cstdint>
+#include <strings.h>
+
+/**
+ * @brief Handler function pointer type
+ * 
+ */
+typedef void (*intHandlerFunction_t)(void *); 
+
+/**
+ * @brief Hardware handle for MCP2521
+ * @interface
+ * This is an abstraction over the sepific hardware setup, eg. SPI@ESP32 or RP2040
+ * 
+ */
+class I_MCP2521_HardwareHandle {
+public:
+    /**
+     * @brief Registeres a function that is called when the MCP2521 triggers an interrupt
+     * 
+     * @param handler This function is called when the MCP2521 triggers an interrupt
+     * @param arg Arguments passed to the handler-function
+     */
+    virtual void registerIntHandler(intHandlerFunction_t handler, void * arg) = 0;
+
+    /**
+     * @overload
+     * @brief justed sends a 8bit command to the MCP2521
+     * 
+     * @param cmd command to send
+     */
+    virtual void execute(uint8_t cmd) = 0;
+
+    /**
+     * @overload
+     * @brief executes a command (8 bit) with an address (8 bit)
+     * 
+     * @param cmd 8 bit command
+     * @param address 8 bit address
+     */
+    virtual void execute(uint8_t cmd, uint8_t address) = 0;
+
+    /**
+     * 
+     * @brief Executes a read from the MCP2521 with command, data buffer, length and address
+     * @overload
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to store the read data
+     * @param length How many bytes to read
+     * @param address Address to read from
+     */
+    virtual void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
+
+    /**
+     * @brief Executes a read from the MCP2521 with command, data buffer and length
+     * @overload
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to store the read data
+     * @param length How many bytes to read
+     */
+    virtual void read(uint8_t cmd, uint8_t *data, size_t length) = 0;
+    
+    /**
+     * @brief Executes a read from the MCP2521 with command and address, returns just one byte
+     * 
+     * @param cmd Command to MCP2521
+     * @param address Address to read from
+     * @return uint8_t 
+     */
+    virtual uint8_t read(uint8_t cmd, uint8_t address) = 0;
+    
+    /**
+     * @brief Executes a read from the MCP2521 with command, returns just one byte
+     * 
+     * @param cmd Command to MCP2521
+     * @return uint8_t 
+     */
+    virtual uint8_t read(uint8_t cmd) = 0;
+    
+    /**
+     * @brief Writes data to the MCP2521 with command, data buffer, length and address
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to write
+     * @param length Length of the data buffer
+     * @param address Where to write the data
+     */
+    virtual void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
+    
+    /**
+     * @brief Wirites data to the MCP2521 with command, data buffer and length
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to write
+     * @param length Length of the data buffer
+     */
+    virtual void write(uint8_t cmd, uint8_t *data, size_t length) = 0;
+    
+    /**
+     * @brief Writes data to the MCP2521 with command, data (on byte) and address
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data byte to write
+     * @param address Where to write the data
+     */
+    virtual void write(uint8_t cmd, uint8_t data, uint8_t address) = 0;
+    
+    /**
+     * @brief Writes to the MCP2521 with command and data (one byte)
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data byte to write
+     */
+    virtual void write(uint8_t cmd, uint8_t data) = 0;
+};
+