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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
This commit is contained in:
AlexanderHD27
2024-11-06 23:18:12 +01:00
parent f002a01308
commit e091d4df18
49 changed files with 3905 additions and 0 deletions
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192
common-libaries/mcp2521/include/mcp2521_addresses.hpp Normal file
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#pragma once
#include <stdint.h>
#define MCP2521_BFPCTRL 0x0C
#define MCP2521_BFPCTRL_B1BFS (1 << 5)
#define MCP2521_BFPCTRL_B0BFS (1 << 4)
#define MCP2521_BFPCTRL_B1BFE (1 << 3)
#define MCP2521_BFPCTRL_B0BFE (1 << 2)
#define MCP2521_BFPCTRL_B1BFM (1 << 1)
#define MCP2521_BFPCTRL_B0BFM (1 << 0)
#define MCP2521_TXRTSCTRL 0x0D
#define MCP2521_TXRTSCTRL_B2RTS (1 << 5)
#define MCP2521_TXRTSCTRL_B1RTS (1 << 4)
#define MCP2521_TXRTSCTRL_B0RTS (1 << 3)
#define MCP2521_TXRTSCTRL_B2RTSM (1 << 2)
#define MCP2521_TXRTSCTRL_B1RTSM (1 << 1)
#define MCP2521_TXRTSCTRL_B0RTSM (1 << 0)
#define MCP2521_CANSTAT 0x0E
#define MCP2521_CANSTAT_OPMOD2 (1 << 7)
#define MCP2521_CANSTAT_OPMOD1 (1 << 6)
#define MCP2521_CANSTAT_OPMOD0 (1 << 5)
#define MCP2521_CANSTAT_ICOD2 (1 << 2)
#define MCP2521_CANSTAT_ICOD1 (1 << 1)
#define MCP2521_CANSTAT_ICOD0 (1 << 0)
struct CANSTAT_Register {
uint8_t ICOD : 3;
uint8_t : 1; // Unused bit
uint8_t OPMOD : 3;
uint8_t : 1; // Unused bit
};
#define MCP2521_CANCTRL 0x0F
#define MCP2521_CANCTRL_REQOP2 (1 << 7)
#define MCP2521_CANCTRL_REQOP1 (1 << 6)
#define MCP2521_CANCTRL_REQOP0 (1 << 5)
#define MCP2521_CANCTRL_ABAT (1 << 4)
#define MCP2521_CANCTRL_OSM (1 << 3)
#define MCP2521_CANCTRL_CLKEN (1 << 2)
#define MCP2521_CANCTRL_CLKPRE1 (1 << 1)
#define MCP2521_CANCTRL_CLKPRE0 (1 << 0)
#define MCP2521_TEC 0x1C
#define MCP2521_REC 0x1D
#define MCP2521_CNF3 0x28
#define MCP2521_CNF3_SOF (1 << 7)
#define MCP2521_CNF3_WAKFIL (1 << 6)
#define MCP2521_CNF3_PHSEG22 (1 << 2)
#define MCP2521_CNF3_PHSEG21 (1 << 1)
#define MCP2521_CNF3_PHSEG20 (1 << 0)
#define MCP2521_CNF2 0x29
#define MCP2521_CNF2_BTLMODE (1 << 7)
#define MCP2521_CNF2_SAM (1 << 6)
#define MCP2521_CNF2_PHSEG12 (1 << 5)
#define MCP2521_CNF2_PHSEG11 (1 << 4)
#define MCP2521_CNF2_PHSEG10 (1 << 3)
#define MCP2521_CNF2_PRSEG2 (1 << 2)
#define MCP2521_CNF2_PRSEG1 (1 << 1)
#define MCP2521_CNF2_PRSEG0 (1 << 0)
#define MCP2521_CNF1 0x2A
#define MCP2521_CNF1_SJW1 (1 << 7)
#define MCP2521_CNF1_SJW0 (1 << 6)
#define MCP2521_CNF1_BRP5 (1 << 5)
#define MCP2521_CNF1_BRP4 (1 << 4)
#define MCP2521_CNF1_BRP3 (1 << 3)
#define MCP2521_CNF1_BRP2 (1 << 2)
#define MCP2521_CNF1_BRP1 (1 << 1)
#define MCP2521_CNF1_BRP0 (1 << 0)
#define MCP2521_CANINTE 0x2B
#define MCP2521_CANINTE_MERRE (1 << 7)
#define MCP2521_CANINTE_WAKIE (1 << 6)
#define MCP2521_CANINTE_ERRIE (1 << 5)
#define MCP2521_CANINTE_TX2IE (1 << 4)
#define MCP2521_CANINTE_TX1IE (1 << 3)
#define MCP2521_CANINTE_TX0IE (1 << 2)
#define MCP2521_CANINTE_RX1IE (1 << 1)
#define MCP2521_CANINTE_RX0IE (1 << 0)
#define MCP2521_CANINTF 0x2C
#define MCP2521_CANINTF_MERRF (1 << 7)
#define MCP2521_CANINTF_WAKIF (1 << 6)
#define MCP2521_CANINTF_ERRIF (1 << 5)
#define MCP2521_CANINTF_TX2IF (1 << 4)
#define MCP2521_CANINTF_TX1IF (1 << 3)
#define MCP2521_CANINTF_TX0IF (1 << 2)
#define MCP2521_CANINTF_RX1IF (1 << 1)
#define MCP2521_CANINTF_RX0IF (1 << 0)
#define MCP2521_EFLG 0x2D
#define MCP2521_EFLG_RX1OVR (1 << 7)
#define MCP2521_EFLG_RX0OVR (1 << 6)
#define MCP2521_EFLG_TXBO (1 << 5)
#define MCP2521_EFLG_TXEP (1 << 4)
#define MCP2521_EFLG_RXEP (1 << 3)
#define MCP2521_EFLG_TXWAR (1 << 2)
#define MCP2521_EFLG_RXWAR (1 << 1)
#define MCP2521_EFLG_EWARN (1 << 0)
#define MCP2521_TXB0CTRL 0x30
#define MCP2521_TXB0CTRL_ABTF (1 << 6)
#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