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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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119
common-libaries/mcp2521/toplevel_commands.cpp Normal file
View File

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#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);
}