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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/.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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1
can-interface/docs/doxygen-awesome-css Submodule

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

1
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 "")

98
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);
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);
spi_bus_config_t spi_bus;
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);
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);
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);
mcp2521.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
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_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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152
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
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zero_offset=22 serialization::archive 19 0 0 0 0 0 0 0 0 0 0 0 0 0 6

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1
common-libaries/mcp2521/include/mcp2521.hpp
View File

@@ -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"

8
common-libaries/mcp2521/include/mcp2521_command.hpp
View File

@@ -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_Hardware_Handle * hardware_handle
MCP2521_CommandInterface(
I_MCP2521_HardwareHandle * hardware_handle
);
void handleInterrupt();

2
common-libaries/mcp2521/include/mcp2521_toplevel.hpp
View File

@@ -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);

30
common-libaries/mcp2521/interface_commands.cpp
View File

@@ -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_Hardware_Handle * hardware_handle
MCP2521_CommandInterface::MCP2521_CommandInterface(
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);
}

18
common-libaries/mcp2521/interface_interrupts.cpp
View File

@@ -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;

2
common-libaries/mcp2521_hardware_interface/CMakeLists.txt
View File

@@ -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)

58
common-libaries/mcp2521_hardware_interface/esp_implementation_bus.cpp Normal file
View File

@@ -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

67
common-libaries/mcp2521_hardware_interface/esp_implementation_bus_factory.cpp Normal file
View File

@@ -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

22
common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp
View File

@@ -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,

12
common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp
View File

@@ -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;
}

17
common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp
View File

@@ -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;
}

64
common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp
View File

@@ -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 {
char spi_tmp_buffer;
static void handleInteruptTaskCallerFn(void *arg);
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;
spi_device_handle_t spi_device_handle;
/**
* @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;
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

46
common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus.hpp Normal file
View File

@@ -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
);
};

41
common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus_factory.hpp Normal file
View File

@@ -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

97
common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp
View File

@@ -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;
};