alexander/gobot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Squashed commit of the following:

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

92
common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp Normal file
View File

@@ -0,0 +1,92 @@
#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