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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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209
common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp Normal file
View 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