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Got MCP2521 to work

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This commit is contained in:
AlexanderHD27
2024-11-06 22:01:28 +01:00
parent 4bfb1f533e
commit e7a0035041
17 changed files with 525 additions and 70 deletions
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1
can-interface/components/mcp2521_hardware_interface/CMakeLists.txt
View File

@@ -1,4 +1,5 @@
idf_component_register(SRCS "esp_implementation_init.cpp"
"esp_implementation_cmd.cpp"
"esp_implementation_int.cpp"
INCLUDE_DIRS "include"
REQUIRES driver)

37
can-interface/components/mcp2521_hardware_interface/esp_implementation_cmd.cpp
View File

@@ -1,8 +1,17 @@
#include "mcp2521_hardware_handle.hpp"
const uint8_t null_buffer[32] = {0};
#ifdef ESP_PLATFORM
#include "mcp2521_hardware_esp.hpp"
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 = {
@@ -19,7 +28,7 @@ void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd) {
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
spi_transmit((spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd, uint8_t address) {
@@ -38,7 +47,7 @@ void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd, uint8_t address) {
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
spi_transmit((spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
@@ -49,15 +58,15 @@ void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length
.addr = address,
.length = 8*length,
.rxlength = 8*length,
.tx_buffer = NULL,
.tx_buffer = null_buffer,
.rx_buffer = data
},
.command_bits = 8,
.address_bits = 0,
.address_bits = 8,
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
spi_transmit((spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length) {
@@ -76,7 +85,7 @@ void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
spi_transmit((spi_transaction_t*)(&t));
}
uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
@@ -88,7 +97,7 @@ uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
.addr = address,
.length = 8,
.rxlength = 8,
.tx_buffer = NULL,
.tx_buffer = null_buffer,
.rx_buffer = &result
},
.command_bits = 8,
@@ -96,7 +105,7 @@ uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
spi_transmit((spi_transaction_t*)(&t));
return result;
}
@@ -109,7 +118,7 @@ uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
.addr = 0,
.length = 8,
.rxlength = 8,
.tx_buffer = NULL,
.tx_buffer = null_buffer,
.rx_buffer = &result
},
.command_bits = 8,
@@ -117,7 +126,7 @@ uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
spi_transmit((spi_transaction_t*)(&t));
return result;
}
@@ -138,7 +147,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t lengt
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
spi_transmit((spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length) {
@@ -157,7 +166,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t lengt
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
spi_transmit((spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data, uint8_t address) {
@@ -176,7 +185,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data, uint8_t addre
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
spi_transmit((spi_transaction_t*)(&t));
}
void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data) {
@@ -195,7 +204,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data) {
.dummy_bits = 0,
};
spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
spi_transmit((spi_transaction_t*)(&t));
}
#endif

18
can-interface/components/mcp2521_hardware_interface/esp_implementation_init.cpp
View File

@@ -2,8 +2,12 @@
#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,
@@ -34,18 +38,6 @@ MCP2521_Hardware_Handle_ESP::~MCP2521_Hardware_Handle_ESP() {
}
void MCP2521_Hardware_Handle_ESP::initPins(
gpio_num_t int_pin
) {
gpio_config_t io_conf;
io_conf.intr_type = GPIO_INTR_DISABLE;
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);
}
void MCP2521_Hardware_Handle_ESP::initSPIBus(
spi_host_device_t spi_host,
gpio_num_t mosi,
@@ -89,6 +81,8 @@ void MCP2521_Hardware_Handle_ESP::initSPIDevice(
};
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() {

65
can-interface/components/mcp2521_hardware_interface/esp_implementation_int.cpp Normal file
View File

@@ -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

17
can-interface/components/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp
View File

@@ -5,6 +5,8 @@
#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;
@@ -13,6 +15,15 @@ class MCP2521_Hardware_Handle_ESP : public MCP2521_Hardware_Handle {
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,
@@ -52,6 +63,10 @@ public:
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);
@@ -65,6 +80,8 @@ public:
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

4
can-interface/components/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp
View File

@@ -2,8 +2,12 @@
#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;