Squashed commit of the following:

commit c6fd825e39 Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 23:14:14 2024 +0100 Moved CAN Interface code to comment libary folder with symlink commit e7a0035041 Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 22:01:28 2024 +0100 Got MCP2521 to work commit 4bfb1f533e Author: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:29:35 2024 +0200 Did something to YGantryMount. It works. trust me commit 5683168a47 Author: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:28:36 2024 +0200 Implemented Command-Level Interaction with CAN Interface commit 9c0c676be8 Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:20:37 2024 +0200 Added Vscode Profile file commit b150a905a3 Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:19:00 2024 +0200 Implemented Low Level Compunications commit 7eebf619ae Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:46:15 2024 +0200 Created Head Pipe Mount commit 93c40e1805 Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:44:11 2024 +0200 First Revision of YGantryMount commit 91c2125458 Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:52:37 2024 +0200 Added Kicad Backups 2 gitignore commit 096a6c18d6 Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:49:21 2024 +0200 Created ESP-IDF for can-interface commit 48fded7981 Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 28 19:54:29 2024 +0200 Added files from Pico sdk to gitignore commit ec5e5cbf13 Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 14 21:09:50 2024 +0200 Create Marker for position Calibration commit 58d31964b2 Author: AlexanderHD27 <alexander@hal> Date: Wed Sep 11 23:32:55 2024 +0200 Upgrade to pico SDK 2.0.0
2024-11-06 23:18:12 +01:00
parent f002a01308
commit e091d4df18
49 changed files with 3905 additions and 0 deletions
--- a/can-interface/.devcontainer/Dockerfile
+++ b/can-interface/.devcontainer/Dockerfile
@@ -0,0 +1,47 @@
+FROM espressif/idf
+
+ARG DEBIAN_FRONTEND=nointeractive
+ARG CONTAINER_USER=esp
+ARG USER_UID=1050
+ARG USER_GID=$USER_UID
+
+RUN apt-get update \
+  && apt install -y -q \
+  cmake \
+  git \
+  libglib2.0-0 \
+  libnuma1 \
+  libpixman-1-0 \
+  && rm -rf /var/lib/apt/lists/*
+
+# QEMU
+ENV QEMU_REL=esp_develop_8.2.0_20240122
+ENV QEMU_SHA256=e7c72ef5705ad1444d391711088c8717fc89f42e9bf6d1487f9c2a326b8cfa83
+ENV QEMU_DIST=qemu-xtensa-softmmu-${QEMU_REL}-x86_64-linux-gnu.tar.xz
+ENV QEMU_URL=https://github.com/espressif/qemu/releases/download/esp-develop-8.2.0-20240122/${QEMU_DIST}
+
+ENV LC_ALL=C.UTF-8
+ENV LANG=C.UTF-8
+
+RUN wget --no-verbose ${QEMU_URL} \
+  && echo "${QEMU_SHA256} *${QEMU_DIST}" | sha256sum --check --strict - \
+  && tar -xf $QEMU_DIST -C /opt \
+  && rm ${QEMU_DIST}
+
+ENV PATH=/opt/qemu/bin:${PATH}
+
+RUN groupadd --gid $USER_GID $CONTAINER_USER \
+  && adduser --uid $USER_UID --gid $USER_GID --disabled-password --gecos "" ${CONTAINER_USER} \
+  && usermod -a -G root $CONTAINER_USER && usermod -a -G dialout $CONTAINER_USER
+
+RUN chmod -R 775 /opt/esp/python_env/
+
+USER ${CONTAINER_USER}
+ENV USER=${CONTAINER_USER}
+WORKDIR /home/${CONTAINER_USER}
+
+RUN echo "source /opt/esp/idf/export.sh > /dev/null 2>&1" >> ~/.bashrc
+
+ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
+
+CMD ["/bin/bash", "-c"]
--- a/can-interface/.devcontainer/devcontainer.json
+++ b/can-interface/.devcontainer/devcontainer.json
@@ -0,0 +1,36 @@
+{
+	"name": "ESP-IDF QEMU",
+	"build": {
+		"dockerfile": "Dockerfile"
+	},
+	"customizations": {
+		"vscode": {
+			"settings": {
+				"terminal.integrated.defaultProfile.linux": "bash",
+				"idf.espIdfPath": "/opt/esp/idf",
+				"idf.customExtraPaths": "",
+				"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
+				"idf.toolsPath": "/opt/esp",
+				"idf.gitPath": "/usr/bin/git"
+			},
+			"extensions": [
+				"espressif.esp-idf-extension"
+			]
+		},
+		"codespaces": {
+			"settings": {
+				"terminal.integrated.defaultProfile.linux": "bash",
+				"idf.espIdfPath": "/opt/esp/idf",
+				"idf.customExtraPaths": "",
+				"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
+				"idf.toolsPath": "/opt/esp",
+				"idf.gitPath": "/usr/bin/git"
+			},
+			"extensions": [
+				"espressif.esp-idf-extension",
+				"espressif.esp-idf-web"
+			]
+		}
+	},
+	"runArgs": ["--privileged"]
+}
--- a/can-interface/.gitignore
+++ b/can-interface/.gitignore
--- a/can-interface/.vscode/c_cpp_properties.json
+++ b/can-interface/.vscode/c_cpp_properties.json
@@ -0,0 +1,23 @@
+{
+    "configurations": [
+        {
+            "name": "ESP-IDF",
+            "compilerPath": "${config:idf.toolsPath}/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/xtensa-esp32-elf-gcc",
+            "compileCommands": "${config:idf.buildPath}/compile_commands.json",
+            "includePath": [
+                "${config:idf.espIdfPath}/components/**",
+                "${config:idf.espIdfPathWin}/components/**",
+                "${workspaceFolder}/**"
+            ],
+            "browse": {
+                "path": [
+                    "${config:idf.espIdfPath}/components",
+                    "${config:idf.espIdfPathWin}/components",
+                    "${workspaceFolder}"
+                ],
+                "limitSymbolsToIncludedHeaders": true
+            }
+        }
+    ],
+    "version": 4
+}
--- a/can-interface/.vscode/launch.json
+++ b/can-interface/.vscode/launch.json
@@ -0,0 +1,15 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "type": "gdbtarget",
+      "request": "attach",
+      "name": "Eclipse CDT GDB Adapter"
+    },
+    {
+      "type": "espidf",
+      "name": "Launch",
+      "request": "launch"
+    }
+  ]
+}
--- a/can-interface/.vscode/settings.json
+++ b/can-interface/.vscode/settings.json
@@ -0,0 +1,29 @@
+{
+    "C_Cpp.intelliSenseEngine": "default",
+    "idf.adapterTargetName": "esp32",
+    "idf.customExtraPaths": "/home/alexander/.espressif/tools/xtensa-esp-elf-gdb/14.2_20240403/xtensa-esp-elf-gdb/bin:/home/alexander/.espressif/tools/riscv32-esp-elf-gdb/14.2_20240403/riscv32-esp-elf-gdb/bin:/home/alexander/.espressif/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin:/home/alexander/.espressif/tools/riscv32-esp-elf/esp-13.2.0_20240530/riscv32-esp-elf/bin:/home/alexander/.espressif/tools/esp32ulp-elf/2.38_20240113/esp32ulp-elf/bin:/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/bin:/home/alexander/.espressif/tools/ninja/1.11.1:/home/alexander/.espressif/tools/esp-rom-elfs/20240305",
+    "idf.customExtraVars": {
+        "OPENOCD_SCRIPTS": "/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/share/openocd/scripts",
+        "ESP_ROM_ELF_DIR": "/home/alexander/.espressif/tools/esp-rom-elfs/20240305/"
+    },
+    "idf.espIdfPath": "/opt/esp/v5.3.1/esp-idf",
+    "idf.openOcdConfigs": [
+        "board/esp32-wrover-kit-3.3v.cfg"
+    ],
+    "idf.port": "/dev/ttyUSB0",
+    "idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
+    "idf.toolsPath": "/home/alexander/.espressif",
+    "idf.flashType": "UART",
+    "files.associations": {
+        "*.tcc": "cpp",
+        "cstdint": "cpp",
+        "random": "cpp",
+        "future": "cpp",
+        "bitset": "cpp",
+        "string_view": "cpp",
+        "regex": "cpp",
+        "array": "cpp",
+        "string": "cpp",
+        "span": "cpp"
+    }
+}
--- a/can-interface/.vscode/tasks.json
+++ b/can-interface/.vscode/tasks.json
@@ -0,0 +1,259 @@
+{
+  "version": "2.0.0",
+  "tasks": [
+    {
+      "label": "Build - Build project",
+      "type": "shell",
+      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py build",
+      "windows": {
+        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py build",
+        "options": {
+          "env": {
+            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+          }
+        }
+      },
+      "options": {
+        "env": {
+          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+        }
+      },
+      "problemMatcher": [
+        {
+          "owner": "cpp",
+          "fileLocation": [
+            "autoDetect",
+            "${workspaceFolder}"
+          ],
+          "pattern": {
+            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+            "file": 1,
+            "line": 2,
+            "column": 3,
+            "severity": 4,
+            "message": 5
+          }
+        }
+      ],
+      "group": {
+        "kind": "build",
+        "isDefault": true
+      }
+    },
+    {
+      "label": "Set ESP-IDF Target",
+      "type": "shell",
+      "command": "${command:espIdf.setTarget}",
+      "problemMatcher": {
+        "owner": "cpp",
+        "fileLocation": [
+          "autoDetect",
+          "${workspaceFolder}"
+        ],
+        "pattern": {
+          "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+          "file": 1,
+          "line": 2,
+          "column": 3,
+          "severity": 4,
+          "message": 5
+        }
+      }
+    },
+    {
+      "label": "Clean - Clean the project",
+      "type": "shell",
+      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py fullclean",
+      "windows": {
+        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py fullclean",
+        "options": {
+          "env": {
+            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+          }
+        }
+      },
+      "options": {
+        "env": {
+          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+        }
+      },
+      "problemMatcher": [
+        {
+          "owner": "cpp",
+          "fileLocation": [
+            "autoDetect",
+            "${workspaceFolder}"
+          ],
+          "pattern": {
+            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+            "file": 1,
+            "line": 2,
+            "column": 3,
+            "severity": 4,
+            "message": 5
+          }
+        }
+      ]
+    },
+    {
+      "label": "Flash - Flash the device",
+      "type": "shell",
+      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} -b ${config:idf.flashBaudRate} flash",
+      "windows": {
+        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py flash -p ${config:idf.portWin} -b ${config:idf.flashBaudRate}",
+        "options": {
+          "env": {
+            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+          }
+        }
+      },
+      "options": {
+        "env": {
+          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+        }
+      },
+      "problemMatcher": [
+        {
+          "owner": "cpp",
+          "fileLocation": [
+            "autoDetect",
+            "${workspaceFolder}"
+          ],
+          "pattern": {
+            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+            "file": 1,
+            "line": 2,
+            "column": 3,
+            "severity": 4,
+            "message": 5
+          }
+        }
+      ]
+    },
+    {
+      "label": "Monitor: Start the monitor",
+      "type": "shell",
+      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} monitor",
+      "windows": {
+        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py -p ${config:idf.portWin} monitor",
+        "options": {
+          "env": {
+            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+          }
+        }
+      },
+      "options": {
+        "env": {
+          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+        }
+      },
+      "problemMatcher": [
+        {
+          "owner": "cpp",
+          "fileLocation": [
+            "autoDetect",
+            "${workspaceFolder}"
+          ],
+          "pattern": {
+            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+            "file": 1,
+            "line": 2,
+            "column": 3,
+            "severity": 4,
+            "message": 5
+          }
+        }
+      ],
+      "dependsOn": "Flash - Flash the device"
+    },
+    {
+      "label": "OpenOCD: Start openOCD",
+      "type": "shell",
+      "presentation": {
+        "echo": true,
+        "reveal": "never",
+        "focus": false,
+        "panel": "new"
+      },
+      "command": "openocd -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
+      "windows": {
+        "command": "openocd.exe -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
+        "options": {
+          "env": {
+            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+          }
+        }
+      },
+      "options": {
+        "env": {
+          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+        }
+      },
+      "problemMatcher": {
+        "owner": "cpp",
+        "fileLocation": [
+          "autoDetect",
+          "${workspaceFolder}"
+        ],
+        "pattern": {
+          "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+          "file": 1,
+          "line": 2,
+          "column": 3,
+          "severity": 4,
+          "message": 5
+        }
+      }
+    },
+    {
+      "label": "adapter",
+      "type": "shell",
+      "command": "${config:idf.pythonBinPath}",
+      "isBackground": true,
+      "options": {
+        "env": {
+          "PATH": "${env:PATH}:${config:idf.customExtraPaths}",
+          "PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
+        }
+      },
+      "problemMatcher": {
+        "background": {
+          "beginsPattern": "\bDEBUG_ADAPTER_STARTED\b",
+          "endsPattern": "DEBUG_ADAPTER_READY2CONNECT",
+          "activeOnStart": true
+        },
+        "pattern": {
+          "regexp": "(\\d+)-(\\d+)-(\\d+)\\s(\\d+):(\\d+):(\\d+),(\\d+)\\s-(.+)\\s(ERROR)",
+          "file": 8,
+          "line": 2,
+          "column": 3,
+          "severity": 4,
+          "message": 9
+        }
+      },
+      "args": [
+        "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter_main.py",
+        "-e",
+        "${workspaceFolder}/build/${command:espIdf.getProjectName}.elf",
+        "-s",
+        "$OPENOCD_SCRIPTS",
+        "-dn",
+        "esp32",
+        "-om",
+        "connect_to_instance",
+        "-t",
+        "xtensa-esp32-elf-"
+
+      ],
+      "windows": {
+        "command": "${config:idf.pythonBinPathWin}",
+        "options": {
+          "env": {
+            "PATH": "${env:PATH};${config:idf.customExtraPaths}",
+            "PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
+          }
+        }
+      }
+    }
+  ]
+}
--- a/can-interface/CMakeLists.txt
+++ b/can-interface/CMakeLists.txt
@@ -0,0 +1,6 @@
+# The following lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(can-interface)
--- a/can-interface/ESP-IDF.code-profile
+++ b/can-interface/ESP-IDF.code-profile
--- a/can-interface/README.md
+++ b/can-interface/README.md
--- a/can-interface/components/mcp2521
+++ b/can-interface/components/mcp2521
@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/mcp2521
--- a/can-interface/components/mcp2521_hardware_interface
+++ b/can-interface/components/mcp2521_hardware_interface
@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/mcp2521_hardware_interface
--- a/can-interface/main/CMakeLists.txt
+++ b/can-interface/main/CMakeLists.txt
@@ -0,0 +1,6 @@
+idf_component_register(SRCS "hello_world_main.cpp"
+                    REQUIRES driver
+                    REQUIRES mcp2521
+                    REQUIRES mcp2521_hardware_interface
+                    REQUIRES spi_flash
+                    INCLUDE_DIRS "")
--- a/can-interface/main/can-interface.code-workspace
+++ b/can-interface/main/can-interface.code-workspace
@@ -0,0 +1,7 @@
+{
+    "folders": [
+        {
+            "path": ".."
+        }
+    ]
+}
--- a/can-interface/main/hello_world_main.cpp
+++ b/can-interface/main/hello_world_main.cpp
@@ -0,0 +1,105 @@
+/*
+ * SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: CC0-1.0
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <inttypes.h>
+#include "sdkconfig.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+
+#include "esp_chip_info.h"
+#include "esp_flash.h"
+#include "esp_system.h"
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+
+#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
+
+void onRX(void *arg) {
+    MCP2521 *mcp2521 = (MCP2521 *)arg;
+
+    rx_info info = mcp2521->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);
+
+    printf("RX: (%x) ", info.id);
+    for (int i = 0; i < info.length; i++) {
+        printf("%x ", data[i]);
+    }
+    printf("\n");
+}
+
+extern "C" void app_main() {
+    printf("Hello world!\n");
+
+    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(
+        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.reset();
+    mcp2521.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);
+
+    vTaskDelay(3 / portTICK_PERIOD_MS);
+
+    mcp2521.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);
+
+    bool flag = true;
+    while (true) {
+        gpio_set_level(LED_PIN, flag);
+        flag = !flag;
+
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+    }
+}
--- a/can-interface/pulseView-debug-session
+++ b/can-interface/pulseView-debug-session
--- a/can-interface/pulseview-session
+++ b/can-interface/pulseview-session
--- a/can-interface/pytest_hello_world.py
+++ b/can-interface/pytest_hello_world.py
--- a/can-interface/sdkconfig
+++ b/can-interface/sdkconfig
--- a/can-interface/sdkconfig.ci
+++ b/can-interface/sdkconfig.ci
				`@@ -0,0 +1 @@`
				`/home/alexander/Projects/gobot/common-libaries/mcp2521`