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Implement Multi-Bus CAN Interfaces

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This commit is contained in:
AlexanderHD27
2024-11-23 01:25:29 +01:00
parent f26cc07558
commit c1dc89eb58
39 changed files with 5746 additions and 109 deletions
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can-interface/.gitignore (Stored with Git LFS) vendored
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can-interface/.vscode/settings.json vendored
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@@ -10,10 +10,11 @@
"idf.openOcdConfigs": [
"board/esp32-wrover-kit-3.3v.cfg"
],
"idf.port": "/dev/ttyUSB0",
"idf.port": "/dev/ttyUSB1",
"idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
"idf.toolsPath": "/home/alexander/.espressif",
"idf.flashType": "UART",
"idf.flashType": "JTAG",
"idf.openOcdLaunchArgs": ["-c", "adapter_khz 10000"],
"files.associations": {
"*.tcc": "cpp",
"cstdint": "cpp",

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can-interface/circuit/gobot-can-interface/#auto_saved_files#
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/home/alexander/Projects/gobot/can-interface/circuit/gobot-can-interface/_autosave-gobot-can-interface.kicad_sch

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can-interface/components/CAN-Protocol-Stack/CMakeLists.txt Normal file
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@@ -0,0 +1,8 @@
idf_component_register(SRCS
"canTP.cpp"
"gobotRPC.cpp"
INCLUDE_DIRS "include"
REQUIRES driver
REQUIRES mcp2521
REQUIRES mcp2521_hardware_interface
)

0
can-interface/components/CAN-Protocol-Stack/canTP.cpp Normal file
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0
can-interface/components/CAN-Protocol-Stack/gobotRPC.cpp Normal file
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0
can-interface/components/CAN-Protocol-Stack/include/canTP.hpp Normal file
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0
can-interface/components/CAN-Protocol-Stack/include/gobotRPC.cpp Normal file
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2866
can-interface/docs/Doxyfile Normal file
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can-interface/docs/doxygen-awesome-css Submodule

Submodule can-interface/docs/doxygen-awesome-css added at 568f56cde6

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can-interface/main/CMakeLists.txt
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@@ -2,5 +2,6 @@ idf_component_register(SRCS "hello_world_main.cpp"
REQUIRES driver
REQUIRES mcp2521
REQUIRES mcp2521_hardware_interface
REQUIRES CAN-Protocol-Stack
REQUIRES spi_flash
INCLUDE_DIRS "")

92
can-interface/main/hello_world_main.cpp
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@@ -23,23 +23,40 @@
#include "mcp2521.hpp"
#define SPI_PIN_CS0 GPIO_NUM_5
#define SPI_PIN_SCLK GPIO_NUM_18
#define SPI_PIN_MISO GPIO_NUM_19
#define SPI_PIN_MOSI GPIO_NUM_23
#define CAN_INT_PIN GPIO_NUM_21
#define EXTERNAL_TRIGGER GPIO_NUM_26
#define SPI_PIN_CS0 GPIO_NUM_25
#define SPI_PIN_CS1 GPIO_NUM_27
void onRX(void *arg) {
MCP2521 *mcp2521 = (MCP2521 *)arg;
#define CAN_INT0_PIN GPIO_NUM_5
#define CAN_INT1_PIN GPIO_NUM_26
rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
void onRX0(void *arg) {
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
uint8_t data[8];
mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
printf("RX: (%x) ", info.id);
printf("RX0: (%x) ", info.id);
for (int i = 0; i < info.length; i++) {
printf("%x ", data[i]);
}
printf("\n");
}
void onRX1(void *arg) {
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
uint8_t data[8];
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
printf("RX1: (%x) ", info.id);
for (int i = 0; i < info.length; i++) {
printf("%x ", data[i]);
}
@@ -52,46 +69,53 @@ extern "C" void app_main() {
const gpio_num_t LED_PIN = GPIO_NUM_2;
gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);
gpio_set_direction(EXTERNAL_TRIGGER, GPIO_MODE_OUTPUT);
gpio_set_level(EXTERNAL_TRIGGER, true);
vTaskDelay(100 / portTICK_PERIOD_MS);
spi_bus_config_t spi_bus;
MCP2521_Hardware_Handle_ESP hardware_mcp2521(
MCP2521_HardwareHandleFactory_ESPBus mcp2521_hardware_factory(
VSPI_HOST,
&spi_bus,
SPI_PIN_MOSI,
SPI_PIN_MISO,
SPI_PIN_SCLK,
SPI_PIN_CS0,
CAN_INT_PIN
SPI_PIN_SCLK
);
MCP2521 mcp2521(&hardware_mcp2521);
MCP2521_HardwareHandle_ESPBus hardware_mcp2521_0 = mcp2521_hardware_factory.create(CAN_INT0_PIN, SPI_PIN_CS0);
MCP2521_HardwareHandle_ESPBus hardware_mcp2521_1 = mcp2521_hardware_factory.create(CAN_INT1_PIN, SPI_PIN_CS1);
vTaskDelay(100 / portTICK_PERIOD_MS);
MCP2521 mcp2521_0(&hardware_mcp2521_0);
MCP2521 mcp2521_1(&hardware_mcp2521_1);
uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
gpio_set_level(EXTERNAL_TRIGGER, false);
mcp2521.reset();
mcp2521.enable_interrupts(true, true, true, true, true, true, true, true);
mcp2521_0.reset();
mcp2521_1.reset();
mcp2521_0.enable_interrupts(true, true, true, true, true, true, true, true);
mcp2521_1.enable_interrupts(true, true, true, true, true, true, true, true);
mcp2521.register_rx0_handler(onRX, &mcp2521);
mcp2521.register_rx1_handler(onRX, &mcp2521);
mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
mcp2521_0.register_rx0_handler(onRX0, &mcp2521_0);
mcp2521_1.register_rx0_handler(onRX1, &mcp2521_1);
mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
vTaskDelay(3 / portTICK_PERIOD_MS);
vTaskDelay(20 / portTICK_PERIOD_MS);
mcp2521.prepare_tx(
mcp2521_0.prepare_tx(
MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
vTaskDelay(20 / portTICK_PERIOD_MS);
mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
//vTaskDelay(10 / portTICK_PERIOD_MS);
//mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
mcp2521.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
//mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
//mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
vTaskDelay(20 / portTICK_PERIOD_MS);
@@ -100,6 +124,6 @@ extern "C" void app_main() {
gpio_set_level(LED_PIN, flag);
flag = !flag;
vTaskDelay(100 / portTICK_PERIOD_MS);
vTaskDelay(500 / portTICK_PERIOD_MS);
}
}

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can-interface/sdkconfig.old Normal file
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can-interface/session-setup Normal file
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@@ -0,0 +1,152 @@
[General]
decode_signals=2
meta_objs=0
views=1
[D0]
color=4291714048
conv_options=0
conversion_type=0
enabled=true
name=INT0
[D1]
color=4281623972
conv_options=0
conversion_type=0
enabled=true
name=CLK
[D2]
color=4281623972
conv_options=0
conversion_type=0
enabled=true
name=MOSI
[D3]
color=4281623972
conv_options=0
conversion_type=0
enabled=true
name=MISO
[D4]
color=4294277376
conv_options=0
conversion_type=0
enabled=true
name=CE0
[D5]
color=4279638298
conv_options=0
conversion_type=0
enabled=true
name=INT1
[D6]
color=4279638298
conv_options=0
conversion_type=0
enabled=true
name=CE1
[D7]
color=4285878395
conv_options=0
conversion_type=0
enabled=true
name=D7
[decode_signal0]
channel0\assigned_signal_name=CLK
channel0\initial_pin_state=2
channel0\name=CLK
channel1\assigned_signal_name=MISO
channel1\initial_pin_state=2
channel1\name=MISO
channel2\assigned_signal_name=MOSI
channel2\initial_pin_state=2
channel2\name=MOSI
channel3\assigned_signal_name=CE0
channel3\initial_pin_state=2
channel3\name=CS#
channels=4
color=4294277376
conv_options=0
conversion_type=0
decoder0\ann_class0\visible=true
decoder0\ann_class1\visible=true
decoder0\ann_class2\visible=true
decoder0\ann_class3\visible=true
decoder0\ann_class4\visible=true
decoder0\ann_class5\visible=true
decoder0\ann_class6\visible=true
decoder0\id=spi
decoder0\options=0
decoder0\row0\visible=true
decoder0\row1\visible=true
decoder0\row2\visible=true
decoder0\row3\visible=true
decoder0\row4\visible=true
decoder0\row5\visible=true
decoder0\row6\visible=true
decoder0\visible=true
decoders=1
enabled=true
name=SPI0
[decode_signal1]
channel0\assigned_signal_name=CLK
channel0\initial_pin_state=2
channel0\name=CLK
channel1\assigned_signal_name=MISO
channel1\initial_pin_state=2
channel1\name=MISO
channel2\assigned_signal_name=MOSI
channel2\initial_pin_state=2
channel2\name=MOSI
channel3\assigned_signal_name=CE1
channel3\initial_pin_state=2
channel3\name=CS#
channels=4
color=4279638298
conv_options=0
conversion_type=0
decoder0\ann_class0\visible=true
decoder0\ann_class1\visible=true
decoder0\ann_class2\visible=true
decoder0\ann_class3\visible=true
decoder0\ann_class4\visible=true
decoder0\ann_class5\visible=true
decoder0\ann_class6\visible=true
decoder0\id=spi
decoder0\options=0
decoder0\row0\visible=true
decoder0\row1\visible=true
decoder0\row2\visible=true
decoder0\row3\visible=true
decoder0\row4\visible=true
decoder0\row5\visible=true
decoder0\row6\visible=true
decoder0\visible=true
decoders=1
enabled=true
name=SPI1
[view0]
D0\trace_height=38
D1\trace_height=38
D2\trace_height=38
D3\trace_height=38
D4\trace_height=38
D5\trace_height=38
D6\trace_height=38
D7\trace_height=38
offset=22 serialization::archive 19 0 0 0 0 52315583 48568089 25582163 47181659 91047901 0 -8 1 0 6
scale=0.0021854614351496547
segment_display_mode=1
splitter_state=@ByteArray(\0\0\0\xff\0\0\0\x1\0\0\0\x2\0\0\0Z\0\0\x5\xa2\x1\0\0\0\x1\x1\0\0\0\x1\0)
v_offset=-10
zero_offset=22 serialization::archive 19 0 0 0 0 0 0 0 0 0 0 0 0 0 6