Squashed commit of the following:
commitc6fd825e39Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 23:14:14 2024 +0100 Moved CAN Interface code to comment libary folder with symlink commite7a0035041Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 22:01:28 2024 +0100 Got MCP2521 to work commit4bfb1f533eAuthor: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:29:35 2024 +0200 Did something to YGantryMount. It works. trust me commit5683168a47Author: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:28:36 2024 +0200 Implemented Command-Level Interaction with CAN Interface commit9c0c676be8Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:20:37 2024 +0200 Added Vscode Profile file commitb150a905a3Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:19:00 2024 +0200 Implemented Low Level Compunications commit7eebf619aeAuthor: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:46:15 2024 +0200 Created Head Pipe Mount commit93c40e1805Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:44:11 2024 +0200 First Revision of YGantryMount commit91c2125458Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:52:37 2024 +0200 Added Kicad Backups 2 gitignore commit096a6c18d6Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:49:21 2024 +0200 Created ESP-IDF for can-interface commit48fded7981Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 28 19:54:29 2024 +0200 Added files from Pico sdk to gitignore commitec5e5cbf13Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 14 21:09:50 2024 +0200 Create Marker for position Calibration commit58d31964b2Author: AlexanderHD27 <alexander@hal> Date: Wed Sep 11 23:32:55 2024 +0200 Upgrade to pico SDK 2.0.0
This commit is contained in:
AlexanderHD27
8
common-libaries/mcp2521/CMakeLists.txt
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8
common-libaries/mcp2521/CMakeLists.txt
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@@ -0,0 +1,8 @@
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idf_component_register(SRCS
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"interface_commands.cpp"
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"interface_interrupts.cpp"
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"toplevel_commands.cpp"
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INCLUDE_DIRS "include"
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REQUIRES driver
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REQUIRES mcp2521_hardware_interface
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)
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177
common-libaries/mcp2521/include/bitfields.hpp
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177
common-libaries/mcp2521/include/bitfields.hpp
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@@ -0,0 +1,177 @@
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#pragma once
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#include <cstdint>
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/**
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* @brief RXnBF PIN CONTROL AND STATUS REGISTER (ADDRESS: 0Ch)
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*
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*/
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struct BFPCTRL {
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uint8_t B0BFM : 1;
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uint8_t B1BFM : 1;
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uint8_t B0BFE : 1;
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uint8_t B1BFE : 1;
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uint8_t B0BFS : 1;
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uint8_t B1BFS : 1;
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uint8_t : 2;
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};
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/**
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* @brief TXnRTS PIN CONTROL AND STATUS REGISTER
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*
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*/
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struct TXRTSCTRL {
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uint8_t B0RTSM : 1;
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uint8_t B1RTSM : 1;
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uint8_t B2RTSM : 1;
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uint8_t B0RTS : 1;
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uint8_t B1RTS : 1;
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uint8_t B2RTS : 1;
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uint8_t : 2;
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};
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struct CANSTAT {
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uint8_t ICOD0 : ;
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uint8_t : 1;
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uint8_t OPMOD0 : 1;
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uint8_t OPMOD1 : 1;
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uint8_t OPMOD2 : 1;
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uint8_t : 1;
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};
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struct CANCTRL {
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uint8_t CLKPRE0 : 1;
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uint8_t CLKPRE1 : 1;
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uint8_t CLKEN : 1;
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uint8_t OSM : 1;
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uint8_t ABAT : 1;
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uint8_t REQOP0 : 1;
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uint8_t REQOP1 : 1;
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uint8_t REQOP2 : 1;
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};
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struct TEC {
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uint8_t TEC;
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};
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struct REC {
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uint8_t REC;
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};
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struct CNF3 {
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uint8_t PHSEG20 : 1;
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uint8_t PHSEG21 : 1;
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uint8_t PHSEG22 : 1;
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uint8_t : 3;
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uint8_t WAKFIL : 1;
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uint8_t SOF : 1;
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};
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struct CNF2 {
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uint8_t PRSEG0 : 1;
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uint8_t PRSEG1 : 1;
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uint8_t PRSEG2 : 1;
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uint8_t PHSEG10 : 1;
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uint8_t PHSEG11 : 1;
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uint8_t PHSEG12 : 1;
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uint8_t SAM : 1;
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uint8_t BTLMODE : 1;
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};
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struct CNF1 {
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uint8_t BRP0 : 1;
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uint8_t BRP1 : 1;
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uint8_t BRP2 : 1;
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uint8_t BRP3 : 1;
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uint8_t BRP4 : 1;
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uint8_t BRP5 : 1;
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uint8_t SJW0 : 1;
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uint8_t SJW1 : 1;
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};
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struct CANINTE {
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uint8_t RX0IE : 1;
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uint8_t RX1IE : 1;
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uint8_t TX0IE : 1;
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uint8_t TX1IE : 1;
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uint8_t TX2IE : 1;
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uint8_t ERRIE : 1;
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uint8_t WAKIE : 1;
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uint8_t MERRE : 1;
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};
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struct CANINTF {
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uint8_t RX0IF : 1;
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uint8_t RX1IF : 1;
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uint8_t TX0IF : 1;
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uint8_t TX1IF : 1;
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uint8_t TX2IF : 1;
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uint8_t ERRIF : 1;
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uint8_t WAKIF : 1;
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uint8_t MERRF : 1;
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};
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struct EFLG {
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uint8_t EWARN : 1;
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uint8_t RXWAR : 1;
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uint8_t TXWAR : 1;
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uint8_t RXEP : 1;
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uint8_t TXEP : 1;
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uint8_t TXBO : 1;
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uint8_t RX0OVR : 1;
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uint8_t RX1OVR : 1;
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};
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struct TXB0CTRL {
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uint8_t TXP0 : 1;
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uint8_t TXP1 : 1;
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uint8_t : 1;
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uint8_t TXREQ : 1;
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uint8_t TXERR : 1;
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uint8_t MLOA : 1;
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uint8_t ABTF : 1;
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uint8_t : 1;
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};
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struct TXB1CTRL {
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uint8_t TXP0 : 1;
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uint8_t TXP1 : 1;
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uint8_t : 1;
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uint8_t TXREQ : 1;
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uint8_t TXERR : 1;
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uint8_t MLOA : 1;
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uint8_t ABTF : 1;
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uint8_t : 1;
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};
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struct TXB2CTRL {
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uint8_t TXP0 : 1;
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uint8_t TXP1 : 1;
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uint8_t : 1;
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uint8_t TXREQ : 1;
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uint8_t TXERR : 1;
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uint8_t MLOA : 1;
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uint8_t ABTF : 1;
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uint8_t : 1;
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};
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struct RXB0CTRL {
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uint8_t FILHIT0 : 1;
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uint8_t BUKT1 : 1;
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uint8_t BUKT : 1;
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uint8_t RXRTR : 1;
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uint8_t : 1;
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uint8_t RXM0 : 1;
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uint8_t RXM1 : 1;
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uint8_t : 1;
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};
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struct RXB1CTRL {
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uint8_t FILHIT0 : 1;
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uint8_t FILHIT1 : 1;
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uint8_t FILHIT2 : 1;
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uint8_t RXRTR : 1;
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uint8_t : 1;
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uint8_t RXM0 : 1;
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uint8_t RXM1 : 1;
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uint8_t : 1;
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};
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6
common-libaries/mcp2521/include/mcp2521.hpp
Normal file
6
common-libaries/mcp2521/include/mcp2521.hpp
Normal file
@@ -0,0 +1,6 @@
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#pragma once
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#include "mcp2521_toplevel.hpp"
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#include "mcp2521_command.hpp"
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#include "mcp2521_hardware_esp.hpp"
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#include "mcp2521_addresses.hpp"
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192
common-libaries/mcp2521/include/mcp2521_addresses.hpp
Normal file
192
common-libaries/mcp2521/include/mcp2521_addresses.hpp
Normal file
@@ -0,0 +1,192 @@
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#pragma once
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#include <stdint.h>
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#define MCP2521_BFPCTRL 0x0C
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#define MCP2521_BFPCTRL_B1BFS (1 << 5)
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#define MCP2521_BFPCTRL_B0BFS (1 << 4)
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#define MCP2521_BFPCTRL_B1BFE (1 << 3)
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#define MCP2521_BFPCTRL_B0BFE (1 << 2)
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#define MCP2521_BFPCTRL_B1BFM (1 << 1)
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#define MCP2521_BFPCTRL_B0BFM (1 << 0)
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#define MCP2521_TXRTSCTRL 0x0D
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#define MCP2521_TXRTSCTRL_B2RTS (1 << 5)
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#define MCP2521_TXRTSCTRL_B1RTS (1 << 4)
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#define MCP2521_TXRTSCTRL_B0RTS (1 << 3)
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#define MCP2521_TXRTSCTRL_B2RTSM (1 << 2)
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#define MCP2521_TXRTSCTRL_B1RTSM (1 << 1)
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#define MCP2521_TXRTSCTRL_B0RTSM (1 << 0)
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#define MCP2521_CANSTAT 0x0E
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#define MCP2521_CANSTAT_OPMOD2 (1 << 7)
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#define MCP2521_CANSTAT_OPMOD1 (1 << 6)
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#define MCP2521_CANSTAT_OPMOD0 (1 << 5)
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#define MCP2521_CANSTAT_ICOD2 (1 << 2)
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#define MCP2521_CANSTAT_ICOD1 (1 << 1)
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#define MCP2521_CANSTAT_ICOD0 (1 << 0)
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struct CANSTAT_Register {
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uint8_t ICOD : 3;
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uint8_t : 1; // Unused bit
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uint8_t OPMOD : 3;
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uint8_t : 1; // Unused bit
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};
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#define MCP2521_CANCTRL 0x0F
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#define MCP2521_CANCTRL_REQOP2 (1 << 7)
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#define MCP2521_CANCTRL_REQOP1 (1 << 6)
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#define MCP2521_CANCTRL_REQOP0 (1 << 5)
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#define MCP2521_CANCTRL_ABAT (1 << 4)
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#define MCP2521_CANCTRL_OSM (1 << 3)
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#define MCP2521_CANCTRL_CLKEN (1 << 2)
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#define MCP2521_CANCTRL_CLKPRE1 (1 << 1)
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#define MCP2521_CANCTRL_CLKPRE0 (1 << 0)
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#define MCP2521_TEC 0x1C
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#define MCP2521_REC 0x1D
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#define MCP2521_CNF3 0x28
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#define MCP2521_CNF3_SOF (1 << 7)
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#define MCP2521_CNF3_WAKFIL (1 << 6)
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#define MCP2521_CNF3_PHSEG22 (1 << 2)
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#define MCP2521_CNF3_PHSEG21 (1 << 1)
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#define MCP2521_CNF3_PHSEG20 (1 << 0)
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#define MCP2521_CNF2 0x29
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#define MCP2521_CNF2_BTLMODE (1 << 7)
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#define MCP2521_CNF2_SAM (1 << 6)
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#define MCP2521_CNF2_PHSEG12 (1 << 5)
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#define MCP2521_CNF2_PHSEG11 (1 << 4)
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#define MCP2521_CNF2_PHSEG10 (1 << 3)
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#define MCP2521_CNF2_PRSEG2 (1 << 2)
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#define MCP2521_CNF2_PRSEG1 (1 << 1)
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#define MCP2521_CNF2_PRSEG0 (1 << 0)
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#define MCP2521_CNF1 0x2A
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#define MCP2521_CNF1_SJW1 (1 << 7)
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#define MCP2521_CNF1_SJW0 (1 << 6)
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#define MCP2521_CNF1_BRP5 (1 << 5)
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#define MCP2521_CNF1_BRP4 (1 << 4)
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#define MCP2521_CNF1_BRP3 (1 << 3)
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#define MCP2521_CNF1_BRP2 (1 << 2)
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#define MCP2521_CNF1_BRP1 (1 << 1)
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#define MCP2521_CNF1_BRP0 (1 << 0)
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#define MCP2521_CANINTE 0x2B
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#define MCP2521_CANINTE_MERRE (1 << 7)
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#define MCP2521_CANINTE_WAKIE (1 << 6)
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#define MCP2521_CANINTE_ERRIE (1 << 5)
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#define MCP2521_CANINTE_TX2IE (1 << 4)
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#define MCP2521_CANINTE_TX1IE (1 << 3)
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#define MCP2521_CANINTE_TX0IE (1 << 2)
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#define MCP2521_CANINTE_RX1IE (1 << 1)
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#define MCP2521_CANINTE_RX0IE (1 << 0)
|
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#define MCP2521_CANINTF 0x2C
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#define MCP2521_CANINTF_MERRF (1 << 7)
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#define MCP2521_CANINTF_WAKIF (1 << 6)
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#define MCP2521_CANINTF_ERRIF (1 << 5)
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#define MCP2521_CANINTF_TX2IF (1 << 4)
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#define MCP2521_CANINTF_TX1IF (1 << 3)
|
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#define MCP2521_CANINTF_TX0IF (1 << 2)
|
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#define MCP2521_CANINTF_RX1IF (1 << 1)
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#define MCP2521_CANINTF_RX0IF (1 << 0)
|
||||
|
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#define MCP2521_EFLG 0x2D
|
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#define MCP2521_EFLG_RX1OVR (1 << 7)
|
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#define MCP2521_EFLG_RX0OVR (1 << 6)
|
||||
#define MCP2521_EFLG_TXBO (1 << 5)
|
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#define MCP2521_EFLG_TXEP (1 << 4)
|
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#define MCP2521_EFLG_RXEP (1 << 3)
|
||||
#define MCP2521_EFLG_TXWAR (1 << 2)
|
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#define MCP2521_EFLG_RXWAR (1 << 1)
|
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#define MCP2521_EFLG_EWARN (1 << 0)
|
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|
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#define MCP2521_TXB0CTRL 0x30
|
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#define MCP2521_TXB0CTRL_ABTF (1 << 6)
|
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#define MCP2521_TXB0CTRL_MLOA (1 << 5)
|
||||
#define MCP2521_TXB0CTRL_TXERR (1 << 4)
|
||||
#define MCP2521_TXB0CTRL_TXREQ (1 << 3)
|
||||
#define MCP2521_TXB0CTRL_TXP1 (1 << 1)
|
||||
#define MCP2521_TXB0CTRL_TXP0 (1 << 0)
|
||||
|
||||
#define MCP2521_TXB0DLC 0x35
|
||||
#define MCP2521_TXB1DLC 0x45
|
||||
#define MCP2521_TXB2DLC 0x55
|
||||
|
||||
#define MCP2521_TXB1CTRL 0x40
|
||||
#define MCP2521_TXB1CTRL_ABTF (1 << 6)
|
||||
#define MCP2521_TXB1CTRL_MLOA (1 << 5)
|
||||
#define MCP2521_TXB1CTRL_TXERR (1 << 4)
|
||||
#define MCP2521_TXB1CTRL_TXREQ (1 << 3)
|
||||
#define MCP2521_TXB1CTRL_TXP1 (1 << 1)
|
||||
#define MCP2521_TXB1CTRL_TXP0 (1 << 0)
|
||||
|
||||
#define MCP2521_TXB2CTRL 0x50
|
||||
#define MCP2521_TXB2CTRL_ABTF (1 << 6)
|
||||
#define MCP2521_TXB2CTRL_MLOA (1 << 5)
|
||||
#define MCP2521_TXB2CTRL_TXERR (1 << 4)
|
||||
#define MCP2521_TXB2CTRL_TXREQ (1 << 3)
|
||||
#define MCP2521_TXB2CTRL_TXP1 (1 << 1)
|
||||
#define MCP2521_TXB2CTRL_TXP0 (1 << 0)
|
||||
|
||||
struct TXBnCTRL_Register {
|
||||
uint8_t TXP : 2;
|
||||
uint8_t : 1; // Unused bit
|
||||
uint8_t TXREQ : 1;
|
||||
uint8_t TXERR : 1;
|
||||
uint8_t MLOA : 1;
|
||||
uint8_t ABTF : 1;
|
||||
uint8_t : 1; // Unused bit
|
||||
};
|
||||
|
||||
|
||||
#define MCP2521_RXB0CTRL 0x60
|
||||
#define MCP2521_RXB0CTRL_RXM1 (1 << 6)
|
||||
#define MCP2521_RXB0CTRL_RXM0 (1 << 5)
|
||||
#define MCP2521_RXB0CTRL_RXRTR (1 << 3)
|
||||
#define MCP2521_RXB0CTRL_BUKT (1 << 2)
|
||||
#define MCP2521_RXB0CTRL_BUKT1 (1 << 1)
|
||||
#define MCP2521_RXB0CTRL_FILHIT0 (1 << 0)
|
||||
|
||||
#define MCP2521_RXB1CTRL 0x70
|
||||
#define MCP2521_RXB1CTRL_RXM1 (1 << 6)
|
||||
#define MCP2521_RXB1CTRL_RXM0 (1 << 5)
|
||||
#define MCP2521_RXB1CTRL_RXRTR (1 << 3)
|
||||
#define MCP2521_RXB1CTRL_FILHIT2 (1 << 2)
|
||||
#define MCP2521_RXB1CTRL_FILHIT1 (1 << 1)
|
||||
#define MCP2521_RXB1CTRL_FILHIT0 (1 << 0)
|
||||
|
||||
#define MCP2521_OP_RESET 0b11000000
|
||||
#define MCP2521_OP_READ 0b00000011
|
||||
#define MCP2521_OP_READ_RX_BUFFER 0b10010000
|
||||
#define MCP2521_OP_WRITE 0b00000010
|
||||
#define MCP2521_OP_LOAD_TX_BUFFER 0b01000000
|
||||
#define MCP2521_OP_RTS 0b10000000
|
||||
#define MCP2521_OP_READ_STATUS 0b10100000
|
||||
#define MCP2521_OP_RX_STATUS 0b10110000
|
||||
#define MCP2521_OP_BIT_MODIFY 0b00000101
|
||||
|
||||
#define MCP2521_TXB0SIDH 0x31
|
||||
#define MCP2521_TXB1SIDH 0x41
|
||||
#define MCP2521_TXB2SIDH 0x51
|
||||
|
||||
#define MCP2521_TXB0SIDL 0x32
|
||||
#define MCP2521_TXB1SIDL 0x42
|
||||
#define MCP2521_TXB2SIDL 0x52
|
||||
|
||||
#define MCP2521_RXB0SIDH 0x61
|
||||
#define MCP2521_RXB1SIDH 0x71
|
||||
|
||||
#define MCP2521_RXB0SIDL 0x62
|
||||
#define MCP2521_RXB1SIDL 0x72
|
||||
|
||||
#define MCP2521_RXB0EID8 0x63
|
||||
#define MCP2521_RXB1EID8 0x73
|
||||
|
||||
#define MCP2521_RXB0EID0 0x64
|
||||
#define MCP2521_RXB1EID0 0x74
|
||||
|
||||
#define MCP2521_RXB0DLC 0x65
|
||||
#define MCP2521_RXB1DLC 0x75
|
||||
102
common-libaries/mcp2521/include/mcp2521_command.hpp
Normal file
102
common-libaries/mcp2521/include/mcp2521_command.hpp
Normal file
@@ -0,0 +1,102 @@
|
||||
#pragma once
|
||||
#include "mcp2521_addresses.hpp"
|
||||
#include "mcp2521_hardware_handle.hpp"
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
enum MCP2521_RX_BUFFER {
|
||||
RXB0 = 0,
|
||||
RXB1 = 1
|
||||
};
|
||||
|
||||
enum MCP2521_TX_BUFFER {
|
||||
TXB0 = 0,
|
||||
TXB1 = 1,
|
||||
TXB2 = 2
|
||||
};
|
||||
|
||||
enum MCP2521_BUFFER_TYPE {
|
||||
ID = 0,
|
||||
DATA = 1
|
||||
};
|
||||
|
||||
enum MCP2521_OPERATION_MODE {
|
||||
NORMAL = 0b000,
|
||||
SLEEP = 0b001,
|
||||
LOOPBACK = 0b010,
|
||||
LISTEN_ONLY = 0b011,
|
||||
CONFIG = 0b100
|
||||
};
|
||||
|
||||
struct rx_info {
|
||||
bool extended;
|
||||
|
||||
uint16_t id;
|
||||
uint32_t extended_id;
|
||||
|
||||
bool rtr;
|
||||
bool extended_rtr;
|
||||
|
||||
uint8_t length;
|
||||
};
|
||||
|
||||
class MCP2521_Command_Interface {
|
||||
private:
|
||||
MCP2521_Hardware_Handle * hardware_handle;
|
||||
|
||||
intHandlerFunction_t rx0_handler;
|
||||
intHandlerFunction_t rx1_handler;
|
||||
intHandlerFunction_t tx0_handler;
|
||||
intHandlerFunction_t tx1_handler;
|
||||
intHandlerFunction_t tx2_handler;
|
||||
intHandlerFunction_t error_handler;
|
||||
intHandlerFunction_t wakeup_handler;
|
||||
intHandlerFunction_t message_error_handler;
|
||||
|
||||
void * rx0_handler_arg;
|
||||
void * rx1_handler_arg;
|
||||
void * tx0_handler_arg;
|
||||
void * tx1_handler_arg;
|
||||
void * tx2_handler_arg;
|
||||
void * error_handler_arg;
|
||||
void * wakeup_handler_arg;
|
||||
void * message_error_handler_arg;
|
||||
public:
|
||||
|
||||
MCP2521_Command_Interface(
|
||||
MCP2521_Hardware_Handle * hardware_handle
|
||||
);
|
||||
|
||||
void handleInterrupt();
|
||||
|
||||
void reset();
|
||||
|
||||
void read_reg(uint8_t address, uint8_t *data, size_t length);
|
||||
uint8_t read_reg(uint8_t address);
|
||||
|
||||
void read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
|
||||
|
||||
void write_reg(uint8_t address, uint8_t *data, size_t length);
|
||||
void write_reg(uint8_t address, uint8_t data);
|
||||
|
||||
void write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
|
||||
|
||||
void request_to_send(bool txb2, bool txb1, bool txb0);
|
||||
void request_to_send(MCP2521_TX_BUFFER buffer);
|
||||
|
||||
uint8_t read_status();
|
||||
uint8_t read_rx_status();
|
||||
|
||||
void bit_modify(uint8_t address, uint8_t mask, uint8_t data);
|
||||
|
||||
// Registering Handlers for Interrupts
|
||||
void register_rx0_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_rx1_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_tx0_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_tx1_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_tx2_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_error_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_wakeup_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_message_error_handler(intHandlerFunction_t handler, void * arg);
|
||||
};
|
||||
|
||||
38
common-libaries/mcp2521/include/mcp2521_toplevel.hpp
Normal file
38
common-libaries/mcp2521/include/mcp2521_toplevel.hpp
Normal file
@@ -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);
|
||||
|
||||
};
|
||||
100
common-libaries/mcp2521/interface_commands.cpp
Normal file
100
common-libaries/mcp2521/interface_commands.cpp
Normal file
@@ -0,0 +1,100 @@
|
||||
#include <cstring>
|
||||
|
||||
#include "mcp2521.hpp"
|
||||
#include "mcp2521_addresses.hpp"
|
||||
|
||||
void runIntHandler(void *arg) {
|
||||
MCP2521_Command_Interface *command_interface = (MCP2521_Command_Interface *)arg;
|
||||
command_interface->handleInterrupt();
|
||||
}
|
||||
|
||||
MCP2521_Command_Interface::MCP2521_Command_Interface(
|
||||
MCP2521_Hardware_Handle * hardware_handle
|
||||
) {
|
||||
this->hardware_handle = hardware_handle;
|
||||
this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
|
||||
|
||||
rx0_handler = NULL;
|
||||
rx1_handler = NULL;
|
||||
tx0_handler = NULL;
|
||||
tx1_handler = NULL;
|
||||
tx2_handler = NULL;
|
||||
error_handler = NULL;
|
||||
wakeup_handler = NULL;
|
||||
message_error_handler = NULL;
|
||||
|
||||
rx0_handler_arg = NULL;
|
||||
rx1_handler_arg = NULL;
|
||||
tx0_handler_arg = NULL;
|
||||
tx1_handler_arg = NULL;
|
||||
tx2_handler_arg = NULL;
|
||||
error_handler_arg = NULL;
|
||||
wakeup_handler_arg = NULL;
|
||||
message_error_handler_arg = NULL;
|
||||
}
|
||||
|
||||
void MCP2521_Command_Interface::reset() {
|
||||
hardware_handle->execute(MCP2521_OP_RESET);
|
||||
}
|
||||
|
||||
void MCP2521_Command_Interface::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) {
|
||||
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) {
|
||||
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) {
|
||||
hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
|
||||
}
|
||||
|
||||
void MCP2521_Command_Interface::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) {
|
||||
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) {
|
||||
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) {
|
||||
uint8_t mask = 0;
|
||||
|
||||
switch (buffer) {
|
||||
case MCP2521_TX_BUFFER::TXB0:
|
||||
mask = 0b001;
|
||||
break;
|
||||
case MCP2521_TX_BUFFER::TXB1:
|
||||
mask = 0b010;
|
||||
break;
|
||||
case MCP2521_TX_BUFFER::TXB2:
|
||||
mask = 0b100;
|
||||
break;
|
||||
}
|
||||
|
||||
hardware_handle->execute(MCP2521_OP_RTS | mask);
|
||||
}
|
||||
|
||||
uint8_t MCP2521_Command_Interface::read_status() {
|
||||
return hardware_handle->read(MCP2521_OP_READ_STATUS);
|
||||
}
|
||||
|
||||
uint8_t MCP2521_Command_Interface::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) {
|
||||
uint8_t data_array[3] = {address, mask, data};
|
||||
hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
|
||||
}
|
||||
113
common-libaries/mcp2521/interface_interrupts.cpp
Normal file
113
common-libaries/mcp2521/interface_interrupts.cpp
Normal file
@@ -0,0 +1,113 @@
|
||||
#include "mcp2521.hpp"
|
||||
#include "mcp2521_addresses.hpp"
|
||||
|
||||
void MCP2521_Command_Interface::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) {
|
||||
rx1_handler = handler;
|
||||
rx1_handler_arg = args;
|
||||
}
|
||||
|
||||
void MCP2521_Command_Interface::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) {
|
||||
tx1_handler = handler;
|
||||
tx1_handler_arg = args;
|
||||
}
|
||||
|
||||
void MCP2521_Command_Interface::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) {
|
||||
error_handler = handler;
|
||||
error_handler_arg = args;
|
||||
}
|
||||
|
||||
void MCP2521_Command_Interface::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) {
|
||||
message_error_handler = handler;
|
||||
message_error_handler_arg = args;
|
||||
}
|
||||
|
||||
void MCP2521_Command_Interface::handleInterrupt() {
|
||||
uint8_t flags = read_reg(MCP2521_CANINTF);
|
||||
uint8_t clearBits = 0;
|
||||
|
||||
if (flags & MCP2521_CANINTF_RX0IF) {
|
||||
if (rx0_handler) {
|
||||
rx0_handler(rx0_handler_arg);
|
||||
}
|
||||
flags &= ~MCP2521_CANINTF_RX0IF;
|
||||
clearBits |= MCP2521_CANINTF_RX0IF;
|
||||
}
|
||||
|
||||
if (flags & MCP2521_CANINTF_RX1IF) {
|
||||
if (rx1_handler) {
|
||||
rx1_handler(rx1_handler_arg);
|
||||
}
|
||||
flags &= ~MCP2521_CANINTF_RX1IF;
|
||||
clearBits |= MCP2521_CANINTF_RX1IF;
|
||||
}
|
||||
|
||||
if (flags & MCP2521_CANINTF_TX0IF) {
|
||||
if (tx0_handler) {
|
||||
tx0_handler(tx0_handler_arg);
|
||||
}
|
||||
flags &= ~MCP2521_CANINTF_TX0IF;
|
||||
clearBits |= MCP2521_CANINTF_TX0IF;
|
||||
}
|
||||
|
||||
if (flags & MCP2521_CANINTF_TX1IF) {
|
||||
if (tx1_handler) {
|
||||
tx1_handler(tx1_handler_arg);
|
||||
}
|
||||
flags &= ~MCP2521_CANINTF_TX1IF;
|
||||
clearBits |= MCP2521_CANINTF_TX1IF;
|
||||
}
|
||||
|
||||
if (flags & MCP2521_CANINTF_TX2IF) {
|
||||
if (tx2_handler) {
|
||||
tx2_handler(tx2_handler_arg);
|
||||
}
|
||||
flags &= ~MCP2521_CANINTF_TX2IF;
|
||||
clearBits |= MCP2521_CANINTF_TX2IF;
|
||||
}
|
||||
|
||||
if (flags & MCP2521_CANINTF_ERRIF) {
|
||||
if (error_handler) {
|
||||
error_handler(error_handler_arg);
|
||||
}
|
||||
flags &= ~MCP2521_CANINTF_ERRIF;
|
||||
clearBits |= MCP2521_CANINTF_ERRIF;
|
||||
}
|
||||
|
||||
if (flags & MCP2521_CANINTF_WAKIF) {
|
||||
if (wakeup_handler) {
|
||||
wakeup_handler(wakeup_handler_arg);
|
||||
}
|
||||
flags &= ~MCP2521_CANINTF_WAKIF;
|
||||
clearBits |= MCP2521_CANINTF_WAKIF;
|
||||
}
|
||||
|
||||
if (flags & MCP2521_CANINTF_MERRF) {
|
||||
if (message_error_handler) {
|
||||
message_error_handler(message_error_handler_arg);
|
||||
}
|
||||
flags &= ~MCP2521_CANINTF_MERRF;
|
||||
clearBits |= MCP2521_CANINTF_MERRF;
|
||||
}
|
||||
|
||||
bit_modify(MCP2521_CANINTF, clearBits, 0);
|
||||
}
|
||||
119
common-libaries/mcp2521/toplevel_commands.cpp
Normal file
119
common-libaries/mcp2521/toplevel_commands.cpp
Normal file
@@ -0,0 +1,119 @@
|
||||
#include <cstring>
|
||||
|
||||
#include "mcp2521.hpp"
|
||||
#include "mcp2521_addresses.hpp"
|
||||
|
||||
void MCP2521::set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended) {
|
||||
uint8_t addr_offset = 0;
|
||||
switch (buffer)
|
||||
{
|
||||
case MCP2521_TX_BUFFER::TXB0:
|
||||
addr_offset = 0x00;
|
||||
break;
|
||||
case MCP2521_TX_BUFFER::TXB1:
|
||||
addr_offset = 0x10;
|
||||
break;
|
||||
case MCP2521_TX_BUFFER::TXB2:
|
||||
addr_offset = 0x20;
|
||||
break;
|
||||
}
|
||||
|
||||
uint8_t upper_id = (id >> 3) & 0xFF;
|
||||
uint8_t lower_id = ((id & 0b111) << 5);
|
||||
|
||||
if(extended) {
|
||||
lower_id |= 0b1000;
|
||||
lower_id |= (id >> 8) & 0b11;
|
||||
}
|
||||
|
||||
write_reg(MCP2521_TXB0SIDH | addr_offset, upper_id);
|
||||
write_reg(MCP2521_TXB0SIDL | addr_offset, lower_id);
|
||||
}
|
||||
|
||||
void MCP2521::set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr) {
|
||||
uint8_t data = length;
|
||||
|
||||
if (rtr)
|
||||
data |= 0b01000000;
|
||||
|
||||
uint8_t reg_address = 0;
|
||||
|
||||
switch (buffer) {
|
||||
case MCP2521_TX_BUFFER::TXB0:
|
||||
reg_address = MCP2521_TXB0DLC;
|
||||
break;
|
||||
case MCP2521_TX_BUFFER::TXB1:
|
||||
reg_address = MCP2521_TXB1DLC;
|
||||
break;
|
||||
case MCP2521_TX_BUFFER::TXB2:
|
||||
reg_address = MCP2521_TXB2DLC;
|
||||
break;
|
||||
}
|
||||
|
||||
write_reg(reg_address, data);
|
||||
}
|
||||
|
||||
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::set_singleshot_mode(bool enable) {
|
||||
uint8_t data = enable ? 0x08 : 0x00;
|
||||
bit_modify(MCP2521_CANCTRL, 0x08, data);
|
||||
}
|
||||
|
||||
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;
|
||||
if (WakeUp) interrupt_flags |= 0b01000000;
|
||||
if (ErrorInterrupt) interrupt_flags |= 0b00100000;
|
||||
if (TXB2) interrupt_flags |= 0b00010000;
|
||||
if (TXB1) interrupt_flags |= 0b00001000;
|
||||
if (TXB0) interrupt_flags |= 0b00000100;
|
||||
if (RXB1) interrupt_flags |= 0b00000010;
|
||||
if (RXB0) interrupt_flags |= 0b00000001;
|
||||
|
||||
write_reg(MCP2521_CANINTE, interrupt_flags);
|
||||
}
|
||||
|
||||
rx_info MCP2521::get_rx_id(MCP2521_RX_BUFFER buffer) {
|
||||
uint8_t data[5];
|
||||
uint8_t addr_offset = MCP2521_RXB0SIDH;
|
||||
|
||||
switch (buffer) {
|
||||
case MCP2521_RX_BUFFER::RXB0:
|
||||
addr_offset |= 0x00;
|
||||
break;
|
||||
case MCP2521_RX_BUFFER::RXB1:
|
||||
addr_offset |= 0x10;
|
||||
break;
|
||||
}
|
||||
|
||||
read_reg(addr_offset, data, 5);
|
||||
|
||||
rx_info res;
|
||||
res.extended = data[1] & 0b1000;
|
||||
res.id = (data[0] << 3) | (data[1] >> 5);
|
||||
res.extended_id = ((data[1] & 0b11) << 16) | (data[2] << 8) | data[3];
|
||||
res.rtr = data[1] & 0b10000;
|
||||
res.extended_rtr = (data[4] & 0b1000000);
|
||||
res.length = (data[4] & 0b1111);
|
||||
|
||||
return res;
|
||||
}
|
||||
|
||||
void MCP2521::prepare_tx(
|
||||
MCP2521_TX_BUFFER buffer,
|
||||
uint32_t id,
|
||||
uint8_t *data,
|
||||
size_t length,
|
||||
bool rtr, bool extended) {
|
||||
|
||||
set_tx_id(buffer, id, extended);
|
||||
set_DLC_reg(buffer, length, rtr);
|
||||
write_tx_buf(buffer, MCP2521_BUFFER_TYPE::DATA, data, length);
|
||||
}
|
||||
Reference in New Issue
Block a user