Squashed commit of the following:
commitc6fd825e39Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 23:14:14 2024 +0100 Moved CAN Interface code to comment libary folder with symlink commite7a0035041Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 22:01:28 2024 +0100 Got MCP2521 to work commit4bfb1f533eAuthor: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:29:35 2024 +0200 Did something to YGantryMount. It works. trust me commit5683168a47Author: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:28:36 2024 +0200 Implemented Command-Level Interaction with CAN Interface commit9c0c676be8Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:20:37 2024 +0200 Added Vscode Profile file commitb150a905a3Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:19:00 2024 +0200 Implemented Low Level Compunications commit7eebf619aeAuthor: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:46:15 2024 +0200 Created Head Pipe Mount commit93c40e1805Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:44:11 2024 +0200 First Revision of YGantryMount commit91c2125458Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:52:37 2024 +0200 Added Kicad Backups 2 gitignore commit096a6c18d6Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:49:21 2024 +0200 Created ESP-IDF for can-interface commit48fded7981Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 28 19:54:29 2024 +0200 Added files from Pico sdk to gitignore commitec5e5cbf13Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 14 21:09:50 2024 +0200 Create Marker for position Calibration commit58d31964b2Author: 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
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.gitignore
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.gitignore
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3d-print/models/BoardPositionMarker/Vison Marker Clip - Marker.stl
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3d-print/models/BoardPositionMarker/Vison Marker Clip - Marker.stl
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3d-print/models/BoardPositionMarker/Vison Marker Clip - WhiteRing1.stl
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3d-print/models/BoardPositionMarker/Vison Marker Clip - WhiteRing1.stl
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3d-print/models/BoardPositionMarker/Vison Marker Clip - WhiteRing2.stl
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3d-print/models/BoardPositionMarker/Vison Marker Clip - WhiteRing2.stl
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3d-print/models/HeadPipeMount/HeadPipeMount - DownPart.stl
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3d-print/models/HeadPipeMount/HeadPipeMount - DownPart.stl
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3d-print/models/HeadPipeMount/HeadPipeMount - HoseAdapter.stl
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3d-print/models/HeadPipeMount/HeadPipeMount - HoseAdapter.stl
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3d-print/models/HeadPipeMount/HeadPipeMount - RightPart.stl
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3d-print/models/HeadPipeMount/HeadPipeMount - RightPart.stl
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3d-print/models/YGantryMount/GantryMount - GantryPlate (1).stl
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3d-print/models/YGantryMount/GantryMount - GantryPlate (1).stl
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3d-print/models/YGantryMount/GantryMount - GantryPlate.stl
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3d-print/models/YGantryMount/GantryMount - GantryPlate.stl
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3d-print/models/YGantryMount/GantryMount - Mount (1).stl
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3d-print/models/YGantryMount/GantryMount - Mount (1).stl
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3d-print/models/YGantryMount/GantryMount - Mount.stl
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3d-print/models/YGantryMount/GantryMount - Mount.stl
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3d-print/slicers/BoardPositionMarker.3mf
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3d-print/slicers/BoardPositionMarker.3mf
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3d-print/slicers/HeadPipeMount.3mf
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3d-print/slicers/HeadPipeMount.3mf
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3d-print/slicers/YGantryMount.3mf
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3d-print/slicers/YGantryMount.3mf
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47
can-interface/.devcontainer/Dockerfile
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47
can-interface/.devcontainer/Dockerfile
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FROM espressif/idf
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||||||
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ARG DEBIAN_FRONTEND=nointeractive
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ARG CONTAINER_USER=esp
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ARG USER_UID=1050
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ARG USER_GID=$USER_UID
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RUN apt-get update \
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&& apt install -y -q \
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cmake \
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git \
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libglib2.0-0 \
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libnuma1 \
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libpixman-1-0 \
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&& rm -rf /var/lib/apt/lists/*
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# QEMU
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ENV QEMU_REL=esp_develop_8.2.0_20240122
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ENV QEMU_SHA256=e7c72ef5705ad1444d391711088c8717fc89f42e9bf6d1487f9c2a326b8cfa83
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ENV QEMU_DIST=qemu-xtensa-softmmu-${QEMU_REL}-x86_64-linux-gnu.tar.xz
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ENV QEMU_URL=https://github.com/espressif/qemu/releases/download/esp-develop-8.2.0-20240122/${QEMU_DIST}
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ENV LC_ALL=C.UTF-8
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ENV LANG=C.UTF-8
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RUN wget --no-verbose ${QEMU_URL} \
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&& echo "${QEMU_SHA256} *${QEMU_DIST}" | sha256sum --check --strict - \
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&& tar -xf $QEMU_DIST -C /opt \
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&& rm ${QEMU_DIST}
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||||||
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ENV PATH=/opt/qemu/bin:${PATH}
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||||||
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RUN groupadd --gid $USER_GID $CONTAINER_USER \
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&& adduser --uid $USER_UID --gid $USER_GID --disabled-password --gecos "" ${CONTAINER_USER} \
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&& usermod -a -G root $CONTAINER_USER && usermod -a -G dialout $CONTAINER_USER
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RUN chmod -R 775 /opt/esp/python_env/
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||||||
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USER ${CONTAINER_USER}
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ENV USER=${CONTAINER_USER}
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WORKDIR /home/${CONTAINER_USER}
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||||||
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RUN echo "source /opt/esp/idf/export.sh > /dev/null 2>&1" >> ~/.bashrc
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||||||
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ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
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||||||
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CMD ["/bin/bash", "-c"]
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can-interface/.devcontainer/devcontainer.json
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can-interface/.devcontainer/devcontainer.json
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{
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"name": "ESP-IDF QEMU",
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"build": {
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"dockerfile": "Dockerfile"
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},
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"customizations": {
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"vscode": {
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"settings": {
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"terminal.integrated.defaultProfile.linux": "bash",
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"idf.espIdfPath": "/opt/esp/idf",
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"idf.customExtraPaths": "",
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"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
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"idf.toolsPath": "/opt/esp",
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"idf.gitPath": "/usr/bin/git"
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},
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"extensions": [
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"espressif.esp-idf-extension"
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||||||
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]
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},
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||||||
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"codespaces": {
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"settings": {
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"terminal.integrated.defaultProfile.linux": "bash",
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"idf.espIdfPath": "/opt/esp/idf",
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"idf.customExtraPaths": "",
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"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
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"idf.toolsPath": "/opt/esp",
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"idf.gitPath": "/usr/bin/git"
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||||||
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},
|
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"extensions": [
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"espressif.esp-idf-extension",
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"espressif.esp-idf-web"
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|
]
|
||||||
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}
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},
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"runArgs": ["--privileged"]
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}
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can-interface/.gitignore
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can-interface/.gitignore
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can-interface/.vscode/c_cpp_properties.json
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can-interface/.vscode/c_cpp_properties.json
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{
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"configurations": [
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{
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"name": "ESP-IDF",
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||||||
|
"compilerPath": "${config:idf.toolsPath}/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/xtensa-esp32-elf-gcc",
|
||||||
|
"compileCommands": "${config:idf.buildPath}/compile_commands.json",
|
||||||
|
"includePath": [
|
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|
"${config:idf.espIdfPath}/components/**",
|
||||||
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"${config:idf.espIdfPathWin}/components/**",
|
||||||
|
"${workspaceFolder}/**"
|
||||||
|
],
|
||||||
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"browse": {
|
||||||
|
"path": [
|
||||||
|
"${config:idf.espIdfPath}/components",
|
||||||
|
"${config:idf.espIdfPathWin}/components",
|
||||||
|
"${workspaceFolder}"
|
||||||
|
],
|
||||||
|
"limitSymbolsToIncludedHeaders": true
|
||||||
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}
|
||||||
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}
|
||||||
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],
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||||||
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"version": 4
|
||||||
|
}
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can-interface/.vscode/launch.json
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can-interface/.vscode/launch.json
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|||||||
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{
|
||||||
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"version": "0.2.0",
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||||||
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"configurations": [
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||||||
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{
|
||||||
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"type": "gdbtarget",
|
||||||
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"request": "attach",
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||||||
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"name": "Eclipse CDT GDB Adapter"
|
||||||
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},
|
||||||
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{
|
||||||
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"type": "espidf",
|
||||||
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"name": "Launch",
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||||||
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"request": "launch"
|
||||||
|
}
|
||||||
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]
|
||||||
|
}
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||||||
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can-interface/.vscode/settings.json
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can-interface/.vscode/settings.json
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|||||||
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{
|
||||||
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"C_Cpp.intelliSenseEngine": "default",
|
||||||
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"idf.adapterTargetName": "esp32",
|
||||||
|
"idf.customExtraPaths": "/home/alexander/.espressif/tools/xtensa-esp-elf-gdb/14.2_20240403/xtensa-esp-elf-gdb/bin:/home/alexander/.espressif/tools/riscv32-esp-elf-gdb/14.2_20240403/riscv32-esp-elf-gdb/bin:/home/alexander/.espressif/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin:/home/alexander/.espressif/tools/riscv32-esp-elf/esp-13.2.0_20240530/riscv32-esp-elf/bin:/home/alexander/.espressif/tools/esp32ulp-elf/2.38_20240113/esp32ulp-elf/bin:/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/bin:/home/alexander/.espressif/tools/ninja/1.11.1:/home/alexander/.espressif/tools/esp-rom-elfs/20240305",
|
||||||
|
"idf.customExtraVars": {
|
||||||
|
"OPENOCD_SCRIPTS": "/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/share/openocd/scripts",
|
||||||
|
"ESP_ROM_ELF_DIR": "/home/alexander/.espressif/tools/esp-rom-elfs/20240305/"
|
||||||
|
},
|
||||||
|
"idf.espIdfPath": "/opt/esp/v5.3.1/esp-idf",
|
||||||
|
"idf.openOcdConfigs": [
|
||||||
|
"board/esp32-wrover-kit-3.3v.cfg"
|
||||||
|
],
|
||||||
|
"idf.port": "/dev/ttyUSB0",
|
||||||
|
"idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
|
||||||
|
"idf.toolsPath": "/home/alexander/.espressif",
|
||||||
|
"idf.flashType": "UART",
|
||||||
|
"files.associations": {
|
||||||
|
"*.tcc": "cpp",
|
||||||
|
"cstdint": "cpp",
|
||||||
|
"random": "cpp",
|
||||||
|
"future": "cpp",
|
||||||
|
"bitset": "cpp",
|
||||||
|
"string_view": "cpp",
|
||||||
|
"regex": "cpp",
|
||||||
|
"array": "cpp",
|
||||||
|
"string": "cpp",
|
||||||
|
"span": "cpp"
|
||||||
|
}
|
||||||
|
}
|
||||||
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can-interface/.vscode/tasks.json
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can-interface/.vscode/tasks.json
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|
|||||||
|
{
|
||||||
|
"version": "2.0.0",
|
||||||
|
"tasks": [
|
||||||
|
{
|
||||||
|
"label": "Build - Build project",
|
||||||
|
"type": "shell",
|
||||||
|
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py build",
|
||||||
|
"windows": {
|
||||||
|
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py build",
|
||||||
|
"options": {
|
||||||
|
"env": {
|
||||||
|
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"options": {
|
||||||
|
"env": {
|
||||||
|
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"problemMatcher": [
|
||||||
|
{
|
||||||
|
"owner": "cpp",
|
||||||
|
"fileLocation": [
|
||||||
|
"autoDetect",
|
||||||
|
"${workspaceFolder}"
|
||||||
|
],
|
||||||
|
"pattern": {
|
||||||
|
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||||
|
"file": 1,
|
||||||
|
"line": 2,
|
||||||
|
"column": 3,
|
||||||
|
"severity": 4,
|
||||||
|
"message": 5
|
||||||
|
}
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"group": {
|
||||||
|
"kind": "build",
|
||||||
|
"isDefault": true
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "Set ESP-IDF Target",
|
||||||
|
"type": "shell",
|
||||||
|
"command": "${command:espIdf.setTarget}",
|
||||||
|
"problemMatcher": {
|
||||||
|
"owner": "cpp",
|
||||||
|
"fileLocation": [
|
||||||
|
"autoDetect",
|
||||||
|
"${workspaceFolder}"
|
||||||
|
],
|
||||||
|
"pattern": {
|
||||||
|
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||||
|
"file": 1,
|
||||||
|
"line": 2,
|
||||||
|
"column": 3,
|
||||||
|
"severity": 4,
|
||||||
|
"message": 5
|
||||||
|
}
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "Clean - Clean the project",
|
||||||
|
"type": "shell",
|
||||||
|
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py fullclean",
|
||||||
|
"windows": {
|
||||||
|
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py fullclean",
|
||||||
|
"options": {
|
||||||
|
"env": {
|
||||||
|
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"options": {
|
||||||
|
"env": {
|
||||||
|
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"problemMatcher": [
|
||||||
|
{
|
||||||
|
"owner": "cpp",
|
||||||
|
"fileLocation": [
|
||||||
|
"autoDetect",
|
||||||
|
"${workspaceFolder}"
|
||||||
|
],
|
||||||
|
"pattern": {
|
||||||
|
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||||
|
"file": 1,
|
||||||
|
"line": 2,
|
||||||
|
"column": 3,
|
||||||
|
"severity": 4,
|
||||||
|
"message": 5
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "Flash - Flash the device",
|
||||||
|
"type": "shell",
|
||||||
|
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} -b ${config:idf.flashBaudRate} flash",
|
||||||
|
"windows": {
|
||||||
|
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py flash -p ${config:idf.portWin} -b ${config:idf.flashBaudRate}",
|
||||||
|
"options": {
|
||||||
|
"env": {
|
||||||
|
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"options": {
|
||||||
|
"env": {
|
||||||
|
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"problemMatcher": [
|
||||||
|
{
|
||||||
|
"owner": "cpp",
|
||||||
|
"fileLocation": [
|
||||||
|
"autoDetect",
|
||||||
|
"${workspaceFolder}"
|
||||||
|
],
|
||||||
|
"pattern": {
|
||||||
|
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||||
|
"file": 1,
|
||||||
|
"line": 2,
|
||||||
|
"column": 3,
|
||||||
|
"severity": 4,
|
||||||
|
"message": 5
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "Monitor: Start the monitor",
|
||||||
|
"type": "shell",
|
||||||
|
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} monitor",
|
||||||
|
"windows": {
|
||||||
|
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py -p ${config:idf.portWin} monitor",
|
||||||
|
"options": {
|
||||||
|
"env": {
|
||||||
|
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"options": {
|
||||||
|
"env": {
|
||||||
|
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"problemMatcher": [
|
||||||
|
{
|
||||||
|
"owner": "cpp",
|
||||||
|
"fileLocation": [
|
||||||
|
"autoDetect",
|
||||||
|
"${workspaceFolder}"
|
||||||
|
],
|
||||||
|
"pattern": {
|
||||||
|
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||||
|
"file": 1,
|
||||||
|
"line": 2,
|
||||||
|
"column": 3,
|
||||||
|
"severity": 4,
|
||||||
|
"message": 5
|
||||||
|
}
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"dependsOn": "Flash - Flash the device"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "OpenOCD: Start openOCD",
|
||||||
|
"type": "shell",
|
||||||
|
"presentation": {
|
||||||
|
"echo": true,
|
||||||
|
"reveal": "never",
|
||||||
|
"focus": false,
|
||||||
|
"panel": "new"
|
||||||
|
},
|
||||||
|
"command": "openocd -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
|
||||||
|
"windows": {
|
||||||
|
"command": "openocd.exe -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
|
||||||
|
"options": {
|
||||||
|
"env": {
|
||||||
|
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"options": {
|
||||||
|
"env": {
|
||||||
|
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"problemMatcher": {
|
||||||
|
"owner": "cpp",
|
||||||
|
"fileLocation": [
|
||||||
|
"autoDetect",
|
||||||
|
"${workspaceFolder}"
|
||||||
|
],
|
||||||
|
"pattern": {
|
||||||
|
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||||
|
"file": 1,
|
||||||
|
"line": 2,
|
||||||
|
"column": 3,
|
||||||
|
"severity": 4,
|
||||||
|
"message": 5
|
||||||
|
}
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "adapter",
|
||||||
|
"type": "shell",
|
||||||
|
"command": "${config:idf.pythonBinPath}",
|
||||||
|
"isBackground": true,
|
||||||
|
"options": {
|
||||||
|
"env": {
|
||||||
|
"PATH": "${env:PATH}:${config:idf.customExtraPaths}",
|
||||||
|
"PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"problemMatcher": {
|
||||||
|
"background": {
|
||||||
|
"beginsPattern": "\bDEBUG_ADAPTER_STARTED\b",
|
||||||
|
"endsPattern": "DEBUG_ADAPTER_READY2CONNECT",
|
||||||
|
"activeOnStart": true
|
||||||
|
},
|
||||||
|
"pattern": {
|
||||||
|
"regexp": "(\\d+)-(\\d+)-(\\d+)\\s(\\d+):(\\d+):(\\d+),(\\d+)\\s-(.+)\\s(ERROR)",
|
||||||
|
"file": 8,
|
||||||
|
"line": 2,
|
||||||
|
"column": 3,
|
||||||
|
"severity": 4,
|
||||||
|
"message": 9
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"args": [
|
||||||
|
"${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter_main.py",
|
||||||
|
"-e",
|
||||||
|
"${workspaceFolder}/build/${command:espIdf.getProjectName}.elf",
|
||||||
|
"-s",
|
||||||
|
"$OPENOCD_SCRIPTS",
|
||||||
|
"-dn",
|
||||||
|
"esp32",
|
||||||
|
"-om",
|
||||||
|
"connect_to_instance",
|
||||||
|
"-t",
|
||||||
|
"xtensa-esp32-elf-"
|
||||||
|
|
||||||
|
],
|
||||||
|
"windows": {
|
||||||
|
"command": "${config:idf.pythonBinPathWin}",
|
||||||
|
"options": {
|
||||||
|
"env": {
|
||||||
|
"PATH": "${env:PATH};${config:idf.customExtraPaths}",
|
||||||
|
"PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
6
can-interface/CMakeLists.txt
Executable file
6
can-interface/CMakeLists.txt
Executable file
@@ -0,0 +1,6 @@
|
|||||||
|
# The following lines of boilerplate have to be in your project's
|
||||||
|
# CMakeLists in this exact order for cmake to work correctly
|
||||||
|
cmake_minimum_required(VERSION 3.16)
|
||||||
|
|
||||||
|
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||||
|
project(can-interface)
|
||||||
1
can-interface/ESP-IDF.code-profile
Normal file
1
can-interface/ESP-IDF.code-profile
Normal file
File diff suppressed because one or more lines are too long
BIN
can-interface/README.md
(Stored with Git LFS)
Executable file
BIN
can-interface/README.md
(Stored with Git LFS)
Executable file
Binary file not shown.
1
can-interface/components/mcp2521
Symbolic link
1
can-interface/components/mcp2521
Symbolic link
@@ -0,0 +1 @@
|
|||||||
|
/home/alexander/Projects/gobot/common-libaries/mcp2521
|
||||||
1
can-interface/components/mcp2521_hardware_interface
Symbolic link
1
can-interface/components/mcp2521_hardware_interface
Symbolic link
@@ -0,0 +1 @@
|
|||||||
|
/home/alexander/Projects/gobot/common-libaries/mcp2521_hardware_interface
|
||||||
6
can-interface/main/CMakeLists.txt
Executable file
6
can-interface/main/CMakeLists.txt
Executable file
@@ -0,0 +1,6 @@
|
|||||||
|
idf_component_register(SRCS "hello_world_main.cpp"
|
||||||
|
REQUIRES driver
|
||||||
|
REQUIRES mcp2521
|
||||||
|
REQUIRES mcp2521_hardware_interface
|
||||||
|
REQUIRES spi_flash
|
||||||
|
INCLUDE_DIRS "")
|
||||||
7
can-interface/main/can-interface.code-workspace
Normal file
7
can-interface/main/can-interface.code-workspace
Normal file
@@ -0,0 +1,7 @@
|
|||||||
|
{
|
||||||
|
"folders": [
|
||||||
|
{
|
||||||
|
"path": ".."
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
105
can-interface/main/hello_world_main.cpp
Executable file
105
can-interface/main/hello_world_main.cpp
Executable file
@@ -0,0 +1,105 @@
|
|||||||
|
/*
|
||||||
|
* SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
|
||||||
|
*
|
||||||
|
* SPDX-License-Identifier: CC0-1.0
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <inttypes.h>
|
||||||
|
#include "sdkconfig.h"
|
||||||
|
|
||||||
|
#include "freertos/FreeRTOS.h"
|
||||||
|
#include "freertos/task.h"
|
||||||
|
#include "freertos/semphr.h"
|
||||||
|
#include "freertos/queue.h"
|
||||||
|
|
||||||
|
#include "esp_chip_info.h"
|
||||||
|
#include "esp_flash.h"
|
||||||
|
#include "esp_system.h"
|
||||||
|
|
||||||
|
#include "driver/gpio.h"
|
||||||
|
#include "driver/spi_master.h"
|
||||||
|
|
||||||
|
#include "mcp2521.hpp"
|
||||||
|
|
||||||
|
#define SPI_PIN_CS0 GPIO_NUM_5
|
||||||
|
#define SPI_PIN_SCLK GPIO_NUM_18
|
||||||
|
#define SPI_PIN_MISO GPIO_NUM_19
|
||||||
|
#define SPI_PIN_MOSI GPIO_NUM_23
|
||||||
|
#define CAN_INT_PIN GPIO_NUM_21
|
||||||
|
|
||||||
|
#define EXTERNAL_TRIGGER GPIO_NUM_26
|
||||||
|
|
||||||
|
void onRX(void *arg) {
|
||||||
|
MCP2521 *mcp2521 = (MCP2521 *)arg;
|
||||||
|
|
||||||
|
rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
||||||
|
uint8_t data[8];
|
||||||
|
|
||||||
|
mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
||||||
|
|
||||||
|
printf("RX: (%x) ", info.id);
|
||||||
|
for (int i = 0; i < info.length; i++) {
|
||||||
|
printf("%x ", data[i]);
|
||||||
|
}
|
||||||
|
printf("\n");
|
||||||
|
}
|
||||||
|
|
||||||
|
extern "C" void app_main() {
|
||||||
|
printf("Hello world!\n");
|
||||||
|
|
||||||
|
const gpio_num_t LED_PIN = GPIO_NUM_2;
|
||||||
|
gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);
|
||||||
|
|
||||||
|
gpio_set_direction(EXTERNAL_TRIGGER, GPIO_MODE_OUTPUT);
|
||||||
|
gpio_set_level(EXTERNAL_TRIGGER, true);
|
||||||
|
|
||||||
|
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||||
|
|
||||||
|
|
||||||
|
spi_bus_config_t spi_bus;
|
||||||
|
|
||||||
|
MCP2521_Hardware_Handle_ESP hardware_mcp2521(
|
||||||
|
VSPI_HOST,
|
||||||
|
&spi_bus,
|
||||||
|
SPI_PIN_MOSI,
|
||||||
|
SPI_PIN_MISO,
|
||||||
|
SPI_PIN_SCLK,
|
||||||
|
SPI_PIN_CS0,
|
||||||
|
CAN_INT_PIN
|
||||||
|
);
|
||||||
|
|
||||||
|
MCP2521 mcp2521(&hardware_mcp2521);
|
||||||
|
|
||||||
|
uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
|
||||||
|
|
||||||
|
gpio_set_level(EXTERNAL_TRIGGER, false);
|
||||||
|
mcp2521.reset();
|
||||||
|
mcp2521.enable_interrupts(true, true, true, true, true, true, true, true);
|
||||||
|
|
||||||
|
mcp2521.register_rx0_handler(onRX, &mcp2521);
|
||||||
|
mcp2521.register_rx1_handler(onRX, &mcp2521);
|
||||||
|
mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
|
||||||
|
|
||||||
|
vTaskDelay(3 / portTICK_PERIOD_MS);
|
||||||
|
|
||||||
|
mcp2521.prepare_tx(
|
||||||
|
MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
|
||||||
|
|
||||||
|
mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||||
|
|
||||||
|
mcp2521.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
|
||||||
|
mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||||
|
|
||||||
|
|
||||||
|
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||||
|
|
||||||
|
bool flag = true;
|
||||||
|
while (true) {
|
||||||
|
gpio_set_level(LED_PIN, flag);
|
||||||
|
flag = !flag;
|
||||||
|
|
||||||
|
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||||
|
}
|
||||||
|
}
|
||||||
BIN
can-interface/pulseView-debug-session
Normal file
BIN
can-interface/pulseView-debug-session
Normal file
Binary file not shown.
BIN
can-interface/pulseview-session
Normal file
BIN
can-interface/pulseview-session
Normal file
Binary file not shown.
BIN
can-interface/pytest_hello_world.py
(Stored with Git LFS)
Executable file
BIN
can-interface/pytest_hello_world.py
(Stored with Git LFS)
Executable file
Binary file not shown.
2008
can-interface/sdkconfig
Normal file
2008
can-interface/sdkconfig
Normal file
File diff suppressed because it is too large
Load Diff
0
can-interface/sdkconfig.ci
Executable file
0
can-interface/sdkconfig.ci
Executable file
8
common-libaries/mcp2521/CMakeLists.txt
Normal file
8
common-libaries/mcp2521/CMakeLists.txt
Normal file
@@ -0,0 +1,8 @@
|
|||||||
|
idf_component_register(SRCS
|
||||||
|
"interface_commands.cpp"
|
||||||
|
"interface_interrupts.cpp"
|
||||||
|
"toplevel_commands.cpp"
|
||||||
|
INCLUDE_DIRS "include"
|
||||||
|
REQUIRES driver
|
||||||
|
REQUIRES mcp2521_hardware_interface
|
||||||
|
)
|
||||||
177
common-libaries/mcp2521/include/bitfields.hpp
Normal file
177
common-libaries/mcp2521/include/bitfields.hpp
Normal file
@@ -0,0 +1,177 @@
|
|||||||
|
#pragma once
|
||||||
|
#include <cstdint>
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief RXnBF PIN CONTROL AND STATUS REGISTER (ADDRESS: 0Ch)
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
struct BFPCTRL {
|
||||||
|
uint8_t B0BFM : 1;
|
||||||
|
uint8_t B1BFM : 1;
|
||||||
|
uint8_t B0BFE : 1;
|
||||||
|
uint8_t B1BFE : 1;
|
||||||
|
uint8_t B0BFS : 1;
|
||||||
|
uint8_t B1BFS : 1;
|
||||||
|
uint8_t : 2;
|
||||||
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief TXnRTS PIN CONTROL AND STATUS REGISTER
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
struct TXRTSCTRL {
|
||||||
|
uint8_t B0RTSM : 1;
|
||||||
|
uint8_t B1RTSM : 1;
|
||||||
|
uint8_t B2RTSM : 1;
|
||||||
|
uint8_t B0RTS : 1;
|
||||||
|
uint8_t B1RTS : 1;
|
||||||
|
uint8_t B2RTS : 1;
|
||||||
|
uint8_t : 2;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct CANSTAT {
|
||||||
|
uint8_t ICOD0 : ;
|
||||||
|
uint8_t : 1;
|
||||||
|
uint8_t OPMOD0 : 1;
|
||||||
|
uint8_t OPMOD1 : 1;
|
||||||
|
uint8_t OPMOD2 : 1;
|
||||||
|
uint8_t : 1;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct CANCTRL {
|
||||||
|
uint8_t CLKPRE0 : 1;
|
||||||
|
uint8_t CLKPRE1 : 1;
|
||||||
|
uint8_t CLKEN : 1;
|
||||||
|
uint8_t OSM : 1;
|
||||||
|
uint8_t ABAT : 1;
|
||||||
|
uint8_t REQOP0 : 1;
|
||||||
|
uint8_t REQOP1 : 1;
|
||||||
|
uint8_t REQOP2 : 1;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct TEC {
|
||||||
|
uint8_t TEC;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct REC {
|
||||||
|
uint8_t REC;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct CNF3 {
|
||||||
|
uint8_t PHSEG20 : 1;
|
||||||
|
uint8_t PHSEG21 : 1;
|
||||||
|
uint8_t PHSEG22 : 1;
|
||||||
|
uint8_t : 3;
|
||||||
|
uint8_t WAKFIL : 1;
|
||||||
|
uint8_t SOF : 1;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct CNF2 {
|
||||||
|
uint8_t PRSEG0 : 1;
|
||||||
|
uint8_t PRSEG1 : 1;
|
||||||
|
uint8_t PRSEG2 : 1;
|
||||||
|
uint8_t PHSEG10 : 1;
|
||||||
|
uint8_t PHSEG11 : 1;
|
||||||
|
uint8_t PHSEG12 : 1;
|
||||||
|
uint8_t SAM : 1;
|
||||||
|
uint8_t BTLMODE : 1;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct CNF1 {
|
||||||
|
uint8_t BRP0 : 1;
|
||||||
|
uint8_t BRP1 : 1;
|
||||||
|
uint8_t BRP2 : 1;
|
||||||
|
uint8_t BRP3 : 1;
|
||||||
|
uint8_t BRP4 : 1;
|
||||||
|
uint8_t BRP5 : 1;
|
||||||
|
uint8_t SJW0 : 1;
|
||||||
|
uint8_t SJW1 : 1;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct CANINTE {
|
||||||
|
uint8_t RX0IE : 1;
|
||||||
|
uint8_t RX1IE : 1;
|
||||||
|
uint8_t TX0IE : 1;
|
||||||
|
uint8_t TX1IE : 1;
|
||||||
|
uint8_t TX2IE : 1;
|
||||||
|
uint8_t ERRIE : 1;
|
||||||
|
uint8_t WAKIE : 1;
|
||||||
|
uint8_t MERRE : 1;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct CANINTF {
|
||||||
|
uint8_t RX0IF : 1;
|
||||||
|
uint8_t RX1IF : 1;
|
||||||
|
uint8_t TX0IF : 1;
|
||||||
|
uint8_t TX1IF : 1;
|
||||||
|
uint8_t TX2IF : 1;
|
||||||
|
uint8_t ERRIF : 1;
|
||||||
|
uint8_t WAKIF : 1;
|
||||||
|
uint8_t MERRF : 1;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct EFLG {
|
||||||
|
uint8_t EWARN : 1;
|
||||||
|
uint8_t RXWAR : 1;
|
||||||
|
uint8_t TXWAR : 1;
|
||||||
|
uint8_t RXEP : 1;
|
||||||
|
uint8_t TXEP : 1;
|
||||||
|
uint8_t TXBO : 1;
|
||||||
|
uint8_t RX0OVR : 1;
|
||||||
|
uint8_t RX1OVR : 1;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct TXB0CTRL {
|
||||||
|
uint8_t TXP0 : 1;
|
||||||
|
uint8_t TXP1 : 1;
|
||||||
|
uint8_t : 1;
|
||||||
|
uint8_t TXREQ : 1;
|
||||||
|
uint8_t TXERR : 1;
|
||||||
|
uint8_t MLOA : 1;
|
||||||
|
uint8_t ABTF : 1;
|
||||||
|
uint8_t : 1;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct TXB1CTRL {
|
||||||
|
uint8_t TXP0 : 1;
|
||||||
|
uint8_t TXP1 : 1;
|
||||||
|
uint8_t : 1;
|
||||||
|
uint8_t TXREQ : 1;
|
||||||
|
uint8_t TXERR : 1;
|
||||||
|
uint8_t MLOA : 1;
|
||||||
|
uint8_t ABTF : 1;
|
||||||
|
uint8_t : 1;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct TXB2CTRL {
|
||||||
|
uint8_t TXP0 : 1;
|
||||||
|
uint8_t TXP1 : 1;
|
||||||
|
uint8_t : 1;
|
||||||
|
uint8_t TXREQ : 1;
|
||||||
|
uint8_t TXERR : 1;
|
||||||
|
uint8_t MLOA : 1;
|
||||||
|
uint8_t ABTF : 1;
|
||||||
|
uint8_t : 1;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct RXB0CTRL {
|
||||||
|
uint8_t FILHIT0 : 1;
|
||||||
|
uint8_t BUKT1 : 1;
|
||||||
|
uint8_t BUKT : 1;
|
||||||
|
uint8_t RXRTR : 1;
|
||||||
|
uint8_t : 1;
|
||||||
|
uint8_t RXM0 : 1;
|
||||||
|
uint8_t RXM1 : 1;
|
||||||
|
uint8_t : 1;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct RXB1CTRL {
|
||||||
|
uint8_t FILHIT0 : 1;
|
||||||
|
uint8_t FILHIT1 : 1;
|
||||||
|
uint8_t FILHIT2 : 1;
|
||||||
|
uint8_t RXRTR : 1;
|
||||||
|
uint8_t : 1;
|
||||||
|
uint8_t RXM0 : 1;
|
||||||
|
uint8_t RXM1 : 1;
|
||||||
|
uint8_t : 1;
|
||||||
|
};
|
||||||
6
common-libaries/mcp2521/include/mcp2521.hpp
Normal file
6
common-libaries/mcp2521/include/mcp2521.hpp
Normal file
@@ -0,0 +1,6 @@
|
|||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "mcp2521_toplevel.hpp"
|
||||||
|
#include "mcp2521_command.hpp"
|
||||||
|
#include "mcp2521_hardware_esp.hpp"
|
||||||
|
#include "mcp2521_addresses.hpp"
|
||||||
192
common-libaries/mcp2521/include/mcp2521_addresses.hpp
Normal file
192
common-libaries/mcp2521/include/mcp2521_addresses.hpp
Normal file
@@ -0,0 +1,192 @@
|
|||||||
|
#pragma once
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
#define MCP2521_BFPCTRL 0x0C
|
||||||
|
#define MCP2521_BFPCTRL_B1BFS (1 << 5)
|
||||||
|
#define MCP2521_BFPCTRL_B0BFS (1 << 4)
|
||||||
|
#define MCP2521_BFPCTRL_B1BFE (1 << 3)
|
||||||
|
#define MCP2521_BFPCTRL_B0BFE (1 << 2)
|
||||||
|
#define MCP2521_BFPCTRL_B1BFM (1 << 1)
|
||||||
|
#define MCP2521_BFPCTRL_B0BFM (1 << 0)
|
||||||
|
|
||||||
|
#define MCP2521_TXRTSCTRL 0x0D
|
||||||
|
#define MCP2521_TXRTSCTRL_B2RTS (1 << 5)
|
||||||
|
#define MCP2521_TXRTSCTRL_B1RTS (1 << 4)
|
||||||
|
#define MCP2521_TXRTSCTRL_B0RTS (1 << 3)
|
||||||
|
#define MCP2521_TXRTSCTRL_B2RTSM (1 << 2)
|
||||||
|
#define MCP2521_TXRTSCTRL_B1RTSM (1 << 1)
|
||||||
|
#define MCP2521_TXRTSCTRL_B0RTSM (1 << 0)
|
||||||
|
|
||||||
|
#define MCP2521_CANSTAT 0x0E
|
||||||
|
#define MCP2521_CANSTAT_OPMOD2 (1 << 7)
|
||||||
|
#define MCP2521_CANSTAT_OPMOD1 (1 << 6)
|
||||||
|
#define MCP2521_CANSTAT_OPMOD0 (1 << 5)
|
||||||
|
#define MCP2521_CANSTAT_ICOD2 (1 << 2)
|
||||||
|
#define MCP2521_CANSTAT_ICOD1 (1 << 1)
|
||||||
|
#define MCP2521_CANSTAT_ICOD0 (1 << 0)
|
||||||
|
|
||||||
|
struct CANSTAT_Register {
|
||||||
|
uint8_t ICOD : 3;
|
||||||
|
uint8_t : 1; // Unused bit
|
||||||
|
uint8_t OPMOD : 3;
|
||||||
|
uint8_t : 1; // Unused bit
|
||||||
|
};
|
||||||
|
|
||||||
|
#define MCP2521_CANCTRL 0x0F
|
||||||
|
#define MCP2521_CANCTRL_REQOP2 (1 << 7)
|
||||||
|
#define MCP2521_CANCTRL_REQOP1 (1 << 6)
|
||||||
|
#define MCP2521_CANCTRL_REQOP0 (1 << 5)
|
||||||
|
#define MCP2521_CANCTRL_ABAT (1 << 4)
|
||||||
|
#define MCP2521_CANCTRL_OSM (1 << 3)
|
||||||
|
#define MCP2521_CANCTRL_CLKEN (1 << 2)
|
||||||
|
#define MCP2521_CANCTRL_CLKPRE1 (1 << 1)
|
||||||
|
#define MCP2521_CANCTRL_CLKPRE0 (1 << 0)
|
||||||
|
|
||||||
|
#define MCP2521_TEC 0x1C
|
||||||
|
|
||||||
|
#define MCP2521_REC 0x1D
|
||||||
|
|
||||||
|
#define MCP2521_CNF3 0x28
|
||||||
|
#define MCP2521_CNF3_SOF (1 << 7)
|
||||||
|
#define MCP2521_CNF3_WAKFIL (1 << 6)
|
||||||
|
#define MCP2521_CNF3_PHSEG22 (1 << 2)
|
||||||
|
#define MCP2521_CNF3_PHSEG21 (1 << 1)
|
||||||
|
#define MCP2521_CNF3_PHSEG20 (1 << 0)
|
||||||
|
|
||||||
|
#define MCP2521_CNF2 0x29
|
||||||
|
#define MCP2521_CNF2_BTLMODE (1 << 7)
|
||||||
|
#define MCP2521_CNF2_SAM (1 << 6)
|
||||||
|
#define MCP2521_CNF2_PHSEG12 (1 << 5)
|
||||||
|
#define MCP2521_CNF2_PHSEG11 (1 << 4)
|
||||||
|
#define MCP2521_CNF2_PHSEG10 (1 << 3)
|
||||||
|
#define MCP2521_CNF2_PRSEG2 (1 << 2)
|
||||||
|
#define MCP2521_CNF2_PRSEG1 (1 << 1)
|
||||||
|
#define MCP2521_CNF2_PRSEG0 (1 << 0)
|
||||||
|
|
||||||
|
#define MCP2521_CNF1 0x2A
|
||||||
|
#define MCP2521_CNF1_SJW1 (1 << 7)
|
||||||
|
#define MCP2521_CNF1_SJW0 (1 << 6)
|
||||||
|
#define MCP2521_CNF1_BRP5 (1 << 5)
|
||||||
|
#define MCP2521_CNF1_BRP4 (1 << 4)
|
||||||
|
#define MCP2521_CNF1_BRP3 (1 << 3)
|
||||||
|
#define MCP2521_CNF1_BRP2 (1 << 2)
|
||||||
|
#define MCP2521_CNF1_BRP1 (1 << 1)
|
||||||
|
#define MCP2521_CNF1_BRP0 (1 << 0)
|
||||||
|
|
||||||
|
#define MCP2521_CANINTE 0x2B
|
||||||
|
#define MCP2521_CANINTE_MERRE (1 << 7)
|
||||||
|
#define MCP2521_CANINTE_WAKIE (1 << 6)
|
||||||
|
#define MCP2521_CANINTE_ERRIE (1 << 5)
|
||||||
|
#define MCP2521_CANINTE_TX2IE (1 << 4)
|
||||||
|
#define MCP2521_CANINTE_TX1IE (1 << 3)
|
||||||
|
#define MCP2521_CANINTE_TX0IE (1 << 2)
|
||||||
|
#define MCP2521_CANINTE_RX1IE (1 << 1)
|
||||||
|
#define MCP2521_CANINTE_RX0IE (1 << 0)
|
||||||
|
|
||||||
|
#define MCP2521_CANINTF 0x2C
|
||||||
|
#define MCP2521_CANINTF_MERRF (1 << 7)
|
||||||
|
#define MCP2521_CANINTF_WAKIF (1 << 6)
|
||||||
|
#define MCP2521_CANINTF_ERRIF (1 << 5)
|
||||||
|
#define MCP2521_CANINTF_TX2IF (1 << 4)
|
||||||
|
#define MCP2521_CANINTF_TX1IF (1 << 3)
|
||||||
|
#define MCP2521_CANINTF_TX0IF (1 << 2)
|
||||||
|
#define MCP2521_CANINTF_RX1IF (1 << 1)
|
||||||
|
#define MCP2521_CANINTF_RX0IF (1 << 0)
|
||||||
|
|
||||||
|
#define MCP2521_EFLG 0x2D
|
||||||
|
#define MCP2521_EFLG_RX1OVR (1 << 7)
|
||||||
|
#define MCP2521_EFLG_RX0OVR (1 << 6)
|
||||||
|
#define MCP2521_EFLG_TXBO (1 << 5)
|
||||||
|
#define MCP2521_EFLG_TXEP (1 << 4)
|
||||||
|
#define MCP2521_EFLG_RXEP (1 << 3)
|
||||||
|
#define MCP2521_EFLG_TXWAR (1 << 2)
|
||||||
|
#define MCP2521_EFLG_RXWAR (1 << 1)
|
||||||
|
#define MCP2521_EFLG_EWARN (1 << 0)
|
||||||
|
|
||||||
|
#define MCP2521_TXB0CTRL 0x30
|
||||||
|
#define MCP2521_TXB0CTRL_ABTF (1 << 6)
|
||||||
|
#define MCP2521_TXB0CTRL_MLOA (1 << 5)
|
||||||
|
#define MCP2521_TXB0CTRL_TXERR (1 << 4)
|
||||||
|
#define MCP2521_TXB0CTRL_TXREQ (1 << 3)
|
||||||
|
#define MCP2521_TXB0CTRL_TXP1 (1 << 1)
|
||||||
|
#define MCP2521_TXB0CTRL_TXP0 (1 << 0)
|
||||||
|
|
||||||
|
#define MCP2521_TXB0DLC 0x35
|
||||||
|
#define MCP2521_TXB1DLC 0x45
|
||||||
|
#define MCP2521_TXB2DLC 0x55
|
||||||
|
|
||||||
|
#define MCP2521_TXB1CTRL 0x40
|
||||||
|
#define MCP2521_TXB1CTRL_ABTF (1 << 6)
|
||||||
|
#define MCP2521_TXB1CTRL_MLOA (1 << 5)
|
||||||
|
#define MCP2521_TXB1CTRL_TXERR (1 << 4)
|
||||||
|
#define MCP2521_TXB1CTRL_TXREQ (1 << 3)
|
||||||
|
#define MCP2521_TXB1CTRL_TXP1 (1 << 1)
|
||||||
|
#define MCP2521_TXB1CTRL_TXP0 (1 << 0)
|
||||||
|
|
||||||
|
#define MCP2521_TXB2CTRL 0x50
|
||||||
|
#define MCP2521_TXB2CTRL_ABTF (1 << 6)
|
||||||
|
#define MCP2521_TXB2CTRL_MLOA (1 << 5)
|
||||||
|
#define MCP2521_TXB2CTRL_TXERR (1 << 4)
|
||||||
|
#define MCP2521_TXB2CTRL_TXREQ (1 << 3)
|
||||||
|
#define MCP2521_TXB2CTRL_TXP1 (1 << 1)
|
||||||
|
#define MCP2521_TXB2CTRL_TXP0 (1 << 0)
|
||||||
|
|
||||||
|
struct TXBnCTRL_Register {
|
||||||
|
uint8_t TXP : 2;
|
||||||
|
uint8_t : 1; // Unused bit
|
||||||
|
uint8_t TXREQ : 1;
|
||||||
|
uint8_t TXERR : 1;
|
||||||
|
uint8_t MLOA : 1;
|
||||||
|
uint8_t ABTF : 1;
|
||||||
|
uint8_t : 1; // Unused bit
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
#define MCP2521_RXB0CTRL 0x60
|
||||||
|
#define MCP2521_RXB0CTRL_RXM1 (1 << 6)
|
||||||
|
#define MCP2521_RXB0CTRL_RXM0 (1 << 5)
|
||||||
|
#define MCP2521_RXB0CTRL_RXRTR (1 << 3)
|
||||||
|
#define MCP2521_RXB0CTRL_BUKT (1 << 2)
|
||||||
|
#define MCP2521_RXB0CTRL_BUKT1 (1 << 1)
|
||||||
|
#define MCP2521_RXB0CTRL_FILHIT0 (1 << 0)
|
||||||
|
|
||||||
|
#define MCP2521_RXB1CTRL 0x70
|
||||||
|
#define MCP2521_RXB1CTRL_RXM1 (1 << 6)
|
||||||
|
#define MCP2521_RXB1CTRL_RXM0 (1 << 5)
|
||||||
|
#define MCP2521_RXB1CTRL_RXRTR (1 << 3)
|
||||||
|
#define MCP2521_RXB1CTRL_FILHIT2 (1 << 2)
|
||||||
|
#define MCP2521_RXB1CTRL_FILHIT1 (1 << 1)
|
||||||
|
#define MCP2521_RXB1CTRL_FILHIT0 (1 << 0)
|
||||||
|
|
||||||
|
#define MCP2521_OP_RESET 0b11000000
|
||||||
|
#define MCP2521_OP_READ 0b00000011
|
||||||
|
#define MCP2521_OP_READ_RX_BUFFER 0b10010000
|
||||||
|
#define MCP2521_OP_WRITE 0b00000010
|
||||||
|
#define MCP2521_OP_LOAD_TX_BUFFER 0b01000000
|
||||||
|
#define MCP2521_OP_RTS 0b10000000
|
||||||
|
#define MCP2521_OP_READ_STATUS 0b10100000
|
||||||
|
#define MCP2521_OP_RX_STATUS 0b10110000
|
||||||
|
#define MCP2521_OP_BIT_MODIFY 0b00000101
|
||||||
|
|
||||||
|
#define MCP2521_TXB0SIDH 0x31
|
||||||
|
#define MCP2521_TXB1SIDH 0x41
|
||||||
|
#define MCP2521_TXB2SIDH 0x51
|
||||||
|
|
||||||
|
#define MCP2521_TXB0SIDL 0x32
|
||||||
|
#define MCP2521_TXB1SIDL 0x42
|
||||||
|
#define MCP2521_TXB2SIDL 0x52
|
||||||
|
|
||||||
|
#define MCP2521_RXB0SIDH 0x61
|
||||||
|
#define MCP2521_RXB1SIDH 0x71
|
||||||
|
|
||||||
|
#define MCP2521_RXB0SIDL 0x62
|
||||||
|
#define MCP2521_RXB1SIDL 0x72
|
||||||
|
|
||||||
|
#define MCP2521_RXB0EID8 0x63
|
||||||
|
#define MCP2521_RXB1EID8 0x73
|
||||||
|
|
||||||
|
#define MCP2521_RXB0EID0 0x64
|
||||||
|
#define MCP2521_RXB1EID0 0x74
|
||||||
|
|
||||||
|
#define MCP2521_RXB0DLC 0x65
|
||||||
|
#define MCP2521_RXB1DLC 0x75
|
||||||
102
common-libaries/mcp2521/include/mcp2521_command.hpp
Normal file
102
common-libaries/mcp2521/include/mcp2521_command.hpp
Normal file
@@ -0,0 +1,102 @@
|
|||||||
|
#pragma once
|
||||||
|
#include "mcp2521_addresses.hpp"
|
||||||
|
#include "mcp2521_hardware_handle.hpp"
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
enum MCP2521_RX_BUFFER {
|
||||||
|
RXB0 = 0,
|
||||||
|
RXB1 = 1
|
||||||
|
};
|
||||||
|
|
||||||
|
enum MCP2521_TX_BUFFER {
|
||||||
|
TXB0 = 0,
|
||||||
|
TXB1 = 1,
|
||||||
|
TXB2 = 2
|
||||||
|
};
|
||||||
|
|
||||||
|
enum MCP2521_BUFFER_TYPE {
|
||||||
|
ID = 0,
|
||||||
|
DATA = 1
|
||||||
|
};
|
||||||
|
|
||||||
|
enum MCP2521_OPERATION_MODE {
|
||||||
|
NORMAL = 0b000,
|
||||||
|
SLEEP = 0b001,
|
||||||
|
LOOPBACK = 0b010,
|
||||||
|
LISTEN_ONLY = 0b011,
|
||||||
|
CONFIG = 0b100
|
||||||
|
};
|
||||||
|
|
||||||
|
struct rx_info {
|
||||||
|
bool extended;
|
||||||
|
|
||||||
|
uint16_t id;
|
||||||
|
uint32_t extended_id;
|
||||||
|
|
||||||
|
bool rtr;
|
||||||
|
bool extended_rtr;
|
||||||
|
|
||||||
|
uint8_t length;
|
||||||
|
};
|
||||||
|
|
||||||
|
class MCP2521_Command_Interface {
|
||||||
|
private:
|
||||||
|
MCP2521_Hardware_Handle * hardware_handle;
|
||||||
|
|
||||||
|
intHandlerFunction_t rx0_handler;
|
||||||
|
intHandlerFunction_t rx1_handler;
|
||||||
|
intHandlerFunction_t tx0_handler;
|
||||||
|
intHandlerFunction_t tx1_handler;
|
||||||
|
intHandlerFunction_t tx2_handler;
|
||||||
|
intHandlerFunction_t error_handler;
|
||||||
|
intHandlerFunction_t wakeup_handler;
|
||||||
|
intHandlerFunction_t message_error_handler;
|
||||||
|
|
||||||
|
void * rx0_handler_arg;
|
||||||
|
void * rx1_handler_arg;
|
||||||
|
void * tx0_handler_arg;
|
||||||
|
void * tx1_handler_arg;
|
||||||
|
void * tx2_handler_arg;
|
||||||
|
void * error_handler_arg;
|
||||||
|
void * wakeup_handler_arg;
|
||||||
|
void * message_error_handler_arg;
|
||||||
|
public:
|
||||||
|
|
||||||
|
MCP2521_Command_Interface(
|
||||||
|
MCP2521_Hardware_Handle * hardware_handle
|
||||||
|
);
|
||||||
|
|
||||||
|
void handleInterrupt();
|
||||||
|
|
||||||
|
void reset();
|
||||||
|
|
||||||
|
void read_reg(uint8_t address, uint8_t *data, size_t length);
|
||||||
|
uint8_t read_reg(uint8_t address);
|
||||||
|
|
||||||
|
void read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
|
||||||
|
|
||||||
|
void write_reg(uint8_t address, uint8_t *data, size_t length);
|
||||||
|
void write_reg(uint8_t address, uint8_t data);
|
||||||
|
|
||||||
|
void write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
|
||||||
|
|
||||||
|
void request_to_send(bool txb2, bool txb1, bool txb0);
|
||||||
|
void request_to_send(MCP2521_TX_BUFFER buffer);
|
||||||
|
|
||||||
|
uint8_t read_status();
|
||||||
|
uint8_t read_rx_status();
|
||||||
|
|
||||||
|
void bit_modify(uint8_t address, uint8_t mask, uint8_t data);
|
||||||
|
|
||||||
|
// Registering Handlers for Interrupts
|
||||||
|
void register_rx0_handler(intHandlerFunction_t handler, void * arg);
|
||||||
|
void register_rx1_handler(intHandlerFunction_t handler, void * arg);
|
||||||
|
void register_tx0_handler(intHandlerFunction_t handler, void * arg);
|
||||||
|
void register_tx1_handler(intHandlerFunction_t handler, void * arg);
|
||||||
|
void register_tx2_handler(intHandlerFunction_t handler, void * arg);
|
||||||
|
void register_error_handler(intHandlerFunction_t handler, void * arg);
|
||||||
|
void register_wakeup_handler(intHandlerFunction_t handler, void * arg);
|
||||||
|
void register_message_error_handler(intHandlerFunction_t handler, void * arg);
|
||||||
|
};
|
||||||
|
|
||||||
38
common-libaries/mcp2521/include/mcp2521_toplevel.hpp
Normal file
38
common-libaries/mcp2521/include/mcp2521_toplevel.hpp
Normal file
@@ -0,0 +1,38 @@
|
|||||||
|
#pragma once
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
#include "mcp2521.hpp"
|
||||||
|
#include "mcp2521_command.hpp"
|
||||||
|
#include "mcp2521_addresses.hpp"
|
||||||
|
|
||||||
|
class MCP2521 : public MCP2521_Command_Interface {
|
||||||
|
private:
|
||||||
|
public:
|
||||||
|
void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Loads the Data Length Code register for the specified buffer
|
||||||
|
*
|
||||||
|
* @param buffer What Buffer to load the DLC register for
|
||||||
|
* @param length How many bytes are in the message (0-8)
|
||||||
|
* @param rtr: Remote Transmission Request
|
||||||
|
*/
|
||||||
|
void set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Loads the data and id into the specified buffer
|
||||||
|
*
|
||||||
|
* @param buffer
|
||||||
|
* @param id
|
||||||
|
* @param data
|
||||||
|
* @param length
|
||||||
|
*/
|
||||||
|
void prepare_tx(MCP2521_TX_BUFFER buffer, uint32_t id, uint8_t *data, size_t length, bool rtr, bool extended);
|
||||||
|
|
||||||
|
void set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot);
|
||||||
|
void set_singleshot_mode(bool enable);
|
||||||
|
|
||||||
|
void enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1);
|
||||||
|
rx_info get_rx_id(MCP2521_RX_BUFFER buffer);
|
||||||
|
|
||||||
|
};
|
||||||
100
common-libaries/mcp2521/interface_commands.cpp
Normal file
100
common-libaries/mcp2521/interface_commands.cpp
Normal file
@@ -0,0 +1,100 @@
|
|||||||
|
#include <cstring>
|
||||||
|
|
||||||
|
#include "mcp2521.hpp"
|
||||||
|
#include "mcp2521_addresses.hpp"
|
||||||
|
|
||||||
|
void runIntHandler(void *arg) {
|
||||||
|
MCP2521_Command_Interface *command_interface = (MCP2521_Command_Interface *)arg;
|
||||||
|
command_interface->handleInterrupt();
|
||||||
|
}
|
||||||
|
|
||||||
|
MCP2521_Command_Interface::MCP2521_Command_Interface(
|
||||||
|
MCP2521_Hardware_Handle * hardware_handle
|
||||||
|
) {
|
||||||
|
this->hardware_handle = hardware_handle;
|
||||||
|
this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
|
||||||
|
|
||||||
|
rx0_handler = NULL;
|
||||||
|
rx1_handler = NULL;
|
||||||
|
tx0_handler = NULL;
|
||||||
|
tx1_handler = NULL;
|
||||||
|
tx2_handler = NULL;
|
||||||
|
error_handler = NULL;
|
||||||
|
wakeup_handler = NULL;
|
||||||
|
message_error_handler = NULL;
|
||||||
|
|
||||||
|
rx0_handler_arg = NULL;
|
||||||
|
rx1_handler_arg = NULL;
|
||||||
|
tx0_handler_arg = NULL;
|
||||||
|
tx1_handler_arg = NULL;
|
||||||
|
tx2_handler_arg = NULL;
|
||||||
|
error_handler_arg = NULL;
|
||||||
|
wakeup_handler_arg = NULL;
|
||||||
|
message_error_handler_arg = NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::reset() {
|
||||||
|
hardware_handle->execute(MCP2521_OP_RESET);
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::read_reg(uint8_t address, uint8_t *data, size_t length) {
|
||||||
|
hardware_handle->read(MCP2521_OP_READ, data, length, address);
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t MCP2521_Command_Interface::read_reg(uint8_t address) {
|
||||||
|
return hardware_handle->read(MCP2521_OP_READ, address);
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
|
||||||
|
uint8_t address = (buffer << 1) | (type << 2);
|
||||||
|
hardware_handle->read(MCP2521_OP_READ_RX_BUFFER | address, data, length);
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t *data, size_t length) {
|
||||||
|
hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t data) {
|
||||||
|
hardware_handle->write(MCP2521_OP_WRITE, data, address);
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
|
||||||
|
uint8_t address = (buffer << 1) | (type);
|
||||||
|
hardware_handle->write(MCP2521_OP_LOAD_TX_BUFFER | address, data, length);
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::request_to_send(bool txb2, bool txb1, bool txb0) {
|
||||||
|
uint8_t data = (txb2 << 2) | (txb1 << 1) | txb0;
|
||||||
|
hardware_handle->execute(MCP2521_OP_RTS | data);
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::request_to_send(MCP2521_TX_BUFFER buffer) {
|
||||||
|
uint8_t mask = 0;
|
||||||
|
|
||||||
|
switch (buffer) {
|
||||||
|
case MCP2521_TX_BUFFER::TXB0:
|
||||||
|
mask = 0b001;
|
||||||
|
break;
|
||||||
|
case MCP2521_TX_BUFFER::TXB1:
|
||||||
|
mask = 0b010;
|
||||||
|
break;
|
||||||
|
case MCP2521_TX_BUFFER::TXB2:
|
||||||
|
mask = 0b100;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
hardware_handle->execute(MCP2521_OP_RTS | mask);
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t MCP2521_Command_Interface::read_status() {
|
||||||
|
return hardware_handle->read(MCP2521_OP_READ_STATUS);
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t MCP2521_Command_Interface::read_rx_status() {
|
||||||
|
return hardware_handle->read(MCP2521_OP_RX_STATUS);
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
|
||||||
|
uint8_t data_array[3] = {address, mask, data};
|
||||||
|
hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
|
||||||
|
}
|
||||||
113
common-libaries/mcp2521/interface_interrupts.cpp
Normal file
113
common-libaries/mcp2521/interface_interrupts.cpp
Normal file
@@ -0,0 +1,113 @@
|
|||||||
|
#include "mcp2521.hpp"
|
||||||
|
#include "mcp2521_addresses.hpp"
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
|
||||||
|
rx0_handler = handler;
|
||||||
|
rx0_handler_arg = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
|
||||||
|
rx1_handler = handler;
|
||||||
|
rx1_handler_arg = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
|
||||||
|
tx0_handler = handler;
|
||||||
|
tx0_handler_arg = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
|
||||||
|
tx1_handler = handler;
|
||||||
|
tx1_handler_arg = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
|
||||||
|
tx2_handler = handler;
|
||||||
|
tx2_handler_arg = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::register_error_handler(intHandlerFunction_t handler, void* args) {
|
||||||
|
error_handler = handler;
|
||||||
|
error_handler_arg = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
|
||||||
|
wakeup_handler = handler;
|
||||||
|
wakeup_handler_arg = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
|
||||||
|
message_error_handler = handler;
|
||||||
|
message_error_handler_arg = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
void MCP2521_Command_Interface::handleInterrupt() {
|
||||||
|
uint8_t flags = read_reg(MCP2521_CANINTF);
|
||||||
|
uint8_t clearBits = 0;
|
||||||
|
|
||||||
|
if (flags & MCP2521_CANINTF_RX0IF) {
|
||||||
|
if (rx0_handler) {
|
||||||
|
rx0_handler(rx0_handler_arg);
|
||||||
|
}
|
||||||
|
flags &= ~MCP2521_CANINTF_RX0IF;
|
||||||
|
clearBits |= MCP2521_CANINTF_RX0IF;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (flags & MCP2521_CANINTF_RX1IF) {
|
||||||
|
if (rx1_handler) {
|
||||||
|
rx1_handler(rx1_handler_arg);
|
||||||
|
}
|
||||||
|
flags &= ~MCP2521_CANINTF_RX1IF;
|
||||||
|
clearBits |= MCP2521_CANINTF_RX1IF;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (flags & MCP2521_CANINTF_TX0IF) {
|
||||||
|
if (tx0_handler) {
|
||||||
|
tx0_handler(tx0_handler_arg);
|
||||||
|
}
|
||||||
|
flags &= ~MCP2521_CANINTF_TX0IF;
|
||||||
|
clearBits |= MCP2521_CANINTF_TX0IF;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (flags & MCP2521_CANINTF_TX1IF) {
|
||||||
|
if (tx1_handler) {
|
||||||
|
tx1_handler(tx1_handler_arg);
|
||||||
|
}
|
||||||
|
flags &= ~MCP2521_CANINTF_TX1IF;
|
||||||
|
clearBits |= MCP2521_CANINTF_TX1IF;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (flags & MCP2521_CANINTF_TX2IF) {
|
||||||
|
if (tx2_handler) {
|
||||||
|
tx2_handler(tx2_handler_arg);
|
||||||
|
}
|
||||||
|
flags &= ~MCP2521_CANINTF_TX2IF;
|
||||||
|
clearBits |= MCP2521_CANINTF_TX2IF;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (flags & MCP2521_CANINTF_ERRIF) {
|
||||||
|
if (error_handler) {
|
||||||
|
error_handler(error_handler_arg);
|
||||||
|
}
|
||||||
|
flags &= ~MCP2521_CANINTF_ERRIF;
|
||||||
|
clearBits |= MCP2521_CANINTF_ERRIF;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (flags & MCP2521_CANINTF_WAKIF) {
|
||||||
|
if (wakeup_handler) {
|
||||||
|
wakeup_handler(wakeup_handler_arg);
|
||||||
|
}
|
||||||
|
flags &= ~MCP2521_CANINTF_WAKIF;
|
||||||
|
clearBits |= MCP2521_CANINTF_WAKIF;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (flags & MCP2521_CANINTF_MERRF) {
|
||||||
|
if (message_error_handler) {
|
||||||
|
message_error_handler(message_error_handler_arg);
|
||||||
|
}
|
||||||
|
flags &= ~MCP2521_CANINTF_MERRF;
|
||||||
|
clearBits |= MCP2521_CANINTF_MERRF;
|
||||||
|
}
|
||||||
|
|
||||||
|
bit_modify(MCP2521_CANINTF, clearBits, 0);
|
||||||
|
}
|
||||||
119
common-libaries/mcp2521/toplevel_commands.cpp
Normal file
119
common-libaries/mcp2521/toplevel_commands.cpp
Normal file
@@ -0,0 +1,119 @@
|
|||||||
|
#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);
|
||||||
|
}
|
||||||
@@ -0,0 +1,5 @@
|
|||||||
|
idf_component_register(SRCS "esp_implementation_init.cpp"
|
||||||
|
"esp_implementation_cmd.cpp"
|
||||||
|
"esp_implementation_int.cpp"
|
||||||
|
INCLUDE_DIRS "include"
|
||||||
|
REQUIRES driver)
|
||||||
@@ -0,0 +1,209 @@
|
|||||||
|
#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
|
||||||
@@ -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
|
||||||
@@ -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
|
||||||
@@ -0,0 +1,87 @@
|
|||||||
|
#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
|
||||||
@@ -0,0 +1,24 @@
|
|||||||
|
#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;
|
||||||
|
};
|
||||||
|
|
||||||
Reference in New Issue
Block a user