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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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5
common-libaries/mcp2521_hardware_interface/CMakeLists.txt Normal file
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idf_component_register(SRCS "esp_implementation_init.cpp"
"esp_implementation_cmd.cpp"
"esp_implementation_int.cpp"
INCLUDE_DIRS "include"
REQUIRES driver)

209
common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp Normal file
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#include "mcp2521_hardware_handle.hpp"
#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);
xSemaphoreGive(spiMutex);
}
void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = 0,
.length = 0,
.rxlength = 0,
.tx_buffer = NULL,
.rx_buffer = NULL
},
.command_bits = 8,
.address_bits = 0,
.dummy_bits = 0,
};
spi_transmit((spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd, uint8_t address) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = address,
.length = 0,
.rxlength = 0,
.tx_buffer = NULL,
.rx_buffer = NULL
},
.command_bits = 8,
.address_bits = 8,
.dummy_bits = 0,
};
spi_transmit((spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = address,
.length = 8*length,
.rxlength = 8*length,
.tx_buffer = null_buffer,
.rx_buffer = data
},
.command_bits = 8,
.address_bits = 8,
.dummy_bits = 0,
};
spi_transmit((spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = 0,
.length = 8*length,
.rxlength = 8*length,
.tx_buffer = NULL,
.rx_buffer = data
},
.command_bits = 8,
.address_bits = 0,
.dummy_bits = 0,
};
spi_transmit((spi_transaction_t*)(&t));
}
uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
uint8_t result = 0;
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = address,
.length = 8,
.rxlength = 8,
.tx_buffer = null_buffer,
.rx_buffer = &result
},
.command_bits = 8,
.address_bits = 8,
.dummy_bits = 0,
};
spi_transmit((spi_transaction_t*)(&t));
return result;
}
uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
uint8_t result;
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = 0,
.length = 8,
.rxlength = 8,
.tx_buffer = null_buffer,
.rx_buffer = &result
},
.command_bits = 8,
.address_bits = 0,
.dummy_bits = 0,
};
spi_transmit((spi_transaction_t*)(&t));
return result;
}
void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
uint8_t result;
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = address,
.length = 8*length,
.rxlength = 0,
.tx_buffer = data,
.rx_buffer = NULL
},
.command_bits = 8,
.address_bits = 8,
.dummy_bits = 0,
};
spi_transmit((spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = 0,
.length = 8*length,
.rxlength = 0,
.tx_buffer = data,
.rx_buffer = NULL
},
.command_bits = 8,
.address_bits = 0,
.dummy_bits = 0,
};
spi_transmit((spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data, uint8_t address) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = address,
.length = 8,
.rxlength = 0,
.tx_buffer = &data,
.rx_buffer = NULL
},
.command_bits = 8,
.address_bits = 8,
.dummy_bits = 0,
};
spi_transmit((spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data) {
spi_transaction_ext_t t = {
.base = {
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
.cmd = cmd,
.addr = 0,
.length = 8,
.rxlength = 0,
.tx_buffer = &data,
.rx_buffer = NULL
},
.command_bits = 8,
.address_bits = 0,
.dummy_bits = 0,
};
spi_transmit((spi_transaction_t*)(&t));
}
#endif

92
common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp Normal file
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#include "mcp2521_hardware_handle.hpp"
#ifdef ESP_PLATFORM
#include "mcp2521_hardware_esp.hpp"
#include "driver/gpio.h"
#include <string.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
spi_host_device_t spi_host,
spi_bus_config_t *bus_config,
gpio_num_t mosi,
gpio_num_t miso,
gpio_num_t sclk,
gpio_num_t cs,
gpio_num_t int_pin
) {
initPins(int_pin);
initSPIBus(spi_host, mosi, miso, sclk, bus_config);
this->spi_bus_config = bus_config;
initSPIDevice(spi_host, cs);
}
MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
spi_host_device_t spi_host,
spi_bus_config_t *bus_config,
gpio_num_t cs,
gpio_num_t int_pin
) {
initPins(int_pin);
this->spi_bus_config = bus_config;
initSPIDevice(spi_host, cs);
}
MCP2521_Hardware_Handle_ESP::~MCP2521_Hardware_Handle_ESP() {
}
void MCP2521_Hardware_Handle_ESP::initSPIBus(
spi_host_device_t spi_host,
gpio_num_t mosi,
gpio_num_t miso,
gpio_num_t sclk,
spi_bus_config_t *bus_config
) {
memset(bus_config, 0, sizeof(spi_bus_config_t));
bus_config->mosi_io_num = mosi;
bus_config->miso_io_num = miso;
bus_config->sclk_io_num = sclk;
bus_config->quadwp_io_num = -1;
bus_config->quadhd_io_num = -1;
bus_config->flags = SPICOMMON_BUSFLAG_MASTER;
spi_bus_initialize(spi_host, bus_config, SPI_DMA_CH_AUTO);
}
void MCP2521_Hardware_Handle_ESP::initSPIDevice(
spi_host_device_t spi_host,
gpio_num_t cs
) {
memset(&this->spi_device_config, 0, sizeof(spi_device_interface_config_t));
this->spi_device_config = {
.command_bits = 8,
.address_bits = 0,
.dummy_bits = 0,
.mode = 0,
.duty_cycle_pos = 128,
// cs_ena_pretrans = 0 and cs_ena_posttrans = 0 need to be set to zero, if not its not compatible with full-duplex mode
// Learned this the hard way
.cs_ena_pretrans = 0,
.cs_ena_posttrans = 0,
.clock_speed_hz = 10000,
.spics_io_num = cs,
.flags = SPI_DEVICE_NO_DUMMY,
.queue_size = 5,
};
spi_bus_add_device(spi_host, &this->spi_device_config, &this->spi_device_handle);
spiMutex = xSemaphoreCreateMutex();
}
spi_bus_config_t * MCP2521_Hardware_Handle_ESP::getSPI_bus_config() {
return this->spi_bus_config;
}
#endif

65
common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp Normal file
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#include "mcp2521_hardware_handle.hpp"
#ifdef ESP_PLATFORM
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "mcp2521_hardware_esp.hpp"
static void IRAM_ATTR gpio_isr_can_handler(void* arg) {
MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
handle->isr_can_interrupt();
}
static void handleInteruptTaskCallerFn(void *arg) {
MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
handle->handleIntteruptTaskFn();
}
void MCP2521_Hardware_Handle_ESP::initPins(
gpio_num_t int_pin
) {
canInterruptSemaphore = xSemaphoreCreateBinary();
gpio_config_t io_conf;
io_conf.intr_type = GPIO_INTR_NEGEDGE;
io_conf.mode = GPIO_MODE_INPUT;
io_conf.pin_bit_mask = 1 << int_pin;
io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
gpio_config(&io_conf);
gpio_install_isr_service(0);
gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
xTaskCreate(
(TaskFunction_t)&handleInteruptTaskCallerFn,
"canInterruptTask",
2048,
this,
5,
&canInterruptTaskHandle
);
}
void MCP2521_Hardware_Handle_ESP::handleIntteruptTaskFn() {
while(true) {
xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
intHandler(intHandlerArg);
}
}
void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
BaseType_t wokenTask = pdFALSE;
xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);
if(wokenTask) {
portYIELD_FROM_ISR();
}
}
void MCP2521_Hardware_Handle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
intHandlerArg = arg;
intHandler = handler;
}
#endif

87
common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp Normal file
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#pragma once
#include "mcp2521_hardware_handle.hpp"
#ifdef ESP_PLATFORM
#include "driver/gpio.h"
#include "driver/spi_master.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
class MCP2521_Hardware_Handle_ESP : public MCP2521_Hardware_Handle {
char spi_tmp_buffer;
spi_bus_config_t * spi_bus_config;
spi_device_interface_config_t spi_device_config;
spi_device_handle_t spi_device_handle;
SemaphoreHandle_t canInterruptSemaphore = NULL;
SemaphoreHandle_t spiMutex = NULL;
TaskHandle_t canInterruptTaskHandle = NULL;
void spi_transmit(spi_transaction_t *t);
void * intHandlerArg = NULL;
intHandlerFunction_t intHandler = NULL;
public:
MCP2521_Hardware_Handle_ESP(
spi_host_device_t spi_host,
spi_bus_config_t *bus_config,
gpio_num_t mosi,
gpio_num_t miso,
gpio_num_t sclk,
gpio_num_t cs,
gpio_num_t int_pin
);
MCP2521_Hardware_Handle_ESP(
spi_host_device_t spi_host,
spi_bus_config_t *bus_config,
gpio_num_t cs,
gpio_num_t int_pin
);
static void initSPIBus(
spi_host_device_t spi_host,
gpio_num_t mosi,
gpio_num_t miso,
gpio_num_t sclk,
spi_bus_config_t *bus_config
);
void initSPIDevice(
spi_host_device_t spi_host,
gpio_num_t cs
);
void initPins(
gpio_num_t int_pin
);
~MCP2521_Hardware_Handle_ESP();
spi_bus_config_t * getSPI_bus_config();
// ISR Stuff
void isr_can_interrupt();
void handleIntteruptTaskFn();
// Inherited from MCP2521_Hardware_Handle
void execute(uint8_t cmd);
void execute(uint8_t cmd, uint8_t address);
void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
void read(uint8_t cmd, uint8_t *data, size_t length);
uint8_t read(uint8_t cmd, uint8_t address);
uint8_t read(uint8_t cmd);
void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
void write(uint8_t cmd, uint8_t *data, size_t length);
void write(uint8_t cmd, uint8_t data, uint8_t address);
void write(uint8_t cmd, uint8_t data);
void registerIntHandler(intHandlerFunction_t handler, void * arg);
};
#endif

24
common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp Normal file
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#pragma once
#include <cstdint>
#include <strings.h>
typedef void (*intHandlerFunction_t)(void *);
class MCP2521_Hardware_Handle {
public:
virtual void registerIntHandler(intHandlerFunction_t handler, void * arg) = 0;
virtual void execute(uint8_t cmd) = 0;
virtual void execute(uint8_t cmd, uint8_t address) = 0;
virtual void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
virtual void read(uint8_t cmd, uint8_t *data, size_t length) = 0;
virtual uint8_t read(uint8_t cmd, uint8_t address) = 0;
virtual uint8_t read(uint8_t cmd) = 0;
virtual void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
virtual void write(uint8_t cmd, uint8_t *data, size_t length) = 0;
virtual void write(uint8_t cmd, uint8_t data, uint8_t address) = 0;
virtual void write(uint8_t cmd, uint8_t data) = 0;
};