Moved CAN Interface code to comment libary folder with symlink

can-interface/components/mcp2521

@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/mcp2521

can-interface/components/mcp2521/include/mcp2521_register.hpp

@@ -1,50 +0,0 @@
-#pragma once
-#include <stdint.h>
-
-#include "mcp2521.hpp"
-
-
-
-class MCP2515 {
-    private:
-
-
-    public:
-        MCP2515();
-        ~MCP2515();
-
-        void reset();
-
-        // Interrupts
-
-        void register_rx_callback(void (*callback)(uint32_t id, uint8_t *data, size_t length));
-        void register_tx_callback(void (*callback)(MCP2521_TX_BUFFER buffer));
-        void register_error_callback(void (*callback)(uint8_t error_flags));
-        void register_message_error_callback(void (*callback)(uint8_t error_flags));
-
-        // Transmittion
-        void set_tx_id(MCP2521_TX_BUFFER buffer, uint32_t id);
-        void set_tx_data(MCP2521_TX_BUFFER buffer, uint8_t *data, size_t length);
-        void set_tx_priority(MCP2521_TX_BUFFER buffer, uint8_t priority);
-        void set_one_shot(MCP2521_TX_BUFFER buffer, bool one_shot);
-
-        void request_to_send(MCP2521_TX_BUFFER buffer);
-        void request_to_send(bool txb2, bool txb1, bool txb0);
-
-        void abort_tx(MCP2521_TX_BUFFER buffer);
-        void abort_all_tx();
-
-        TXBnCTRL_Register get_TXBnCTRL(MCP2521_TX_BUFFER buffer);
-
-        void transmit(MCP2521_TX_BUFFER buffer, uint32_t id, uint8_t *data, size_t length, uint8_t priority, bool one_shot);
-
-        // Reception
-
-
-
-        uint8_t get_TransmitErrorCounter();
-        uint8_t get_ReceiveErrorCounter();
-
-
-
-};

can-interface/components/mcp2521_hardware_interface

@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/mcp2521_hardware_interface

can-interface/main/hello_world_main.cpp

@@ -32,7 +32,7 @@
 #define EXTERNAL_TRIGGER GPIO_NUM_26
 
 void onRX(void *arg) {
-    MCP2521_Command_Interface *mcp2521 = (MCP2521_Command_Interface *)arg;
+    MCP2521 *mcp2521 = (MCP2521 *)arg;
 
     rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
     uint8_t data[8];
@@ -70,7 +70,7 @@ extern "C" void app_main() {
         CAN_INT_PIN
     );
 
-    MCP2521_Command_Interface mcp2521(&hardware_mcp2521);
+    MCP2521 mcp2521(&hardware_mcp2521);
 
     uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
 

common-libaries/mcp2521/CMakeLists.txt

@@ -1,7 +1,7 @@
 idf_component_register(SRCS
                          "interface_commands.cpp"
-                         "interface_commands_complex.cpp"
                          "interface_interrupts.cpp"
+                         "toplevel_commands.cpp"
                        INCLUDE_DIRS "include"
                        REQUIRES driver
                        REQUIRES mcp2521_hardware_interface

common-libaries/mcp2521/include/mcp2521.hpp

@@ -1,5 +1,6 @@
 #pragma once
 
+#include "mcp2521_toplevel.hpp"
 #include "mcp2521_command.hpp"
 #include "mcp2521_hardware_esp.hpp"
 #include "mcp2521_addresses.hpp"

common-libaries/mcp2521/include/mcp2521_command.hpp

@@ -1,10 +1,9 @@
 #pragma once
 #include "mcp2521_addresses.hpp"
+#include "mcp2521_hardware_handle.hpp"
 
 #include <stdint.h>
 
-#include "mcp2521_hardware_handle.hpp"
-
 enum MCP2521_RX_BUFFER {
     RXB0 = 0,
     RXB1 = 1
@@ -90,36 +89,6 @@ public:
 
     void bit_modify(uint8_t address, uint8_t mask, uint8_t data);
 
-    // More Complex Commands
-    void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);
-
-    /**
-     * @brief Loads the Data Length Code register for the specified buffer
-     * 
-     * @param buffer What Buffer to load the DLC register for
-     * @param length How many bytes are in the message (0-8)
-     * @param rtr: Remote Transmission Request
-     */
-    void set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr);
-
-    /**
-     * @brief Loads the data and id into the specified buffer
-     * 
-     * @param buffer 
-     * @param id 
-     * @param data 
-     * @param length 
-     */
-    void prepare_tx(MCP2521_TX_BUFFER buffer, uint32_t id, uint8_t *data, size_t length, bool rtr, bool extended);
-
-    void set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot);
-    void set_singleshot_mode(bool enable);
-    
-    void enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1);
-    rx_info get_rx_id(MCP2521_RX_BUFFER buffer);
-
-
-
     // Registering Handlers for Interrupts
     void register_rx0_handler(intHandlerFunction_t handler, void * arg);
     void register_rx1_handler(intHandlerFunction_t handler, void * arg);

common-libaries/mcp2521/include/mcp2521_toplevel.hpp

@@ -0,0 +1,38 @@
+#pragma once
+#include <stdint.h>
+
+#include "mcp2521.hpp"
+#include "mcp2521_command.hpp"
+#include "mcp2521_addresses.hpp"
+
+class MCP2521 : public MCP2521_Command_Interface {
+    private:
+    public:
+        void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);
+
+        /**
+         * @brief Loads the Data Length Code register for the specified buffer
+         * 
+         * @param buffer What Buffer to load the DLC register for
+         * @param length How many bytes are in the message (0-8)
+         * @param rtr: Remote Transmission Request
+         */
+        void set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr);
+
+        /**
+         * @brief Loads the data and id into the specified buffer
+         * 
+         * @param buffer 
+         * @param id 
+         * @param data 
+         * @param length 
+         */
+        void prepare_tx(MCP2521_TX_BUFFER buffer, uint32_t id, uint8_t *data, size_t length, bool rtr, bool extended);
+
+        void set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot);
+        void set_singleshot_mode(bool enable);
+        
+        void enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1);
+        rx_info get_rx_id(MCP2521_RX_BUFFER buffer);
+
+};

common-libaries/mcp2521/interface_interrupts.cpp

@@ -1,6 +1,5 @@
 #include "mcp2521.hpp"
 #include "mcp2521_addresses.hpp"
-#include <stdio.h>
 
 void MCP2521_Command_Interface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
     rx0_handler = handler;

common-libaries/mcp2521/toplevel_commands.cpp

@@ -3,7 +3,7 @@
 #include "mcp2521.hpp"
 #include "mcp2521_addresses.hpp"
 
-void MCP2521_Command_Interface::set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended) {
+void MCP2521::set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended) {
     uint8_t addr_offset = 0;
     switch (buffer)
     {
@@ -30,11 +30,7 @@ void MCP2521_Command_Interface::set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id,
     write_reg(MCP2521_TXB0SIDL | addr_offset, lower_id);
 }
 
-// 00110101 0x35
+void MCP2521::set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr) {
-// 01000101 0x45
-// 01010101 0x55
-
-void MCP2521_Command_Interface::set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr) {
     uint8_t data = length;
 
     if (rtr)
@@ -57,19 +53,19 @@ void MCP2521_Command_Interface::set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t le
     write_reg(reg_address, data);
 }
 
-void MCP2521_Command_Interface::set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot) {
+void MCP2521::set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot) {
     
     uint8_t single = singleshot ? 0b00001000 : 0x0;
 
     bit_modify(MCP2521_CANCTRL, 0b11101000 , (mode << 5) | single);
 }
 
-void MCP2521_Command_Interface::set_singleshot_mode(bool enable) {
+void MCP2521::set_singleshot_mode(bool enable) {
     uint8_t data = enable ? 0x08 : 0x00;
     bit_modify(MCP2521_CANCTRL, 0x08, data);
 }
 
-void MCP2521_Command_Interface::enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1) {
+void MCP2521::enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1) {
     uint8_t interrupt_flags = 0;
 
     if (MessageError) interrupt_flags   |= 0b10000000;
@@ -84,7 +80,7 @@ void MCP2521_Command_Interface::enable_interrupts(bool MessageError, bool ErrorI
     write_reg(MCP2521_CANINTE, interrupt_flags);
 }
 
-rx_info MCP2521_Command_Interface::get_rx_id(MCP2521_RX_BUFFER buffer) {
+rx_info MCP2521::get_rx_id(MCP2521_RX_BUFFER buffer) {
     uint8_t data[5];
     uint8_t addr_offset = MCP2521_RXB0SIDH;
 
@@ -110,7 +106,7 @@ rx_info MCP2521_Command_Interface::get_rx_id(MCP2521_RX_BUFFER buffer) {
     return res;
 }
 
-void MCP2521_Command_Interface::prepare_tx(
+void MCP2521::prepare_tx(
     MCP2521_TX_BUFFER buffer, 
     uint32_t id, 
     uint8_t *data, 

common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp

@@ -1,11 +1,10 @@
 #include "mcp2521_hardware_handle.hpp"
 
-
-const uint8_t null_buffer[32] = {0};
-
 #ifdef ESP_PLATFORM
 #include "mcp2521_hardware_esp.hpp"
 
+const uint8_t null_buffer[32] = {0};
+
 void MCP2521_Hardware_Handle_ESP::spi_transmit(spi_transaction_t *t) {
     xSemaphoreTake(spiMutex, portMAX_DELAY);
     spi_device_transmit(this->spi_device_handle, t);