Implement Multi-Bus CAN Interfaces

can-interface/.vscode/settings.json

@@ -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",

can-interface/circuit/gobot-can-interface/#auto_saved_files#

@@ -1 +0,0 @@
-/home/alexander/Projects/gobot/can-interface/circuit/gobot-can-interface/_autosave-gobot-can-interface.kicad_sch

can-interface/components/CAN-Protocol-Stack/CMakeLists.txt

@@ -0,0 +1,8 @@
+idf_component_register(SRCS
+                         "canTP.cpp"
+                         "gobotRPC.cpp"
+                       INCLUDE_DIRS "include"
+                       REQUIRES driver
+                       REQUIRES mcp2521
+                       REQUIRES mcp2521_hardware_interface
+                       )

can-interface/main/CMakeLists.txt

@@ -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 "")

can-interface/main/hello_world_main.cpp

@@ -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) {
+#define CAN_INT0_PIN GPIO_NUM_5
-    MCP2521 *mcp2521 = (MCP2521 *)arg;
+#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);
+    vTaskDelay(100 / portTICK_PERIOD_MS);
-    gpio_set_level(EXTERNAL_TRIGGER, true);
+    
+    MCP2521_HardwareHandleFactory_ESPBus mcp2521_hardware_factory(
+        VSPI_HOST,
+        SPI_PIN_MOSI,
+        SPI_PIN_MISO,
+        SPI_PIN_SCLK
+    );
+
+    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);
-    spi_bus_config_t spi_bus;
+    MCP2521 mcp2521_1(&hardware_mcp2521_1);
-
-    MCP2521_Hardware_Handle_ESP hardware_mcp2521(
-        VSPI_HOST,
-        &spi_bus,
-        SPI_PIN_MOSI,
-        SPI_PIN_MISO,
-        SPI_PIN_SCLK,
-        SPI_PIN_CS0,
-        CAN_INT_PIN
-    );
-
-    MCP2521 mcp2521(&hardware_mcp2521);
 
     uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
 
-    gpio_set_level(EXTERNAL_TRIGGER, false);
+    mcp2521_0.reset();
-    mcp2521.reset();
+    mcp2521_1.reset();
-    mcp2521.enable_interrupts(true, true, true, true, true, true, true, true);
+    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_0.register_rx0_handler(onRX0, &mcp2521_0);
-    mcp2521.register_rx1_handler(onRX, &mcp2521);
+    mcp2521_1.register_rx0_handler(onRX1, &mcp2521_1);
-    mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
+    mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
+    mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
     
-    vTaskDelay(3 / portTICK_PERIOD_MS);
+    mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
+    mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
     
-    mcp2521.prepare_tx(
+    printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
+    printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
+
+    vTaskDelay(20 / portTICK_PERIOD_MS);
+
+    mcp2521_0.prepare_tx(
         MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
         
-    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
+    vTaskDelay(20 / portTICK_PERIOD_MS);
-
+    mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
-    mcp2521.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
+    //vTaskDelay(10 / portTICK_PERIOD_MS);
-    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
+    //mcp2521_1.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);
     }
 }

can-interface/session-setup

@@ -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
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+v_offset=-10
+zero_offset=22 serialization::archive 19 0 0 0 0 0 0 0 0 0 0 0 0 0 6

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common-libaries/mcp2521/docs/MCP2521_Libary_ClassDiagram.drawio

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common-libaries/mcp2521/include/mcp2521.hpp

@@ -3,4 +3,5 @@
 #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_command.hpp

@@ -40,9 +40,9 @@ struct rx_info {
     uint8_t length;
 };
 
-class MCP2521_Command_Interface {
+class MCP2521_CommandInterface {
 private:
-    MCP2521_Hardware_Handle * hardware_handle;
+    I_MCP2521_HardwareHandle * hardware_handle;
 
     intHandlerFunction_t rx0_handler;
     intHandlerFunction_t rx1_handler;
@@ -63,8 +63,8 @@ private:
     void * message_error_handler_arg;
 public:
 
-    MCP2521_Command_Interface(
+    MCP2521_CommandInterface(
-        MCP2521_Hardware_Handle * hardware_handle
+        I_MCP2521_HardwareHandle * hardware_handle
     );
 
     void handleInterrupt();

common-libaries/mcp2521/include/mcp2521_toplevel.hpp

@@ -5,7 +5,7 @@
 #include "mcp2521_command.hpp"
 #include "mcp2521_addresses.hpp"
 
-class MCP2521 : public MCP2521_Command_Interface {
+class MCP2521 : public MCP2521_CommandInterface {
     private:
     public:
         void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);

common-libaries/mcp2521/interface_commands.cpp

@@ -4,12 +4,12 @@
 #include "mcp2521_addresses.hpp"
 
 void runIntHandler(void *arg) {
-    MCP2521_Command_Interface *command_interface = (MCP2521_Command_Interface *)arg;
+    MCP2521_CommandInterface *command_interface = (MCP2521_CommandInterface *)arg;
     command_interface->handleInterrupt();
 }
 
-MCP2521_Command_Interface::MCP2521_Command_Interface(
+MCP2521_CommandInterface::MCP2521_CommandInterface(
-    MCP2521_Hardware_Handle * hardware_handle
+    I_MCP2521_HardwareHandle * hardware_handle
 ) {
     this->hardware_handle = hardware_handle;
     this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
@@ -33,42 +33,42 @@ MCP2521_Command_Interface::MCP2521_Command_Interface(
     message_error_handler_arg = NULL;
 }
 
-void MCP2521_Command_Interface::reset() {
+void MCP2521_CommandInterface::reset() {
     hardware_handle->execute(MCP2521_OP_RESET);
 }
 
-void MCP2521_Command_Interface::read_reg(uint8_t address, uint8_t *data, size_t length) {
+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_Command_Interface::read_reg(uint8_t address) {
+uint8_t MCP2521_CommandInterface::read_reg(uint8_t address) {
     return hardware_handle->read(MCP2521_OP_READ, address);
 }
 
-void MCP2521_Command_Interface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
+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_Command_Interface::write_reg(uint8_t address, uint8_t *data, size_t 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_Command_Interface::write_reg(uint8_t address, uint8_t data) {
+void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t data) {
     hardware_handle->write(MCP2521_OP_WRITE, data, address);
 }
 
-void MCP2521_Command_Interface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
+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_Command_Interface::request_to_send(bool txb2, bool txb1, bool txb0) {
+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_Command_Interface::request_to_send(MCP2521_TX_BUFFER buffer) {
+void MCP2521_CommandInterface::request_to_send(MCP2521_TX_BUFFER buffer) {
     uint8_t mask = 0;
 
     switch (buffer) {
@@ -86,15 +86,15 @@ void MCP2521_Command_Interface::request_to_send(MCP2521_TX_BUFFER buffer) {
     hardware_handle->execute(MCP2521_OP_RTS | mask);
 }
 
-uint8_t MCP2521_Command_Interface::read_status() {
+uint8_t MCP2521_CommandInterface::read_status() {
     return hardware_handle->read(MCP2521_OP_READ_STATUS);
 }
 
-uint8_t MCP2521_Command_Interface::read_rx_status() {
+uint8_t MCP2521_CommandInterface::read_rx_status() {
     return hardware_handle->read(MCP2521_OP_RX_STATUS);
 }
 
-void MCP2521_Command_Interface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
+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

@@ -1,47 +1,47 @@
 #include "mcp2521.hpp"
 #include "mcp2521_addresses.hpp"
 
-void MCP2521_Command_Interface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
     rx0_handler = handler;
     rx0_handler_arg = args;
 }
 
-void MCP2521_Command_Interface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
     rx1_handler = handler;
     rx1_handler_arg = args;
 }
 
-void MCP2521_Command_Interface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
     tx0_handler = handler;
     tx0_handler_arg = args;
 }
 
-void MCP2521_Command_Interface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
     tx1_handler = handler;
     tx1_handler_arg = args;
 }
 
-void MCP2521_Command_Interface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
     tx2_handler = handler;
     tx2_handler_arg = args;
 }
 
-void MCP2521_Command_Interface::register_error_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_error_handler(intHandlerFunction_t handler, void* args) {
     error_handler = handler;
     error_handler_arg = args;
 }
 
-void MCP2521_Command_Interface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
     wakeup_handler = handler;
     wakeup_handler_arg = args;
 }
 
-void MCP2521_Command_Interface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
     message_error_handler = handler;
     message_error_handler_arg = args;
 }
 
-void MCP2521_Command_Interface::handleInterrupt() {
+void MCP2521_CommandInterface::handleInterrupt() {
     uint8_t flags = read_reg(MCP2521_CANINTF);
     uint8_t clearBits = 0;
 

common-libaries/mcp2521_hardware_interface/CMakeLists.txt

@@ -1,5 +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

@@ -5,13 +5,13 @@
 
 const uint8_t null_buffer[32] = {0};
 
-void MCP2521_Hardware_Handle_ESP::spi_transmit(spi_transaction_t *t) {
+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_Hardware_Handle_ESP::execute(uint8_t cmd) {
+void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd) {
     spi_transaction_ext_t t = {
         .base = {
             .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -30,7 +30,7 @@ void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd) {
     spi_transmit((spi_transaction_t*)(&t));
 }
 
-void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd, uint8_t address) {
+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,
@@ -49,7 +49,7 @@ void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd, uint8_t address) {
     spi_transmit((spi_transaction_t*)(&t));
 }
 
-void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
+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,
@@ -68,7 +68,7 @@ void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length
     spi_transmit((spi_transaction_t*)(&t));
 }
 
-void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length) {
+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,
@@ -87,7 +87,7 @@ void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length
     spi_transmit((spi_transaction_t*)(&t));
 }
 
-uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
+uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t address) {
     uint8_t result = 0;
     spi_transaction_ext_t t = {
         .base = {
@@ -108,7 +108,7 @@ uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
     return result;
 }
 
-uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
+uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd) {
     uint8_t result;
     spi_transaction_ext_t t = {
         .base = {
@@ -129,7 +129,7 @@ uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
     return result;
 }
 
-void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
+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 = {
@@ -149,7 +149,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t lengt
     spi_transmit((spi_transaction_t*)(&t));
 }
 
-void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length) {
+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,
@@ -168,7 +168,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t lengt
     spi_transmit((spi_transaction_t*)(&t));
 }
 
-void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data, uint8_t address) {
+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,
@@ -187,7 +187,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data, uint8_t addre
     spi_transmit((spi_transaction_t*)(&t));
 }
 
-void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data) {
+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,

common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp

@@ -8,7 +8,7 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 
-MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
+MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
     spi_host_device_t spi_host,
     spi_bus_config_t *bus_config,
     gpio_num_t mosi, 
@@ -23,7 +23,7 @@ MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
     initSPIDevice(spi_host, cs);
 }
 
-MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
+MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
     spi_host_device_t spi_host,
     spi_bus_config_t *bus_config,
     gpio_num_t cs, 
@@ -34,11 +34,11 @@ MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
     initSPIDevice(spi_host, cs);
 }
 
-MCP2521_Hardware_Handle_ESP::~MCP2521_Hardware_Handle_ESP() {
+MCP2521_HardwareHandle_ESP::~MCP2521_HardwareHandle_ESP() {
 
 }
 
-void MCP2521_Hardware_Handle_ESP::initSPIBus(
+void MCP2521_HardwareHandle_ESP::initSPIBus(
     spi_host_device_t spi_host,
     gpio_num_t mosi, 
     gpio_num_t miso, 
@@ -57,7 +57,7 @@ void MCP2521_Hardware_Handle_ESP::initSPIBus(
     spi_bus_initialize(spi_host, bus_config, SPI_DMA_CH_AUTO);
 }
 
-void MCP2521_Hardware_Handle_ESP::initSPIDevice(
+void MCP2521_HardwareHandle_ESP::initSPIDevice(
     spi_host_device_t spi_host,
     gpio_num_t cs
 ) {
@@ -85,7 +85,7 @@ void MCP2521_Hardware_Handle_ESP::initSPIDevice(
     spiMutex = xSemaphoreCreateMutex();
 }
 
-spi_bus_config_t * MCP2521_Hardware_Handle_ESP::getSPI_bus_config() {
+spi_bus_config_t * MCP2521_HardwareHandle_ESP::getSPI_bus_config() {
     return this->spi_bus_config;
 }
 

common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp

@@ -6,16 +6,16 @@
 #include "mcp2521_hardware_esp.hpp"
 
 static void IRAM_ATTR gpio_isr_can_handler(void* arg) {
-    MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
+    MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
     handle->isr_can_interrupt();
 }
 
 static void handleInteruptTaskCallerFn(void *arg) {
-    MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
+    MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
     handle->handleIntteruptTaskFn();
 }
 
-void MCP2521_Hardware_Handle_ESP::initPins(
+void MCP2521_HardwareHandle_ESP::initPins(
     gpio_num_t int_pin
 ) {
     canInterruptSemaphore = xSemaphoreCreateBinary();
@@ -31,24 +31,25 @@ void MCP2521_Hardware_Handle_ESP::initPins(
     gpio_install_isr_service(0);
     gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
 
-    xTaskCreate(
+    xTaskCreatePinnedToCore(
         (TaskFunction_t)&handleInteruptTaskCallerFn,
         "canInterruptTask",
         2048,
         this,
         5,
-        &canInterruptTaskHandle
+        &canInterruptTaskHandle,
+        0
     );
 }
 
-void MCP2521_Hardware_Handle_ESP::handleIntteruptTaskFn() {
+void MCP2521_HardwareHandle_ESP::handleIntteruptTaskFn() {
     while(true) {
         xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
         intHandler(intHandlerArg);
     }
 }
 
-void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
+void MCP2521_HardwareHandle_ESP::isr_can_interrupt() {
     BaseType_t wokenTask = pdFALSE;
     xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);
 
@@ -57,7 +58,7 @@ void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
     }
 }
 
-void MCP2521_Hardware_Handle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
+void MCP2521_HardwareHandle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
     intHandlerArg = arg;
     intHandler = handler;
 }

common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp

@@ -1,3 +1,13 @@
+/**
+ * @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"
 
@@ -8,24 +18,48 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 
-class MCP2521_Hardware_Handle_ESP : public MCP2521_Hardware_Handle {
+static void handleInteruptTaskCallerFn(void *arg);
-    char spi_tmp_buffer;
+static void IRAM_ATTR gpio_isr_can_handler(void* arg);
 
-    spi_bus_config_t * spi_bus_config;
+/**
-    spi_device_interface_config_t spi_device_config;
+ * @brief Hardware handle for MCP2521 over SPI on ESP32
-    spi_device_handle_t spi_device_handle;
+ * 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;
-    SemaphoreHandle_t spiMutex = NULL;
+
+
+    /**
+     * @brief Handle to task that handles the MCP2521 interrupt
+     * A Handle can be registered via the registerIntHandler method
+     */
     TaskHandle_t canInterruptTaskHandle = NULL;
 
-    void spi_transmit(spi_transaction_t *t);
+    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_Hardware_Handle_ESP(
+    MCP2521_HardwareHandle_ESP(
         spi_host_device_t spi_host,
         spi_bus_config_t *bus_config,
         gpio_num_t mosi, 
@@ -35,7 +69,7 @@ public:
         gpio_num_t int_pin
     );
 
-    MCP2521_Hardware_Handle_ESP(
+    MCP2521_HardwareHandle_ESP(
         spi_host_device_t spi_host,
         spi_bus_config_t *bus_config,
         gpio_num_t cs, 
@@ -59,12 +93,22 @@ public:
         gpio_num_t int_pin
     );
 
-    ~MCP2521_Hardware_Handle_ESP();
+    ~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

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

@@ -2,23 +2,118 @@
 #include <cstdint>
 #include <strings.h>
 
+/**
+ * @brief Handler function pointer type
+ * 
+ */
 typedef void (*intHandlerFunction_t)(void *); 
 
-class MCP2521_Hardware_Handle {
+/**
+ * @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;
 };