Compare commits
5 Commits
4bfb1f533e
...
can-interf
| Author | SHA1 | Date | |
|---|---|---|---|
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bdec2db94d | ||
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c1dc89eb58 | ||
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f26cc07558 | ||
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c6fd825e39 | ||
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e7a0035041 |
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.gitmodules
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.gitmodules
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can-interface/.gitignore
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can-interface/.gitignore
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11
can-interface/.vscode/settings.json
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11
can-interface/.vscode/settings.json
vendored
@@ -10,10 +10,11 @@
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||||
"idf.openOcdConfigs": [
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||||
"board/esp32-wrover-kit-3.3v.cfg"
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||||
],
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||||
"idf.port": "/dev/ttyUSB0",
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||||
"idf.port": "/dev/ttyUSB1",
|
||||
"idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
|
||||
"idf.toolsPath": "/home/alexander/.espressif",
|
||||
"idf.flashType": "UART",
|
||||
"idf.flashType": "JTAG",
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||||
"idf.openOcdLaunchArgs": ["-c", "adapter_khz 10000"],
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||||
"files.associations": {
|
||||
"*.tcc": "cpp",
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||||
"cstdint": "cpp",
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||||
@@ -21,6 +22,10 @@
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||||
"future": "cpp",
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||||
"bitset": "cpp",
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||||
"string_view": "cpp",
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||||
"regex": "cpp"
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||||
"regex": "cpp",
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||||
"array": "cpp",
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||||
"string": "cpp",
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||||
"span": "cpp",
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||||
"cstring": "cpp"
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||||
}
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||||
}
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||||
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||||
@@ -1,26 +0,0 @@
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||||
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||||
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||||
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txBuffer[0] = 0b00000011; // Read Instruction
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txBuffer[1] = 0x0f; // CANCTRL Register Address
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spi_transaction_t transaction0 = { // RESET
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.cmd = 0b11000000,
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.length = 3 * 8,
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.rxlength = 3 * 8,
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.tx_buffer = txBuffer,
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.rx_buffer = rxBuffer
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};
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spi_transaction_t transaction1 = { // READ STAT/S
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.cmd = 0b10110000,
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.length = 2 * 8,
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.rxlength = 2 * 8,
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.tx_buffer = txBuffer,
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.rx_buffer = rxBuffer
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};
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vTaskDelay(100 / portTICK_PERIOD_MS);
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gpio_set_level(EXTERNAL_TRIGGER, false);
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spi_device_transmit(mp2125_handle, &transaction0);
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BIN
can-interface/circuit/CanIntefacePerfboard.fzz
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can-interface/circuit/CanIntefacePerfboard.fzz
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can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
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can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
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can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
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can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
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can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
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can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
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1
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
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1
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
vendored
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@@ -0,0 +1 @@
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<!DOCTYPE HTML><html lang="en-US"> <head> <meta charset="UTF-8"> <meta http-equiv="refresh" content="0; url=https://www.snapeda.com/about/import/#"> <script type="text/javascript">window.location.href="https://www.snapeda.com/about/import/#" </script> <title>Page Redirection</title> </head> <body> If you are not redirected automatically, follow this <a href="https://www.snapeda.com/about/import/#">link to the import guide</a>. </body></html>
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can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
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can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
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can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
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can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
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can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
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can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
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can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
LFS
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can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
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Load Diff
4
can-interface/circuit/gobot-can-interface/sym-lib-table
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4
can-interface/circuit/gobot-can-interface/sym-lib-table
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@@ -0,0 +1,4 @@
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||||
(sym_lib_table
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||||
(version 7)
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||||
(lib (name "ESP32-DEVKIT-V1")(type "KiCad")(uri "${KIPRJMOD}/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym")(options "")(descr ""))
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||||
)
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||||
@@ -0,0 +1 @@
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||||
{"hostname":"hal","username":"alexander"}
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||||
@@ -0,0 +1,8 @@
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||||
idf_component_register(SRCS
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||||
"canTP.cpp"
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||||
"gobotRPC.cpp"
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||||
INCLUDE_DIRS "include"
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||||
REQUIRES driver
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||||
REQUIRES mcp2521
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||||
REQUIRES mcp2521_hardware_interface
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||||
)
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||||
75
can-interface/components/CAN-Protocol-Stack/canTP.cpp
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75
can-interface/components/CAN-Protocol-Stack/canTP.cpp
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@@ -0,0 +1,75 @@
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||||
#include "canTP.hpp"
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||||
#include <math.h>
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||||
#include <cstring>
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||||
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||||
void onRxHandlerWrapper(void *arg) {
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||||
SocketCANTP *socket = (SocketCANTP *)arg;
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||||
socket->onRxHandler();
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||||
}
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||||
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||||
void SocketCANTP::onRxHandler() {
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||||
uint8_t tmpBuffer[8];
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||||
rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
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||||
mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, tmpBuffer, info.length);
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||||
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||||
CANTP_FRAME_TYPE ft = static_cast<CANTP_FRAME_TYPE>((tmpBuffer[0] & 0xF0) >> 4);
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||||
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||||
switch (ft) {
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||||
case CANTP_FRAME_TYPE::SINGLE_FRAME:
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||||
if (userHandler) {
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||||
userHandler(tmpBuffer + 1, info.length - 1, userArg);
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||||
}
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||||
break;
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||||
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||||
case CANTP_FRAME_TYPE::FIRST_FRAME:
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||||
int sizeTotal = ((tmpBuffer[0] & 0x0F) << 8 | tmpBuffer[1]) - 6;
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||||
consecitonFrameCounter = ceil(((float)(sizeTotal)) / 7.0);
|
||||
memcpy(rxBuffer, tmpBuffer + 1, 6);
|
||||
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||||
sendFlowControl(CANTP_FLOW_STATUS::CLEAR_TO_SEND, blockSizes, 0);
|
||||
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||||
break;
|
||||
|
||||
case CANTP_FRAME_TYPE::CONSECUTIVE_FRAME:
|
||||
|
||||
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||||
consecitonFrameCounter--;
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||||
if(consecitonFrameCounter == 0) {
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||||
if (userHandler) {
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||||
userHandler(rxBuffer, rxLength, userArg);
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case CANTP_FRAME_TYPE::FLOW_CONTROL:
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||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
SocketCANTP::SocketCANTP(
|
||||
MCP2521 *mcp2521,
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||||
uint32_t address,
|
||||
bool is_extended,
|
||||
uint8_t blockSizes
|
||||
) {
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||||
this->mcp2521 = mcp2521;
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||||
this->address = address;
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||||
this->is_extended = is_extended;
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||||
this->rxLength = 0;
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||||
this->consecitonFrameCounter = 0;
|
||||
this->blockSizes = 0;
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||||
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||||
mcp2521->register_rx0_handler(onRxHandlerWrapper, this);
|
||||
}
|
||||
|
||||
void SocketCANTP::send(uint8_t *data, uint8_t length) {
|
||||
mcp2521->prepare_tx(
|
||||
MCP2521_TX_BUFFER::TXB0, address, data, length, is_extended, false);
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||||
mcp2521->request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||
}
|
||||
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||||
void SocketCANTP::register_rx_handler(rx_handler handler, void *arg) {
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||||
userHandler = handler;
|
||||
userArg = arg;
|
||||
}
|
||||
@@ -0,0 +1,556 @@
|
||||
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|
||||
<diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
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<mxGraphModel dx="1024" dy="599" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
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<mxCell id="1" parent="0" />
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<mxCell id="VN9_mGhUesFHwJ--pmr3-1" value="GoBot RPC Protocol" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
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@@ -0,0 +1,51 @@
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#pragma once
|
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#include "mcp2521_toplevel.hpp"
|
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|
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typedef void (*rx_handler)(uint8_t *data, uint8_t length, void *arg);
|
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|
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enum CANTP_FRAME_TYPE {
|
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SINGLE_FRAME = 0b00,
|
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FIRST_FRAME = 0b01,
|
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CONSECUTIVE_FRAME = 0b10,
|
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FLOW_CONTROL = 0b11
|
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};
|
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enum CANTP_FLOW_STATUS {
|
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CLEAR_TO_SEND = 0b0000,
|
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WAIT = 0b0001,
|
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OVERLOAD = 0b0010
|
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};
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enum CAN_MULTI_FRAME_STATES {
|
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WAITING_FOR_FIRST_FRAME,
|
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WAITING_FOR_CONSECUTIVE_FRAME,
|
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}
|
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|
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class SocketCANTP {
|
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private:
|
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rx_handler userHandler;
|
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void *userArg;
|
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|
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MCP2521 *mcp2521;
|
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uint32_t address;
|
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bool is_extended;
|
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|
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uint8_t rxBuffer[4096];
|
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uint8_t txBuffer[4096];
|
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|
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size_t rxLength;
|
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|
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int consecitonFrameCounter;
|
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uint8_t blockSizes;
|
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|
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protected:
|
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void sendFlowControl(CANTP_FLOW_STATUS status, uint8_t blockSize, uint8_t separationTime);
|
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|
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public:
|
||||
SocketCANTP(MCP2521 *mcp2521, uint32_t address, bool is_extended, uint8_t blockSizes);
|
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|
||||
void send(uint8_t *data, uint8_t length);
|
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void register_rx_handler(rx_handler handler, void *arg);
|
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|
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void onRxHandler();
|
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}
|
||||
1
can-interface/components/mcp2521
Symbolic link
1
can-interface/components/mcp2521
Symbolic link
@@ -0,0 +1 @@
|
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/home/alexander/Projects/gobot/common-libaries/mcp2521
|
||||
@@ -1,53 +0,0 @@
|
||||
#pragma once
|
||||
#include "mcp2521_addresses.hpp"
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include "mcp2521_hardware_handle.hpp"
|
||||
|
||||
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
|
||||
};
|
||||
|
||||
class MCP2521_Command_Interface {
|
||||
private:
|
||||
MCP2521_Hardware_Handle * hardware_handle;
|
||||
public:
|
||||
|
||||
MCP2521_Command_Interface(
|
||||
MCP2521_Hardware_Handle * hardware_handle
|
||||
);
|
||||
|
||||
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);
|
||||
};
|
||||
|
||||
@@ -1,52 +0,0 @@
|
||||
#pragma once
|
||||
#include <stdint.h>
|
||||
|
||||
#include "mcp2521.hpp"
|
||||
|
||||
|
||||
|
||||
class MCP2515 {
|
||||
private:
|
||||
|
||||
|
||||
|
||||
|
||||
public:
|
||||
MCP2515();
|
||||
~MCP2515();
|
||||
|
||||
void reset();
|
||||
|
||||
// Interrupts
|
||||
|
||||
void register_rx_callback(void (*callback)(uint32_t id, uint8_t *data, size_t length));
|
||||
void register_tx_callback(void (*callback)(MCP2521_TX_BUFFER buffer));
|
||||
void register_error_callback(void (*callback)(uint8_t error_flags));
|
||||
void register_message_error_callback(void (*callback)(uint8_t error_flags));
|
||||
|
||||
// Transmittion
|
||||
void set_tx_id(MCP2521_TX_BUFFER buffer, uint32_t id);
|
||||
void set_tx_data(MCP2521_TX_BUFFER buffer, uint8_t *data, size_t length);
|
||||
void set_tx_priority(MCP2521_TX_BUFFER buffer, uint8_t priority);
|
||||
void set_one_shot(MCP2521_TX_BUFFER buffer, bool one_shot);
|
||||
|
||||
void request_to_send(MCP2521_TX_BUFFER buffer);
|
||||
void request_to_send(bool txb2, bool txb1, bool txb0);
|
||||
|
||||
void abort_tx(MCP2521_TX_BUFFER buffer);
|
||||
void abort_all_tx();
|
||||
|
||||
TXBnCTRL_Register get_TXBnCTRL(MCP2521_TX_BUFFER buffer);
|
||||
|
||||
void transmit(MCP2521_TX_BUFFER buffer, uint32_t id, uint8_t *data, size_t length, uint8_t priority, bool one_shot);
|
||||
|
||||
// Reception
|
||||
|
||||
|
||||
|
||||
uint8_t get_TransmitErrorCounter();
|
||||
uint8_t get_ReceiveErrorCounter();
|
||||
|
||||
|
||||
|
||||
};
|
||||
@@ -1,76 +0,0 @@
|
||||
#include <cstring>
|
||||
|
||||
#include "mcp2521.hpp"
|
||||
#include "mcp2521_addresses.hpp"
|
||||
|
||||
MCP2521_Command_Interface::MCP2521_Command_Interface(
|
||||
MCP2521_Hardware_Handle * hardware_handle
|
||||
) {
|
||||
this->hardware_handle = hardware_handle;
|
||||
}
|
||||
|
||||
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 | (type << 2);
|
||||
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);
|
||||
}
|
||||
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
|
||||
@@ -1,70 +0,0 @@
|
||||
#pragma once
|
||||
#include "mcp2521_hardware_handle.hpp"
|
||||
|
||||
#ifdef ESP_PLATFORM
|
||||
|
||||
#include "driver/gpio.h"
|
||||
#include "driver/spi_master.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;
|
||||
|
||||
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();
|
||||
|
||||
// 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);
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -1,20 +0,0 @@
|
||||
#pragma once
|
||||
#include <cstdint>
|
||||
#include <strings.h>
|
||||
|
||||
class MCP2521_Hardware_Handle {
|
||||
public:
|
||||
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;
|
||||
};
|
||||
|
||||
2866
can-interface/docs/Doxyfile
Normal file
2866
can-interface/docs/Doxyfile
Normal file
File diff suppressed because it is too large
Load Diff
1
can-interface/docs/doxygen-awesome-css
Submodule
1
can-interface/docs/doxygen-awesome-css
Submodule
Submodule can-interface/docs/doxygen-awesome-css added at 568f56cde6
@@ -2,5 +2,6 @@ idf_component_register(SRCS "hello_world_main.cpp"
|
||||
REQUIRES driver
|
||||
REQUIRES mcp2521
|
||||
REQUIRES mcp2521_hardware_interface
|
||||
REQUIRES CAN-Protocol-Stack
|
||||
REQUIRES spi_flash
|
||||
INCLUDE_DIRS "")
|
||||
|
||||
@@ -23,13 +23,45 @@
|
||||
|
||||
#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
|
||||
#define SPI_PIN_CS0 GPIO_NUM_25
|
||||
#define SPI_PIN_CS1 GPIO_NUM_27
|
||||
|
||||
#define CAN_INT0_PIN GPIO_NUM_5
|
||||
#define CAN_INT1_PIN GPIO_NUM_26
|
||||
|
||||
void onRX0(void *arg) {
|
||||
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
|
||||
|
||||
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
||||
uint8_t data[8];
|
||||
|
||||
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
||||
|
||||
printf("RX0: (%x) ", info.id);
|
||||
for (int i = 0; i < info.length; i++) {
|
||||
printf("%x ", data[i]);
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
void onRX1(void *arg) {
|
||||
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
|
||||
|
||||
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
||||
uint8_t data[8];
|
||||
|
||||
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
||||
|
||||
printf("RX1: (%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");
|
||||
@@ -37,50 +69,61 @@ extern "C" void app_main() {
|
||||
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(
|
||||
MCP2521_HardwareHandleFactory_ESPBus mcp2521_hardware_factory(
|
||||
VSPI_HOST,
|
||||
&spi_bus,
|
||||
SPI_PIN_MOSI,
|
||||
SPI_PIN_MISO,
|
||||
SPI_PIN_SCLK,
|
||||
SPI_PIN_CS0,
|
||||
CAN_INT_PIN
|
||||
SPI_PIN_SCLK
|
||||
);
|
||||
|
||||
MCP2521_Command_Interface mcp2521(&hardware_mcp2521);
|
||||
MCP2521_HardwareHandle_ESPBus hardware_mcp2521_0 = mcp2521_hardware_factory.create(CAN_INT0_PIN, SPI_PIN_CS0);
|
||||
MCP2521_HardwareHandle_ESPBus hardware_mcp2521_1 = mcp2521_hardware_factory.create(CAN_INT1_PIN, SPI_PIN_CS1);
|
||||
|
||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||
|
||||
gpio_set_level(EXTERNAL_TRIGGER, false);
|
||||
printf("CANCTRL: %x\n", mcp2521.read_reg(MCP2521_CANCTRL));
|
||||
printf("RX_STATUS: %x\n", mcp2521.read_rx_status());
|
||||
printf("STATUS: %x\n", mcp2521.read_status());
|
||||
MCP2521 mcp2521_0(&hardware_mcp2521_0);
|
||||
MCP2521 mcp2521_1(&hardware_mcp2521_1);
|
||||
|
||||
uint8_t data[16];
|
||||
hardware_mcp2521.read(MCP2521_OP_READ, data, 16, MCP2521_RXB0CTRL);
|
||||
uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
|
||||
|
||||
for(int i=0; i<0x10; i++) {
|
||||
printf("%x ", i);
|
||||
for(int j=0; j<8; j++) {
|
||||
printf("%u", (data[i] >> (7-j)) & 1);
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
mcp2521_0.reset();
|
||||
mcp2521_1.reset();
|
||||
mcp2521_0.enable_interrupts(true, true, true, true, true, true, true, true);
|
||||
mcp2521_1.enable_interrupts(true, true, true, true, true, true, true, true);
|
||||
|
||||
gpio_set_level(EXTERNAL_TRIGGER, true);
|
||||
mcp2521_0.register_rx0_handler(onRX0, &mcp2521_0);
|
||||
mcp2521_1.register_rx0_handler(onRX1, &mcp2521_1);
|
||||
mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
|
||||
mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
|
||||
|
||||
mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
|
||||
mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
|
||||
|
||||
printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
|
||||
printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
|
||||
|
||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
|
||||
mcp2521_0.prepare_tx(
|
||||
MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
|
||||
|
||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||
//vTaskDelay(10 / portTICK_PERIOD_MS);
|
||||
//mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||
|
||||
//mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
|
||||
//mcp2521_0.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);
|
||||
vTaskDelay(500 / portTICK_PERIOD_MS);
|
||||
}
|
||||
}
|
||||
|
||||
BIN
can-interface/pulseView-debug-session
Normal file
BIN
can-interface/pulseView-debug-session
Normal file
Binary file not shown.
2008
can-interface/sdkconfig.old
Normal file
2008
can-interface/sdkconfig.old
Normal file
File diff suppressed because it is too large
Load Diff
152
can-interface/session-setup
Normal file
152
can-interface/session-setup
Normal file
@@ -0,0 +1,152 @@
|
||||
[General]
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idf_component_register(SRCS
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"interface_commands.cpp"
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|
||||
@@ -1,5 +1,7 @@
|
||||
#pragma once
|
||||
|
||||
#include "mcp2521_toplevel.hpp"
|
||||
#include "mcp2521_command.hpp"
|
||||
#include "mcp2521_hardware_esp.hpp"
|
||||
#include "mcp2521_hardware_esp_bus_factory.hpp"
|
||||
#include "mcp2521_addresses.hpp"
|
||||
@@ -1,4 +1,5 @@
|
||||
#pragma once
|
||||
#include <stdint.h>
|
||||
|
||||
#define MCP2521_BFPCTRL 0x0C
|
||||
#define MCP2521_BFPCTRL_B1BFS (1 << 5)
|
||||
@@ -110,6 +111,10 @@ struct CANSTAT_Register {
|
||||
#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)
|
||||
@@ -161,4 +166,27 @@ struct TXBnCTRL_Register {
|
||||
#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_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_CommandInterface {
|
||||
private:
|
||||
I_MCP2521_HardwareHandle * 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_CommandInterface(
|
||||
I_MCP2521_HardwareHandle * 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_CommandInterface {
|
||||
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_CommandInterface *command_interface = (MCP2521_CommandInterface *)arg;
|
||||
command_interface->handleInterrupt();
|
||||
}
|
||||
|
||||
MCP2521_CommandInterface::MCP2521_CommandInterface(
|
||||
I_MCP2521_HardwareHandle * 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_CommandInterface::reset() {
|
||||
hardware_handle->execute(MCP2521_OP_RESET);
|
||||
}
|
||||
|
||||
void MCP2521_CommandInterface::read_reg(uint8_t address, uint8_t *data, size_t length) {
|
||||
hardware_handle->read(MCP2521_OP_READ, data, length, address);
|
||||
}
|
||||
|
||||
uint8_t MCP2521_CommandInterface::read_reg(uint8_t address) {
|
||||
return hardware_handle->read(MCP2521_OP_READ, address);
|
||||
}
|
||||
|
||||
void MCP2521_CommandInterface::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_CommandInterface::write_reg(uint8_t address, uint8_t *data, size_t length) {
|
||||
hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
|
||||
}
|
||||
|
||||
void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t data) {
|
||||
hardware_handle->write(MCP2521_OP_WRITE, data, address);
|
||||
}
|
||||
|
||||
void MCP2521_CommandInterface::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_CommandInterface::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_CommandInterface::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_CommandInterface::read_status() {
|
||||
return hardware_handle->read(MCP2521_OP_READ_STATUS);
|
||||
}
|
||||
|
||||
uint8_t MCP2521_CommandInterface::read_rx_status() {
|
||||
return hardware_handle->read(MCP2521_OP_RX_STATUS);
|
||||
}
|
||||
|
||||
void MCP2521_CommandInterface::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_CommandInterface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
|
||||
rx0_handler = handler;
|
||||
rx0_handler_arg = args;
|
||||
}
|
||||
|
||||
void MCP2521_CommandInterface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
|
||||
rx1_handler = handler;
|
||||
rx1_handler_arg = args;
|
||||
}
|
||||
|
||||
void MCP2521_CommandInterface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
|
||||
tx0_handler = handler;
|
||||
tx0_handler_arg = args;
|
||||
}
|
||||
|
||||
void MCP2521_CommandInterface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
|
||||
tx1_handler = handler;
|
||||
tx1_handler_arg = args;
|
||||
}
|
||||
|
||||
void MCP2521_CommandInterface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
|
||||
tx2_handler = handler;
|
||||
tx2_handler_arg = args;
|
||||
}
|
||||
|
||||
void MCP2521_CommandInterface::register_error_handler(intHandlerFunction_t handler, void* args) {
|
||||
error_handler = handler;
|
||||
error_handler_arg = args;
|
||||
}
|
||||
|
||||
void MCP2521_CommandInterface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
|
||||
wakeup_handler = handler;
|
||||
wakeup_handler_arg = args;
|
||||
}
|
||||
|
||||
void MCP2521_CommandInterface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
|
||||
message_error_handler = handler;
|
||||
message_error_handler_arg = args;
|
||||
}
|
||||
|
||||
void MCP2521_CommandInterface::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);
|
||||
}
|
||||
@@ -1,4 +1,7 @@
|
||||
idf_component_register(SRCS "esp_implementation_init.cpp"
|
||||
"esp_implementation_cmd.cpp"
|
||||
"esp_implementation_int.cpp"
|
||||
"esp_implementation_bus.cpp"
|
||||
"esp_implementation_bus_factory.cpp"
|
||||
INCLUDE_DIRS "include"
|
||||
REQUIRES driver)
|
||||
@@ -0,0 +1,58 @@
|
||||
#ifdef ESP_PLATFORM
|
||||
#include "freertos/FreeRTOS.h"
|
||||
|
||||
#include "mcp2521_hardware_esp_bus.hpp"
|
||||
#include "mcp2521_hardware_esp.hpp"
|
||||
|
||||
MCP2521_HardwareHandle_ESPBus::MCP2521_HardwareHandle_ESPBus(
|
||||
QueueHandle_t send_queue,
|
||||
spi_host_device_t spi_host,
|
||||
spi_bus_config_t * bus_config,
|
||||
gpio_num_t cs,
|
||||
gpio_num_t int_pin
|
||||
) : MCP2521_HardwareHandle_ESP(spi_host, bus_config, cs, int_pin) {
|
||||
this->send_queue = send_queue;
|
||||
this->receive_queue = xQueueCreate(3, sizeof(spi_message_t));
|
||||
}
|
||||
|
||||
void MCP2521_HardwareHandle_ESPBus::spi_transmit(spi_transaction_t *t) {
|
||||
spi_message_t message = {
|
||||
.transaction = t,
|
||||
.queue = send_queue,
|
||||
.spi_device_handle = spi_device_handle
|
||||
};
|
||||
|
||||
xQueueSend(send_queue, &message, portMAX_DELAY);
|
||||
xQueueReceive(receive_queue, &message, portMAX_DELAY);
|
||||
}
|
||||
|
||||
void MCP2521_HardwareHandle_ESPBus::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_isr_handler_add(int_pin, gpio_isr_can_handler, this);
|
||||
|
||||
char taskName[32];
|
||||
sprintf(taskName, "canInterruptTask_%d", int_pin);
|
||||
|
||||
xTaskCreatePinnedToCore(
|
||||
(TaskFunction_t)&handleInteruptTaskCallerFn,
|
||||
taskName,
|
||||
2048,
|
||||
this,
|
||||
5,
|
||||
&canInterruptTaskHandle,
|
||||
0
|
||||
);
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,67 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef ESP_PLATFORM
|
||||
#include "freertos/FreeRTOS.h"
|
||||
|
||||
#include "mcp2521_hardware_esp_bus_factory.hpp"
|
||||
#include "mcp2521_hardware_esp_bus.hpp"
|
||||
#include "mcp2521_hardware_esp.hpp"
|
||||
|
||||
void transactionTaskWrapperFn(void *pvParameters) {
|
||||
MCP2521_HardwareHandleFactory_ESPBus *factory = (MCP2521_HardwareHandleFactory_ESPBus *)pvParameters;
|
||||
factory->transactionTaskFn();
|
||||
|
||||
}
|
||||
|
||||
MCP2521_HardwareHandleFactory_ESPBus::MCP2521_HardwareHandleFactory_ESPBus(
|
||||
spi_host_device_t spi_host,
|
||||
gpio_num_t mosi,
|
||||
gpio_num_t miso,
|
||||
gpio_num_t sclk
|
||||
) {
|
||||
this->spi_host = spi_host;
|
||||
this->mosi = mosi;
|
||||
this->miso = miso;
|
||||
this->sclk = sclk;
|
||||
|
||||
|
||||
gpio_install_isr_service(0);
|
||||
|
||||
MCP2521_HardwareHandle_ESP::initSPIBus(spi_host, mosi, miso, sclk, &bus_config);
|
||||
|
||||
spi_queue = xQueueCreate(12, sizeof(spi_message_t));
|
||||
xTaskCreatePinnedToCore(
|
||||
(TaskFunction_t)&transactionTaskWrapperFn,
|
||||
"transactionTask",
|
||||
2048,
|
||||
this,
|
||||
3,
|
||||
&transactionTaskHandle,
|
||||
0
|
||||
);
|
||||
}
|
||||
|
||||
void MCP2521_HardwareHandleFactory_ESPBus::transactionTaskFn() {
|
||||
spi_message_t message;
|
||||
|
||||
while(true) {
|
||||
xQueueReceive(spi_queue, &message, portMAX_DELAY);
|
||||
spi_device_transmit(message.spi_device_handle, message.transaction);
|
||||
}
|
||||
}
|
||||
|
||||
MCP2521_HardwareHandle_ESPBus MCP2521_HardwareHandleFactory_ESPBus::create(
|
||||
gpio_num_t int_pin,
|
||||
gpio_num_t cs
|
||||
) {
|
||||
return MCP2521_HardwareHandle_ESPBus(
|
||||
spi_queue,
|
||||
spi_host,
|
||||
&bus_config,
|
||||
cs,
|
||||
int_pin
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
@@ -3,7 +3,15 @@
|
||||
#ifdef ESP_PLATFORM
|
||||
#include "mcp2521_hardware_esp.hpp"
|
||||
|
||||
void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd) {
|
||||
const uint8_t null_buffer[32] = {0};
|
||||
|
||||
void MCP2521_HardwareHandle_ESP::spi_transmit(spi_transaction_t *t) {
|
||||
xSemaphoreTake(spiMutex, portMAX_DELAY);
|
||||
spi_device_transmit(this->spi_device_handle, t);
|
||||
xSemaphoreGive(spiMutex);
|
||||
}
|
||||
|
||||
void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd) {
|
||||
spi_transaction_ext_t t = {
|
||||
.base = {
|
||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
||||
@@ -19,10 +27,10 @@ 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) {
|
||||
void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd, uint8_t address) {
|
||||
spi_transaction_ext_t t = {
|
||||
.base = {
|
||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
||||
@@ -38,10 +46,10 @@ 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) {
|
||||
void MCP2521_HardwareHandle_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,
|
||||
@@ -49,18 +57,18 @@ 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) {
|
||||
void MCP2521_HardwareHandle_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,
|
||||
@@ -76,10 +84,10 @@ 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) {
|
||||
uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t address) {
|
||||
uint8_t result = 0;
|
||||
spi_transaction_ext_t t = {
|
||||
.base = {
|
||||
@@ -88,7 +96,7 @@ 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,
|
||||
@@ -96,11 +104,11 @@ 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;
|
||||
}
|
||||
|
||||
uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
|
||||
uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd) {
|
||||
uint8_t result;
|
||||
spi_transaction_ext_t t = {
|
||||
.base = {
|
||||
@@ -109,7 +117,7 @@ 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,
|
||||
@@ -117,11 +125,11 @@ 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;
|
||||
}
|
||||
|
||||
void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
|
||||
void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
|
||||
uint8_t result;
|
||||
spi_transaction_ext_t t = {
|
||||
.base = {
|
||||
@@ -138,10 +146,10 @@ 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) {
|
||||
void MCP2521_HardwareHandle_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,
|
||||
@@ -157,10 +165,10 @@ 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) {
|
||||
void MCP2521_HardwareHandle_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,
|
||||
@@ -176,10 +184,10 @@ 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) {
|
||||
void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t data) {
|
||||
spi_transaction_ext_t t = {
|
||||
.base = {
|
||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
||||
@@ -195,7 +203,7 @@ 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
|
||||
@@ -2,9 +2,13 @@
|
||||
|
||||
#ifdef ESP_PLATFORM
|
||||
#include "mcp2521_hardware_esp.hpp"
|
||||
#include "driver/gpio.h"
|
||||
#include <string.h>
|
||||
|
||||
MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
|
||||
MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
|
||||
spi_host_device_t spi_host,
|
||||
spi_bus_config_t *bus_config,
|
||||
gpio_num_t mosi,
|
||||
@@ -19,7 +23,7 @@ MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
|
||||
initSPIDevice(spi_host, cs);
|
||||
}
|
||||
|
||||
MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
|
||||
MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
|
||||
spi_host_device_t spi_host,
|
||||
spi_bus_config_t *bus_config,
|
||||
gpio_num_t cs,
|
||||
@@ -30,23 +34,11 @@ MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
|
||||
initSPIDevice(spi_host, cs);
|
||||
}
|
||||
|
||||
MCP2521_Hardware_Handle_ESP::~MCP2521_Hardware_Handle_ESP() {
|
||||
MCP2521_HardwareHandle_ESP::~MCP2521_HardwareHandle_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(
|
||||
void MCP2521_HardwareHandle_ESP::initSPIBus(
|
||||
spi_host_device_t spi_host,
|
||||
gpio_num_t mosi,
|
||||
gpio_num_t miso,
|
||||
@@ -65,7 +57,7 @@ void MCP2521_Hardware_Handle_ESP::initSPIBus(
|
||||
spi_bus_initialize(spi_host, bus_config, SPI_DMA_CH_AUTO);
|
||||
}
|
||||
|
||||
void MCP2521_Hardware_Handle_ESP::initSPIDevice(
|
||||
void MCP2521_HardwareHandle_ESP::initSPIDevice(
|
||||
spi_host_device_t spi_host,
|
||||
gpio_num_t cs
|
||||
) {
|
||||
@@ -89,9 +81,11 @@ 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() {
|
||||
spi_bus_config_t * MCP2521_HardwareHandle_ESP::getSPI_bus_config() {
|
||||
return this->spi_bus_config;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,66 @@
|
||||
#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_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
|
||||
handle->isr_can_interrupt();
|
||||
}
|
||||
|
||||
static void handleInteruptTaskCallerFn(void *arg) {
|
||||
MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
|
||||
handle->handleIntteruptTaskFn();
|
||||
}
|
||||
|
||||
void MCP2521_HardwareHandle_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);
|
||||
|
||||
xTaskCreatePinnedToCore(
|
||||
(TaskFunction_t)&handleInteruptTaskCallerFn,
|
||||
"canInterruptTask",
|
||||
2048,
|
||||
this,
|
||||
5,
|
||||
&canInterruptTaskHandle,
|
||||
0
|
||||
);
|
||||
}
|
||||
|
||||
void MCP2521_HardwareHandle_ESP::handleIntteruptTaskFn() {
|
||||
while(true) {
|
||||
xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
|
||||
intHandler(intHandlerArg);
|
||||
}
|
||||
}
|
||||
|
||||
void MCP2521_HardwareHandle_ESP::isr_can_interrupt() {
|
||||
BaseType_t wokenTask = pdFALSE;
|
||||
xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);
|
||||
|
||||
if(wokenTask) {
|
||||
portYIELD_FROM_ISR();
|
||||
}
|
||||
}
|
||||
|
||||
void MCP2521_HardwareHandle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
|
||||
intHandlerArg = arg;
|
||||
intHandler = handler;
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,131 @@
|
||||
/**
|
||||
* @file mcp2521_hardware_esp.hpp
|
||||
* @author AlexanderHD27
|
||||
* @brief
|
||||
* @version 0.1
|
||||
* @date 2024-11-16
|
||||
*
|
||||
* @copyright Copyright (c) 2024
|
||||
*
|
||||
*/
|
||||
#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"
|
||||
|
||||
static void handleInteruptTaskCallerFn(void *arg);
|
||||
static void IRAM_ATTR gpio_isr_can_handler(void* arg);
|
||||
|
||||
/**
|
||||
* @brief Hardware handle for MCP2521 over SPI on ESP32
|
||||
* This is should not be used if multiple MCP2521 are on the same SPI bus
|
||||
*/
|
||||
class MCP2521_HardwareHandle_ESP : public I_MCP2521_HardwareHandle {
|
||||
protected:
|
||||
void spi_transmit(spi_transaction_t *t);
|
||||
|
||||
/**
|
||||
* @brief Sempahore, that is set every time the MCP2521 triggers an interrupt by the canInterruptTaskHandle
|
||||
*/
|
||||
SemaphoreHandle_t canInterruptSemaphore = NULL;
|
||||
|
||||
|
||||
/**
|
||||
* @brief Handle to task that handles the MCP2521 interrupt
|
||||
* A Handle can be registered via the registerIntHandler method
|
||||
*/
|
||||
TaskHandle_t canInterruptTaskHandle = NULL;
|
||||
|
||||
spi_device_handle_t spi_device_handle;
|
||||
|
||||
private:
|
||||
spi_bus_config_t * spi_bus_config;
|
||||
char spi_tmp_buffer;
|
||||
|
||||
spi_device_interface_config_t spi_device_config;
|
||||
|
||||
/**
|
||||
* @brief Sempahore, that protects the SPI bus from being accessed by multiple tasks at the same time
|
||||
*
|
||||
*/
|
||||
SemaphoreHandle_t spiMutex = NULL;
|
||||
|
||||
void * intHandlerArg = NULL;
|
||||
intHandlerFunction_t intHandler = NULL;
|
||||
|
||||
public:
|
||||
MCP2521_HardwareHandle_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_HardwareHandle_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_HardwareHandle_ESP();
|
||||
|
||||
spi_bus_config_t * getSPI_bus_config();
|
||||
|
||||
// ISR Stuff
|
||||
/**
|
||||
* @brief This function is called by the ISR, that is triggered by the MCP2521
|
||||
* This function just set the canInterruptSemaphore, that then unblocks the canInterruptTaskHandle.
|
||||
* So this function should be as short as possible, let the reset of the work be done in the canInterruptTaskHandle
|
||||
*/
|
||||
void isr_can_interrupt();
|
||||
|
||||
/**
|
||||
* This is the methode run as canInterruptTaskHandle.
|
||||
* It should continously aquire the canInterruptSemaphore and then call the intHandler
|
||||
*/
|
||||
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 +1,46 @@
|
||||
#pragma once
|
||||
|
||||
#include "mcp2521_hardware_esp.hpp"
|
||||
|
||||
#include "driver/gpio.h"
|
||||
#include "driver/spi_master.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
|
||||
struct spi_message_t {
|
||||
spi_transaction_t *transaction;
|
||||
QueueHandle_t queue;
|
||||
spi_device_handle_t spi_device_handle;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Hardware handle for MCP2521 over SPI in a multi-Bus-Setup on ESP32
|
||||
* This should not be created directly, use the MCP2521_HardwareHandleFactory_ESPBus instead
|
||||
*/
|
||||
class MCP2521_HardwareHandle_ESPBus : public MCP2521_HardwareHandle_ESP {
|
||||
using MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP;
|
||||
private:
|
||||
QueueHandle_t send_queue;
|
||||
QueueHandle_t receive_queue;
|
||||
|
||||
/**
|
||||
* @brief Wrapper around the spi_transmit function, that locks the spiMutex before calling spi_transmit.
|
||||
* The muxtex is shared with all other MCP2521_HardwareHandle_ESPBus instances created by the same MCP2521_HardwareHandleFactory_ESPBus
|
||||
* @overload
|
||||
*
|
||||
* @param t ESP32 SPI Transaction struct
|
||||
*/
|
||||
void spi_transmit(spi_transaction_t *t);
|
||||
public:
|
||||
MCP2521_HardwareHandle_ESPBus(
|
||||
QueueHandle_t send_queue,
|
||||
spi_host_device_t spi_host,
|
||||
spi_bus_config_t * bus_config,
|
||||
gpio_num_t cs,
|
||||
gpio_num_t int_pin
|
||||
);
|
||||
|
||||
void initPins(
|
||||
gpio_num_t int_pin
|
||||
);
|
||||
};
|
||||
@@ -0,0 +1,41 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef ESP_PLATFORM
|
||||
#include "mcp2521_hardware_handle.hpp"
|
||||
#include "mcp2521_hardware_esp_bus.hpp"
|
||||
|
||||
#include "driver/gpio.h"
|
||||
#include "driver/spi_master.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "freertos/queue.h"
|
||||
|
||||
class MCP2521_HardwareHandleFactory_ESPBus {
|
||||
private:
|
||||
spi_bus_config_t bus_config;
|
||||
spi_host_device_t spi_host;
|
||||
|
||||
gpio_num_t mosi;
|
||||
gpio_num_t miso;
|
||||
gpio_num_t sclk;
|
||||
|
||||
QueueHandle_t spi_queue;
|
||||
TaskHandle_t transactionTaskHandle;
|
||||
|
||||
public:
|
||||
MCP2521_HardwareHandleFactory_ESPBus(
|
||||
spi_host_device_t spi_host,
|
||||
gpio_num_t mosi,
|
||||
gpio_num_t miso,
|
||||
gpio_num_t sclk
|
||||
);
|
||||
|
||||
void transactionTaskFn();
|
||||
|
||||
MCP2521_HardwareHandle_ESPBus create(
|
||||
gpio_num_t int_pin,
|
||||
gpio_num_t cs
|
||||
);
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,119 @@
|
||||
#pragma once
|
||||
#include <cstdint>
|
||||
#include <strings.h>
|
||||
|
||||
/**
|
||||
* @brief Handler function pointer type
|
||||
*
|
||||
*/
|
||||
typedef void (*intHandlerFunction_t)(void *);
|
||||
|
||||
/**
|
||||
* @brief Hardware handle for MCP2521
|
||||
* @interface
|
||||
* This is an abstraction over the sepific hardware setup, eg. SPI@ESP32 or RP2040
|
||||
*
|
||||
*/
|
||||
class I_MCP2521_HardwareHandle {
|
||||
public:
|
||||
/**
|
||||
* @brief Registeres a function that is called when the MCP2521 triggers an interrupt
|
||||
*
|
||||
* @param handler This function is called when the MCP2521 triggers an interrupt
|
||||
* @param arg Arguments passed to the handler-function
|
||||
*/
|
||||
virtual void registerIntHandler(intHandlerFunction_t handler, void * arg) = 0;
|
||||
|
||||
/**
|
||||
* @overload
|
||||
* @brief justed sends a 8bit command to the MCP2521
|
||||
*
|
||||
* @param cmd command to send
|
||||
*/
|
||||
virtual void execute(uint8_t cmd) = 0;
|
||||
|
||||
/**
|
||||
* @overload
|
||||
* @brief executes a command (8 bit) with an address (8 bit)
|
||||
*
|
||||
* @param cmd 8 bit command
|
||||
* @param address 8 bit address
|
||||
*/
|
||||
virtual void execute(uint8_t cmd, uint8_t address) = 0;
|
||||
|
||||
/**
|
||||
*
|
||||
* @brief Executes a read from the MCP2521 with command, data buffer, length and address
|
||||
* @overload
|
||||
*
|
||||
* @param cmd Command to MCP2521
|
||||
* @param data Data buffer to store the read data
|
||||
* @param length How many bytes to read
|
||||
* @param address Address to read from
|
||||
*/
|
||||
virtual void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
|
||||
|
||||
/**
|
||||
* @brief Executes a read from the MCP2521 with command, data buffer and length
|
||||
* @overload
|
||||
*
|
||||
* @param cmd Command to MCP2521
|
||||
* @param data Data buffer to store the read data
|
||||
* @param length How many bytes to read
|
||||
*/
|
||||
virtual void read(uint8_t cmd, uint8_t *data, size_t length) = 0;
|
||||
|
||||
/**
|
||||
* @brief Executes a read from the MCP2521 with command and address, returns just one byte
|
||||
*
|
||||
* @param cmd Command to MCP2521
|
||||
* @param address Address to read from
|
||||
* @return uint8_t
|
||||
*/
|
||||
virtual uint8_t read(uint8_t cmd, uint8_t address) = 0;
|
||||
|
||||
/**
|
||||
* @brief Executes a read from the MCP2521 with command, returns just one byte
|
||||
*
|
||||
* @param cmd Command to MCP2521
|
||||
* @return uint8_t
|
||||
*/
|
||||
virtual uint8_t read(uint8_t cmd) = 0;
|
||||
|
||||
/**
|
||||
* @brief Writes data to the MCP2521 with command, data buffer, length and address
|
||||
*
|
||||
* @param cmd Command to MCP2521
|
||||
* @param data Data buffer to write
|
||||
* @param length Length of the data buffer
|
||||
* @param address Where to write the data
|
||||
*/
|
||||
virtual void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
|
||||
|
||||
/**
|
||||
* @brief Wirites data to the MCP2521 with command, data buffer and length
|
||||
*
|
||||
* @param cmd Command to MCP2521
|
||||
* @param data Data buffer to write
|
||||
* @param length Length of the data buffer
|
||||
*/
|
||||
virtual void write(uint8_t cmd, uint8_t *data, size_t length) = 0;
|
||||
|
||||
/**
|
||||
* @brief Writes data to the MCP2521 with command, data (on byte) and address
|
||||
*
|
||||
* @param cmd Command to MCP2521
|
||||
* @param data Data byte to write
|
||||
* @param address Where to write the data
|
||||
*/
|
||||
virtual void write(uint8_t cmd, uint8_t data, uint8_t address) = 0;
|
||||
|
||||
/**
|
||||
* @brief Writes to the MCP2521 with command and data (one byte)
|
||||
*
|
||||
* @param cmd Command to MCP2521
|
||||
* @param data Data byte to write
|
||||
*/
|
||||
virtual void write(uint8_t cmd, uint8_t data) = 0;
|
||||
};
|
||||
|
||||
BIN
spec/CAN-Protocl-Spec.md
LFS
Normal file
BIN
spec/CAN-Protocl-Spec.md
LFS
Normal file
Binary file not shown.
1
spec/gobot-spec/.obsidian/app.json
vendored
Normal file
1
spec/gobot-spec/.obsidian/app.json
vendored
Normal file
@@ -0,0 +1 @@
|
||||
{}
|
||||
1
spec/gobot-spec/.obsidian/appearance.json
vendored
Normal file
1
spec/gobot-spec/.obsidian/appearance.json
vendored
Normal file
@@ -0,0 +1 @@
|
||||
{}
|
||||
4
spec/gobot-spec/.obsidian/community-plugins.json
vendored
Normal file
4
spec/gobot-spec/.obsidian/community-plugins.json
vendored
Normal file
@@ -0,0 +1,4 @@
|
||||
[
|
||||
"table-editor-obsidian",
|
||||
"dataview"
|
||||
]
|
||||
30
spec/gobot-spec/.obsidian/core-plugins.json
vendored
Normal file
30
spec/gobot-spec/.obsidian/core-plugins.json
vendored
Normal file
@@ -0,0 +1,30 @@
|
||||
{
|
||||
"file-explorer": true,
|
||||
"global-search": true,
|
||||
"switcher": true,
|
||||
"graph": true,
|
||||
"backlink": true,
|
||||
"canvas": true,
|
||||
"outgoing-link": true,
|
||||
"tag-pane": true,
|
||||
"properties": false,
|
||||
"page-preview": true,
|
||||
"daily-notes": true,
|
||||
"templates": true,
|
||||
"note-composer": true,
|
||||
"command-palette": true,
|
||||
"slash-command": false,
|
||||
"editor-status": true,
|
||||
"bookmarks": true,
|
||||
"markdown-importer": false,
|
||||
"zk-prefixer": false,
|
||||
"random-note": false,
|
||||
"outline": true,
|
||||
"word-count": true,
|
||||
"slides": false,
|
||||
"audio-recorder": false,
|
||||
"workspaces": false,
|
||||
"file-recovery": true,
|
||||
"publish": false,
|
||||
"sync": false
|
||||
}
|
||||
22
spec/gobot-spec/.obsidian/graph.json
vendored
Normal file
22
spec/gobot-spec/.obsidian/graph.json
vendored
Normal file
@@ -0,0 +1,22 @@
|
||||
{
|
||||
"collapse-filter": true,
|
||||
"search": "",
|
||||
"showTags": false,
|
||||
"showAttachments": false,
|
||||
"hideUnresolved": false,
|
||||
"showOrphans": true,
|
||||
"collapse-color-groups": true,
|
||||
"colorGroups": [],
|
||||
"collapse-display": true,
|
||||
"showArrow": false,
|
||||
"textFadeMultiplier": 0,
|
||||
"nodeSizeMultiplier": 1,
|
||||
"lineSizeMultiplier": 1,
|
||||
"collapse-forces": true,
|
||||
"centerStrength": 0.518713248970312,
|
||||
"repelStrength": 10,
|
||||
"linkStrength": 1,
|
||||
"linkDistance": 250,
|
||||
"scale": 1,
|
||||
"close": true
|
||||
}
|
||||
20725
spec/gobot-spec/.obsidian/plugins/dataview/main.js
vendored
Normal file
20725
spec/gobot-spec/.obsidian/plugins/dataview/main.js
vendored
Normal file
File diff suppressed because one or more lines are too long
11
spec/gobot-spec/.obsidian/plugins/dataview/manifest.json
vendored
Normal file
11
spec/gobot-spec/.obsidian/plugins/dataview/manifest.json
vendored
Normal file
@@ -0,0 +1,11 @@
|
||||
{
|
||||
"id": "dataview",
|
||||
"name": "Dataview",
|
||||
"version": "0.5.67",
|
||||
"minAppVersion": "0.13.11",
|
||||
"description": "Complex data views for the data-obsessed.",
|
||||
"author": "Michael Brenan <blacksmithgu@gmail.com>",
|
||||
"authorUrl": "https://github.com/blacksmithgu",
|
||||
"helpUrl": "https://blacksmithgu.github.io/obsidian-dataview/",
|
||||
"isDesktopOnly": false
|
||||
}
|
||||
146
spec/gobot-spec/.obsidian/plugins/dataview/styles.css
vendored
Normal file
146
spec/gobot-spec/.obsidian/plugins/dataview/styles.css
vendored
Normal file
@@ -0,0 +1,146 @@
|
||||
/** Live Preview padding fixes, specifically for DataviewJS custom HTML elements. */
|
||||
.is-live-preview .block-language-dataviewjs > p, .is-live-preview .block-language-dataviewjs > span {
|
||||
line-height: 1.0;
|
||||
}
|
||||
|
||||
.block-language-dataview {
|
||||
overflow-y: auto;
|
||||
}
|
||||
|
||||
/*****************/
|
||||
/** Table Views **/
|
||||
/*****************/
|
||||
|
||||
/* List View Default Styling; rendered internally as a table. */
|
||||
.table-view-table {
|
||||
width: 100%;
|
||||
}
|
||||
|
||||
.table-view-table > thead > tr, .table-view-table > tbody > tr {
|
||||
margin-top: 1em;
|
||||
margin-bottom: 1em;
|
||||
text-align: left;
|
||||
}
|
||||
|
||||
.table-view-table > tbody > tr:hover {
|
||||
background-color: var(--table-row-background-hover);
|
||||
}
|
||||
|
||||
.table-view-table > thead > tr > th {
|
||||
font-weight: 700;
|
||||
font-size: larger;
|
||||
border-top: none;
|
||||
border-left: none;
|
||||
border-right: none;
|
||||
border-bottom: solid;
|
||||
|
||||
max-width: 100%;
|
||||
}
|
||||
|
||||
.table-view-table > tbody > tr > td {
|
||||
text-align: left;
|
||||
border: none;
|
||||
font-weight: 400;
|
||||
max-width: 100%;
|
||||
}
|
||||
|
||||
.table-view-table ul, .table-view-table ol {
|
||||
margin-block-start: 0.2em !important;
|
||||
margin-block-end: 0.2em !important;
|
||||
}
|
||||
|
||||
/** Rendered value styling for any view. */
|
||||
.dataview-result-list-root-ul {
|
||||
padding: 0em !important;
|
||||
margin: 0em !important;
|
||||
}
|
||||
|
||||
.dataview-result-list-ul {
|
||||
margin-block-start: 0.2em !important;
|
||||
margin-block-end: 0.2em !important;
|
||||
}
|
||||
|
||||
/** Generic grouping styling. */
|
||||
.dataview.result-group {
|
||||
padding-left: 8px;
|
||||
}
|
||||
|
||||
/*******************/
|
||||
/** Inline Fields **/
|
||||
/*******************/
|
||||
|
||||
.dataview.inline-field-key {
|
||||
padding-left: 8px;
|
||||
padding-right: 8px;
|
||||
font-family: var(--font-monospace);
|
||||
background-color: var(--background-primary-alt);
|
||||
color: var(--text-nav-selected);
|
||||
}
|
||||
|
||||
.dataview.inline-field-value {
|
||||
padding-left: 8px;
|
||||
padding-right: 8px;
|
||||
font-family: var(--font-monospace);
|
||||
background-color: var(--background-secondary-alt);
|
||||
color: var(--text-nav-selected);
|
||||
}
|
||||
|
||||
.dataview.inline-field-standalone-value {
|
||||
padding-left: 8px;
|
||||
padding-right: 8px;
|
||||
font-family: var(--font-monospace);
|
||||
background-color: var(--background-secondary-alt);
|
||||
color: var(--text-nav-selected);
|
||||
}
|
||||
|
||||
/***************/
|
||||
/** Task View **/
|
||||
/***************/
|
||||
|
||||
.dataview.task-list-item, .dataview.task-list-basic-item {
|
||||
margin-top: 3px;
|
||||
margin-bottom: 3px;
|
||||
transition: 0.4s;
|
||||
}
|
||||
|
||||
.dataview.task-list-item:hover, .dataview.task-list-basic-item:hover {
|
||||
background-color: var(--text-selection);
|
||||
box-shadow: -40px 0 0 var(--text-selection);
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
/*****************/
|
||||
/** Error Views **/
|
||||
/*****************/
|
||||
|
||||
div.dataview-error-box {
|
||||
width: 100%;
|
||||
min-height: 150px;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
border: 4px dashed var(--background-secondary);
|
||||
}
|
||||
|
||||
.dataview-error-message {
|
||||
color: var(--text-muted);
|
||||
text-align: center;
|
||||
}
|
||||
|
||||
/*************************/
|
||||
/** Additional Metadata **/
|
||||
/*************************/
|
||||
|
||||
.dataview.small-text {
|
||||
font-size: smaller;
|
||||
color: var(--text-muted);
|
||||
margin-left: 3px;
|
||||
}
|
||||
|
||||
.dataview.small-text::before {
|
||||
content: "(";
|
||||
}
|
||||
|
||||
.dataview.small-text::after {
|
||||
content: ")";
|
||||
}
|
||||
6
spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/data.json
vendored
Normal file
6
spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/data.json
vendored
Normal file
@@ -0,0 +1,6 @@
|
||||
{
|
||||
"formatType": "normal",
|
||||
"showRibbonIcon": true,
|
||||
"bindEnter": true,
|
||||
"bindTab": true
|
||||
}
|
||||
236
spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/main.js
vendored
Normal file
236
spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/main.js
vendored
Normal file
File diff suppressed because one or more lines are too long
17
spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/manifest.json
vendored
Normal file
17
spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/manifest.json
vendored
Normal file
@@ -0,0 +1,17 @@
|
||||
{
|
||||
"id": "table-editor-obsidian",
|
||||
"name": "Advanced Tables",
|
||||
"author": "Tony Grosinger",
|
||||
"authorUrl": "https://grosinger.net",
|
||||
"description": "Improved table navigation, formatting, manipulation, and formulas",
|
||||
"isDesktopOnly": false,
|
||||
"minAppVersion": "1.0.0",
|
||||
"version": "0.22.1",
|
||||
"js": "main.js",
|
||||
"fundingUrl": {
|
||||
"Github Sponsor": "https://github.com/sponsors/tgrosinger",
|
||||
"Buy me a Coffee": "https://buymeacoffee.com/tgrosinger",
|
||||
"Paypal": "https://paypal.me/tgrosinger"
|
||||
},
|
||||
"donation": "https://buymeacoffee.com/tgrosinger"
|
||||
}
|
||||
78
spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/styles.css
vendored
Normal file
78
spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/styles.css
vendored
Normal file
@@ -0,0 +1,78 @@
|
||||
:root {
|
||||
--advanced-tables-helper-size: 28px;
|
||||
}
|
||||
|
||||
.HyperMD-table-row span.cm-inline-code {
|
||||
font-size: 100%;
|
||||
padding: 0px;
|
||||
}
|
||||
|
||||
.advanced-tables-buttons>div>.title {
|
||||
font-weight: var(--font-medium);
|
||||
font-size: var(--nav-item-size);
|
||||
color: var(--nav-item-color);
|
||||
text-decoration: underline;
|
||||
}
|
||||
|
||||
[data-type="advanced-tables-toolbar"] .nav-buttons-container {
|
||||
column-gap: 0.2rem;
|
||||
margin: 0.2rem 0 0.2rem 0;
|
||||
justify-content: start;
|
||||
}
|
||||
|
||||
[data-type="advanced-tables-toolbar"] .nav-buttons-container::before {
|
||||
min-width: 2.6rem;
|
||||
line-height: var(--advanced-tables-helper-size);
|
||||
font-size: var(--nav-item-size);
|
||||
font-weight: var(--nav-item-weight);
|
||||
color: var(--nav-item-color);
|
||||
}
|
||||
|
||||
[data-type="advanced-tables-toolbar"] .nav-buttons-container>* {
|
||||
height: var(--advanced-tables-helper-size);
|
||||
line-height: var(--advanced-tables-helper-size);
|
||||
}
|
||||
|
||||
[data-type="advanced-tables-toolbar"] .nav-buttons-container .nav-action-button {
|
||||
width: var(--advanced-tables-helper-size);
|
||||
height: var(--advanced-tables-helper-size);
|
||||
display: flex;
|
||||
justify-content: center;
|
||||
align-items: center;
|
||||
border-radius: var(--radius-s);
|
||||
}
|
||||
|
||||
[data-type="advanced-tables-toolbar"] .nav-buttons-container .nav-action-button:hover {
|
||||
background-color: var(--nav-item-background-hover);
|
||||
color: var(--nav-item-color-hover);
|
||||
font-weight: var(--nav-item-weight-hover);
|
||||
}
|
||||
|
||||
.advanced-tables-row-label {
|
||||
width: 50px;
|
||||
}
|
||||
|
||||
.widget-icon {
|
||||
width: 20px;
|
||||
height: 20px;
|
||||
fill: var(--text-muted);
|
||||
}
|
||||
|
||||
.widget-icon:hover {
|
||||
fill: var(--text-normal);
|
||||
}
|
||||
|
||||
.advanced-tables-csv-export textarea {
|
||||
height: 200px;
|
||||
width: 100%;
|
||||
}
|
||||
|
||||
.advanced-tables-donation {
|
||||
width: 70%;
|
||||
margin: 0 auto;
|
||||
text-align: center;
|
||||
}
|
||||
|
||||
.advanced-tables-donate-button {
|
||||
margin: 10px;
|
||||
}
|
||||
188
spec/gobot-spec/.obsidian/workspace.json
vendored
Normal file
188
spec/gobot-spec/.obsidian/workspace.json
vendored
Normal file
@@ -0,0 +1,188 @@
|
||||
{
|
||||
"main": {
|
||||
"id": "6f76e152e1d4b58f",
|
||||
"type": "split",
|
||||
"children": [
|
||||
{
|
||||
"id": "0b9727bfb81ea513",
|
||||
"type": "tabs",
|
||||
"children": [
|
||||
{
|
||||
"id": "b07ed06960c77b44",
|
||||
"type": "leaf",
|
||||
"state": {
|
||||
"type": "markdown",
|
||||
"state": {
|
||||
"file": "CAN Protocol.md",
|
||||
"mode": "source",
|
||||
"source": false
|
||||
},
|
||||
"icon": "lucide-file",
|
||||
"title": "CAN Protocol"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "e41a6e6ed9e71bfa",
|
||||
"type": "leaf",
|
||||
"state": {
|
||||
"type": "markdown",
|
||||
"state": {
|
||||
"file": "CAN Protocol.md",
|
||||
"mode": "source",
|
||||
"source": false
|
||||
},
|
||||
"icon": "lucide-file",
|
||||
"title": "CAN Protocol"
|
||||
}
|
||||
}
|
||||
],
|
||||
"currentTab": 1
|
||||
}
|
||||
],
|
||||
"direction": "vertical"
|
||||
},
|
||||
"left": {
|
||||
"id": "05c7eb586a8f4dfc",
|
||||
"type": "split",
|
||||
"children": [
|
||||
{
|
||||
"id": "043c67092471cf31",
|
||||
"type": "tabs",
|
||||
"children": [
|
||||
{
|
||||
"id": "4e6c66a54203b5ef",
|
||||
"type": "leaf",
|
||||
"state": {
|
||||
"type": "file-explorer",
|
||||
"state": {
|
||||
"sortOrder": "alphabetical"
|
||||
},
|
||||
"icon": "lucide-folder-closed",
|
||||
"title": "Files"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "f51d953182f691ca",
|
||||
"type": "leaf",
|
||||
"state": {
|
||||
"type": "search",
|
||||
"state": {
|
||||
"query": "",
|
||||
"matchingCase": false,
|
||||
"explainSearch": false,
|
||||
"collapseAll": false,
|
||||
"extraContext": false,
|
||||
"sortOrder": "alphabetical"
|
||||
},
|
||||
"icon": "lucide-search",
|
||||
"title": "Search"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "c95d5a4d330c3fbe",
|
||||
"type": "leaf",
|
||||
"state": {
|
||||
"type": "bookmarks",
|
||||
"state": {},
|
||||
"icon": "lucide-bookmark",
|
||||
"title": "Bookmarks"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
"direction": "horizontal",
|
||||
"width": 300
|
||||
},
|
||||
"right": {
|
||||
"id": "49414f9775b345dc",
|
||||
"type": "split",
|
||||
"children": [
|
||||
{
|
||||
"id": "a573369191872484",
|
||||
"type": "tabs",
|
||||
"children": [
|
||||
{
|
||||
"id": "0b40e811b46b6812",
|
||||
"type": "leaf",
|
||||
"state": {
|
||||
"type": "backlink",
|
||||
"state": {
|
||||
"file": "CAN Protocol.md",
|
||||
"collapseAll": false,
|
||||
"extraContext": false,
|
||||
"sortOrder": "alphabetical",
|
||||
"showSearch": false,
|
||||
"searchQuery": "",
|
||||
"backlinkCollapsed": false,
|
||||
"unlinkedCollapsed": true
|
||||
},
|
||||
"icon": "links-coming-in",
|
||||
"title": "Backlinks for CAN Protocol"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "2d018b9ca566140c",
|
||||
"type": "leaf",
|
||||
"state": {
|
||||
"type": "outgoing-link",
|
||||
"state": {
|
||||
"file": "CAN Protocol.md",
|
||||
"linksCollapsed": false,
|
||||
"unlinkedCollapsed": true
|
||||
},
|
||||
"icon": "links-going-out",
|
||||
"title": "Outgoing links from CAN Protocol"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "26e2fb993d4ddbb6",
|
||||
"type": "leaf",
|
||||
"state": {
|
||||
"type": "tag",
|
||||
"state": {
|
||||
"sortOrder": "frequency",
|
||||
"useHierarchy": true
|
||||
},
|
||||
"icon": "lucide-tags",
|
||||
"title": "Tags"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "824f9c345e01959b",
|
||||
"type": "leaf",
|
||||
"state": {
|
||||
"type": "outline",
|
||||
"state": {
|
||||
"file": "CAN Protocol.md"
|
||||
},
|
||||
"icon": "lucide-list",
|
||||
"title": "Outline of CAN Protocol"
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
"direction": "horizontal",
|
||||
"width": 300,
|
||||
"collapsed": true
|
||||
},
|
||||
"left-ribbon": {
|
||||
"hiddenItems": {
|
||||
"table-editor-obsidian:Advanced Tables Toolbar": false,
|
||||
"switcher:Open quick switcher": false,
|
||||
"graph:Open graph view": false,
|
||||
"canvas:Create new canvas": false,
|
||||
"daily-notes:Open today's daily note": false,
|
||||
"templates:Insert template": false,
|
||||
"command-palette:Open command palette": false
|
||||
}
|
||||
},
|
||||
"active": "e41a6e6ed9e71bfa",
|
||||
"lastOpenFiles": [
|
||||
"Untitled.canvas",
|
||||
"CAN Protocol.md",
|
||||
"Welcome.md",
|
||||
"create a link.md"
|
||||
]
|
||||
}
|
||||
BIN
spec/gobot-spec/CAN Protocol.md
LFS
Normal file
BIN
spec/gobot-spec/CAN Protocol.md
LFS
Normal file
Binary file not shown.
Reference in New Issue
Block a user