Merged i2c-helper in Main

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