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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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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);
}
}