Squashed commit of the following:

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
2024-11-06 23:18:12 +01:00
parent f002a01308
commit e091d4df18
49 changed files with 3905 additions and 0 deletions
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp
@@ -0,0 +1,65 @@
+#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