Gobot RPC Stack

can-interface/.devcontainer/Dockerfile

@@ -0,0 +1,47 @@
+FROM espressif/idf
+
+ARG DEBIAN_FRONTEND=nointeractive
+ARG CONTAINER_USER=esp
+ARG USER_UID=1050
+ARG USER_GID=$USER_UID
+
+RUN apt-get update \
+  && apt install -y -q \
+  cmake \
+  git \
+  libglib2.0-0 \
+  libnuma1 \
+  libpixman-1-0 \
+  && rm -rf /var/lib/apt/lists/*
+
+# QEMU
+ENV QEMU_REL=esp_develop_8.2.0_20240122
+ENV QEMU_SHA256=e7c72ef5705ad1444d391711088c8717fc89f42e9bf6d1487f9c2a326b8cfa83
+ENV QEMU_DIST=qemu-xtensa-softmmu-${QEMU_REL}-x86_64-linux-gnu.tar.xz
+ENV QEMU_URL=https://github.com/espressif/qemu/releases/download/esp-develop-8.2.0-20240122/${QEMU_DIST}
+
+ENV LC_ALL=C.UTF-8
+ENV LANG=C.UTF-8
+
+RUN wget --no-verbose ${QEMU_URL} \
+  && echo "${QEMU_SHA256} *${QEMU_DIST}" | sha256sum --check --strict - \
+  && tar -xf $QEMU_DIST -C /opt \
+  && rm ${QEMU_DIST}
+
+ENV PATH=/opt/qemu/bin:${PATH}
+
+RUN groupadd --gid $USER_GID $CONTAINER_USER \
+  && adduser --uid $USER_UID --gid $USER_GID --disabled-password --gecos "" ${CONTAINER_USER} \
+  && usermod -a -G root $CONTAINER_USER && usermod -a -G dialout $CONTAINER_USER
+
+RUN chmod -R 775 /opt/esp/python_env/
+
+USER ${CONTAINER_USER}
+ENV USER=${CONTAINER_USER}
+WORKDIR /home/${CONTAINER_USER}
+
+RUN echo "source /opt/esp/idf/export.sh > /dev/null 2>&1" >> ~/.bashrc
+
+ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
+
+CMD ["/bin/bash", "-c"]

can-interface/.devcontainer/devcontainer.json

@@ -0,0 +1,36 @@
+{
+	"name": "ESP-IDF QEMU",
+	"build": {
+		"dockerfile": "Dockerfile"
+	},
+	"customizations": {
+		"vscode": {
+			"settings": {
+				"terminal.integrated.defaultProfile.linux": "bash",
+				"idf.espIdfPath": "/opt/esp/idf",
+				"idf.customExtraPaths": "",
+				"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
+				"idf.toolsPath": "/opt/esp",
+				"idf.gitPath": "/usr/bin/git"
+			},
+			"extensions": [
+				"espressif.esp-idf-extension"
+			]
+		},
+		"codespaces": {
+			"settings": {
+				"terminal.integrated.defaultProfile.linux": "bash",
+				"idf.espIdfPath": "/opt/esp/idf",
+				"idf.customExtraPaths": "",
+				"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
+				"idf.toolsPath": "/opt/esp",
+				"idf.gitPath": "/usr/bin/git"
+			},
+			"extensions": [
+				"espressif.esp-idf-extension",
+				"espressif.esp-idf-web"
+			]
+		}
+	},
+	"runArgs": ["--privileged"]
+}

can-interface/.vscode/c_cpp_properties.json

@@ -0,0 +1,23 @@
+{
+    "configurations": [
+        {
+            "name": "ESP-IDF",
+            "compilerPath": "${config:idf.toolsPath}/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/xtensa-esp32-elf-gcc",
+            "compileCommands": "${config:idf.buildPath}/compile_commands.json",
+            "includePath": [
+                "${config:idf.espIdfPath}/components/**",
+                "${config:idf.espIdfPathWin}/components/**",
+                "${workspaceFolder}/**"
+            ],
+            "browse": {
+                "path": [
+                    "${config:idf.espIdfPath}/components",
+                    "${config:idf.espIdfPathWin}/components",
+                    "${workspaceFolder}"
+                ],
+                "limitSymbolsToIncludedHeaders": true
+            }
+        }
+    ],
+    "version": 4
+}

can-interface/.vscode/launch.json

@@ -0,0 +1,15 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "type": "gdbtarget",
+      "request": "attach",
+      "name": "Eclipse CDT GDB Adapter"
+    },
+    {
+      "type": "espidf",
+      "name": "Launch",
+      "request": "launch"
+    }
+  ]
+}

can-interface/.vscode/settings.json

@@ -0,0 +1,31 @@
+{
+    "C_Cpp.intelliSenseEngine": "default",
+    "idf.adapterTargetName": "esp32",
+    "idf.customExtraPaths": "/home/alexander/.espressif/tools/xtensa-esp-elf-gdb/14.2_20240403/xtensa-esp-elf-gdb/bin:/home/alexander/.espressif/tools/riscv32-esp-elf-gdb/14.2_20240403/riscv32-esp-elf-gdb/bin:/home/alexander/.espressif/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin:/home/alexander/.espressif/tools/riscv32-esp-elf/esp-13.2.0_20240530/riscv32-esp-elf/bin:/home/alexander/.espressif/tools/esp32ulp-elf/2.38_20240113/esp32ulp-elf/bin:/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/bin:/home/alexander/.espressif/tools/ninja/1.11.1:/home/alexander/.espressif/tools/esp-rom-elfs/20240305",
+    "idf.customExtraVars": {
+        "OPENOCD_SCRIPTS": "/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/share/openocd/scripts",
+        "ESP_ROM_ELF_DIR": "/home/alexander/.espressif/tools/esp-rom-elfs/20240305/"
+    },
+    "idf.espIdfPath": "/opt/esp/v5.3.1/esp-idf",
+    "idf.openOcdConfigs": [
+        "board/esp32-wrover-kit-3.3v.cfg"
+    ],
+    "idf.port": "/dev/ttyUSB1",
+    "idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
+    "idf.toolsPath": "/home/alexander/.espressif",
+    "idf.flashType": "JTAG",
+    "idf.openOcdLaunchArgs": ["-c", "adapter_khz 10000"],
+    "files.associations": {
+        "*.tcc": "cpp",
+        "cstdint": "cpp",
+        "random": "cpp",
+        "future": "cpp",
+        "bitset": "cpp",
+        "string_view": "cpp",
+        "regex": "cpp",
+        "array": "cpp",
+        "string": "cpp",
+        "span": "cpp",
+        "cstring": "cpp"
+    }
+}

can-interface/.vscode/tasks.json

@@ -0,0 +1,259 @@
+{
+  "version": "2.0.0",
+  "tasks": [
+    {
+      "label": "Build - Build project",
+      "type": "shell",
+      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py build",
+      "windows": {
+        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py build",
+        "options": {
+          "env": {
+            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+          }
+        }
+      },
+      "options": {
+        "env": {
+          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+        }
+      },
+      "problemMatcher": [
+        {
+          "owner": "cpp",
+          "fileLocation": [
+            "autoDetect",
+            "${workspaceFolder}"
+          ],
+          "pattern": {
+            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+            "file": 1,
+            "line": 2,
+            "column": 3,
+            "severity": 4,
+            "message": 5
+          }
+        }
+      ],
+      "group": {
+        "kind": "build",
+        "isDefault": true
+      }
+    },
+    {
+      "label": "Set ESP-IDF Target",
+      "type": "shell",
+      "command": "${command:espIdf.setTarget}",
+      "problemMatcher": {
+        "owner": "cpp",
+        "fileLocation": [
+          "autoDetect",
+          "${workspaceFolder}"
+        ],
+        "pattern": {
+          "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+          "file": 1,
+          "line": 2,
+          "column": 3,
+          "severity": 4,
+          "message": 5
+        }
+      }
+    },
+    {
+      "label": "Clean - Clean the project",
+      "type": "shell",
+      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py fullclean",
+      "windows": {
+        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py fullclean",
+        "options": {
+          "env": {
+            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+          }
+        }
+      },
+      "options": {
+        "env": {
+          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+        }
+      },
+      "problemMatcher": [
+        {
+          "owner": "cpp",
+          "fileLocation": [
+            "autoDetect",
+            "${workspaceFolder}"
+          ],
+          "pattern": {
+            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+            "file": 1,
+            "line": 2,
+            "column": 3,
+            "severity": 4,
+            "message": 5
+          }
+        }
+      ]
+    },
+    {
+      "label": "Flash - Flash the device",
+      "type": "shell",
+      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} -b ${config:idf.flashBaudRate} flash",
+      "windows": {
+        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py flash -p ${config:idf.portWin} -b ${config:idf.flashBaudRate}",
+        "options": {
+          "env": {
+            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+          }
+        }
+      },
+      "options": {
+        "env": {
+          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+        }
+      },
+      "problemMatcher": [
+        {
+          "owner": "cpp",
+          "fileLocation": [
+            "autoDetect",
+            "${workspaceFolder}"
+          ],
+          "pattern": {
+            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+            "file": 1,
+            "line": 2,
+            "column": 3,
+            "severity": 4,
+            "message": 5
+          }
+        }
+      ]
+    },
+    {
+      "label": "Monitor: Start the monitor",
+      "type": "shell",
+      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} monitor",
+      "windows": {
+        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py -p ${config:idf.portWin} monitor",
+        "options": {
+          "env": {
+            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+          }
+        }
+      },
+      "options": {
+        "env": {
+          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+        }
+      },
+      "problemMatcher": [
+        {
+          "owner": "cpp",
+          "fileLocation": [
+            "autoDetect",
+            "${workspaceFolder}"
+          ],
+          "pattern": {
+            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+            "file": 1,
+            "line": 2,
+            "column": 3,
+            "severity": 4,
+            "message": 5
+          }
+        }
+      ],
+      "dependsOn": "Flash - Flash the device"
+    },
+    {
+      "label": "OpenOCD: Start openOCD",
+      "type": "shell",
+      "presentation": {
+        "echo": true,
+        "reveal": "never",
+        "focus": false,
+        "panel": "new"
+      },
+      "command": "openocd -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
+      "windows": {
+        "command": "openocd.exe -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
+        "options": {
+          "env": {
+            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
+          }
+        }
+      },
+      "options": {
+        "env": {
+          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
+        }
+      },
+      "problemMatcher": {
+        "owner": "cpp",
+        "fileLocation": [
+          "autoDetect",
+          "${workspaceFolder}"
+        ],
+        "pattern": {
+          "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+          "file": 1,
+          "line": 2,
+          "column": 3,
+          "severity": 4,
+          "message": 5
+        }
+      }
+    },
+    {
+      "label": "adapter",
+      "type": "shell",
+      "command": "${config:idf.pythonBinPath}",
+      "isBackground": true,
+      "options": {
+        "env": {
+          "PATH": "${env:PATH}:${config:idf.customExtraPaths}",
+          "PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
+        }
+      },
+      "problemMatcher": {
+        "background": {
+          "beginsPattern": "\bDEBUG_ADAPTER_STARTED\b",
+          "endsPattern": "DEBUG_ADAPTER_READY2CONNECT",
+          "activeOnStart": true
+        },
+        "pattern": {
+          "regexp": "(\\d+)-(\\d+)-(\\d+)\\s(\\d+):(\\d+):(\\d+),(\\d+)\\s-(.+)\\s(ERROR)",
+          "file": 8,
+          "line": 2,
+          "column": 3,
+          "severity": 4,
+          "message": 9
+        }
+      },
+      "args": [
+        "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter_main.py",
+        "-e",
+        "${workspaceFolder}/build/${command:espIdf.getProjectName}.elf",
+        "-s",
+        "$OPENOCD_SCRIPTS",
+        "-dn",
+        "esp32",
+        "-om",
+        "connect_to_instance",
+        "-t",
+        "xtensa-esp32-elf-"
+
+      ],
+      "windows": {
+        "command": "${config:idf.pythonBinPathWin}",
+        "options": {
+          "env": {
+            "PATH": "${env:PATH};${config:idf.customExtraPaths}",
+            "PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
+          }
+        }
+      }
+    }
+  ]
+}

can-interface/CMakeLists.txt

@@ -0,0 +1,6 @@
+# The following lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(can-interface)

can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm

@@ -0,0 +1 @@
+<!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>

can-interface/circuit/gobot-can-interface/sym-lib-table

@@ -0,0 +1,4 @@
+(sym_lib_table
+  (version 7)
+  (lib (name "ESP32-DEVKIT-V1")(type "KiCad")(uri "${KIPRJMOD}/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym")(options "")(descr ""))
+)

can-interface/circuit/gobot-can-interface/~gobot-can-interface.kicad_sch.lck

@@ -0,0 +1 @@
+{"hostname":"hal","username":"alexander"}

can-interface/components/CAN-Protocol-Stack/CMakeLists.txt

@@ -0,0 +1,8 @@
+idf_component_register(SRCS
+                         "canTP.cpp"
+                         "gobotRPC.cpp"
+                       INCLUDE_DIRS "include"
+                       REQUIRES driver
+                       REQUIRES mcp2521
+                       REQUIRES mcp2521_hardware_interface
+                       )

can-interface/components/CAN-Protocol-Stack/canTP.cpp

@@ -0,0 +1,75 @@
+#include "canTP.hpp"
+#include <math.h>
+#include <cstring>
+
+void onRxHandlerWrapper(void *arg) {
+    SocketCANTP *socket = (SocketCANTP *)arg;
+    socket->onRxHandler();
+}
+
+void SocketCANTP::onRxHandler() {
+    uint8_t tmpBuffer[8];
+    rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
+    mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, tmpBuffer, info.length);
+
+    CANTP_FRAME_TYPE ft = static_cast<CANTP_FRAME_TYPE>((tmpBuffer[0] & 0xF0) >> 4);
+
+    switch (ft) {
+        case CANTP_FRAME_TYPE::SINGLE_FRAME:
+            if (userHandler) {
+                userHandler(tmpBuffer + 1, info.length - 1, userArg);
+            }
+            break;
+
+        case CANTP_FRAME_TYPE::FIRST_FRAME:
+            int sizeTotal = ((tmpBuffer[0] & 0x0F) << 8 | tmpBuffer[1]) - 6;
+            consecitonFrameCounter =  ceil(((float)(sizeTotal)) / 7.0);
+            memcpy(rxBuffer, tmpBuffer + 1, 6);
+
+            sendFlowControl(CANTP_FLOW_STATUS::CLEAR_TO_SEND, blockSizes, 0);
+
+            break;
+        
+        case CANTP_FRAME_TYPE::CONSECUTIVE_FRAME:
+
+
+            consecitonFrameCounter--;
+            if(consecitonFrameCounter == 0) {
+                if (userHandler) {
+                    userHandler(rxBuffer, rxLength, userArg);
+                }
+            }
+            break;
+        
+        case CANTP_FRAME_TYPE::FLOW_CONTROL:
+            break;
+    }
+}
+
+
+SocketCANTP::SocketCANTP(
+    MCP2521 *mcp2521, 
+    uint32_t address, 
+    bool is_extended, 
+    uint8_t blockSizes
+) {
+    this->mcp2521 = mcp2521;
+    this->address = address;
+    this->is_extended = is_extended;
+    this->rxLength = 0;
+    this->consecitonFrameCounter = 0;
+    this->blockSizes = 0;
+
+    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);
+    mcp2521->request_to_send(MCP2521_TX_BUFFER::TXB0);
+}
+
+void SocketCANTP::register_rx_handler(rx_handler handler, void *arg) {
+    userHandler = handler;
+    userArg = arg;
+}

can-interface/components/CAN-Protocol-Stack/docs/.$NetworkStack.drawio.bkp

@@ -0,0 +1,556 @@
+<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/24.7.17 Chrome/128.0.6613.36 Electron/32.0.1 Safari/537.36" version="24.7.17">
+  <diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
+    <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">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="VN9_mGhUesFHwJ--pmr3-1" value="GoBot RPC Protocol" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
+          <mxGeometry x="120" y="60" width="120" height="120" as="geometry" />
+        </mxCell>
+        <mxCell id="VN9_mGhUesFHwJ--pmr3-2" value="CAN" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
+          <mxGeometry x="120" y="180" width="120" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="VN9_mGhUesFHwJ--pmr3-3" value="CAN" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
+          <mxGeometry x="120" y="220" width="120" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="VN9_mGhUesFHwJ--pmr3-4" value="Physical" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
+          <mxGeometry x="40" y="220" width="80" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="VN9_mGhUesFHwJ--pmr3-6" value="Data Link" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
+          <mxGeometry x="40" y="180" width="80" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="VN9_mGhUesFHwJ--pmr3-7" value="Network" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
+          <mxGeometry x="40" y="140" width="80" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="VN9_mGhUesFHwJ--pmr3-8" value="Transport" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
+          <mxGeometry x="40" y="100" width="80" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="VN9_mGhUesFHwJ--pmr3-10" value="Application" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
+          <mxGeometry x="40" y="60" width="80" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="VN9_mGhUesFHwJ--pmr3-11" value="1" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
+          <mxGeometry x="440" y="220" width="80" height="20" as="geometry" />
+        </mxCell>
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can-interface/components/CAN-Protocol-Stack/docs/NetworkStack.drawio

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can-interface/components/CAN-Protocol-Stack/include/canTP.hpp

@@ -0,0 +1,51 @@
+#pragma once
+#include "mcp2521_toplevel.hpp"
+
+typedef void (*rx_handler)(uint8_t *data, uint8_t length, void *arg);
+
+enum CANTP_FRAME_TYPE {
+    SINGLE_FRAME = 0b00,
+    FIRST_FRAME = 0b01,
+    CONSECUTIVE_FRAME = 0b10,
+    FLOW_CONTROL = 0b11
+};
+
+enum CANTP_FLOW_STATUS {
+    CLEAR_TO_SEND = 0b0000,
+    WAIT = 0b0001,
+    OVERLOAD = 0b0010
+};
+
+enum CAN_MULTI_FRAME_STATES {
+    WAITING_FOR_FIRST_FRAME,
+    WAITING_FOR_CONSECUTIVE_FRAME,
+}
+
+class SocketCANTP {
+private:
+    rx_handler userHandler;
+    void *userArg;
+
+    MCP2521 *mcp2521;
+    uint32_t address;
+    bool is_extended;
+
+    uint8_t rxBuffer[4096];
+    uint8_t txBuffer[4096];
+
+    size_t rxLength;
+
+    int consecitonFrameCounter;
+    uint8_t blockSizes;
+
+protected:
+    void sendFlowControl(CANTP_FLOW_STATUS status, uint8_t blockSize, uint8_t separationTime);
+
+public:
+    SocketCANTP(MCP2521 *mcp2521, uint32_t address, bool is_extended, uint8_t blockSizes);
+
+    void send(uint8_t *data, uint8_t length);
+    void register_rx_handler(rx_handler handler, void *arg);
+
+    void onRxHandler();
+}

can-interface/components/mcp2521

@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/mcp2521

can-interface/components/mcp2521_hardware_interface

@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/mcp2521_hardware_interface

can-interface/main/CMakeLists.txt

@@ -0,0 +1,7 @@
+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 "")

can-interface/main/can-interface.code-workspace

@@ -0,0 +1,7 @@
+{
+    "folders": [
+        {
+            "path": ".."
+        }
+    ]
+}

can-interface/main/hello_world_main.cpp

@@ -0,0 +1,129 @@
+/*
+ * SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: CC0-1.0
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <inttypes.h>
+#include "sdkconfig.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+
+#include "esp_chip_info.h"
+#include "esp_flash.h"
+#include "esp_system.h"
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+
+#include "mcp2521.hpp"
+
+#define SPI_PIN_SCLK GPIO_NUM_18
+#define SPI_PIN_MISO GPIO_NUM_19
+#define SPI_PIN_MOSI GPIO_NUM_23
+
+#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");
+
+    const gpio_num_t LED_PIN = GPIO_NUM_2;
+    gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);
+
+    vTaskDelay(100 / portTICK_PERIOD_MS);
+    
+    MCP2521_HardwareHandleFactory_ESPBus mcp2521_hardware_factory(
+        VSPI_HOST,
+        SPI_PIN_MOSI,
+        SPI_PIN_MISO,
+        SPI_PIN_SCLK
+    );
+
+    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);
+
+    MCP2521 mcp2521_0(&hardware_mcp2521_0);
+    MCP2521 mcp2521_1(&hardware_mcp2521_1);
+
+    uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
+
+    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);
+
+    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(500 / portTICK_PERIOD_MS);
+    }
+}

can-interface/session-setup

@@ -0,0 +1,152 @@
+[General]
+decode_signals=2
+meta_objs=0
+views=1
+
+[D0]
+color=4291714048
+conv_options=0
+conversion_type=0
+enabled=true
+name=INT0
+
+[D1]
+color=4281623972
+conv_options=0
+conversion_type=0
+enabled=true
+name=CLK
+
+[D2]
+color=4281623972
+conv_options=0
+conversion_type=0
+enabled=true
+name=MOSI
+
+[D3]
+color=4281623972
+conv_options=0
+conversion_type=0
+enabled=true
+name=MISO
+
+[D4]
+color=4294277376
+conv_options=0
+conversion_type=0
+enabled=true
+name=CE0
+
+[D5]
+color=4279638298
+conv_options=0
+conversion_type=0
+enabled=true
+name=INT1
+
+[D6]
+color=4279638298
+conv_options=0
+conversion_type=0
+enabled=true
+name=CE1
+
+[D7]
+color=4285878395
+conv_options=0
+conversion_type=0
+enabled=true
+name=D7
+
+[decode_signal0]
+channel0\assigned_signal_name=CLK
+channel0\initial_pin_state=2
+channel0\name=CLK
+channel1\assigned_signal_name=MISO
+channel1\initial_pin_state=2
+channel1\name=MISO
+channel2\assigned_signal_name=MOSI
+channel2\initial_pin_state=2
+channel2\name=MOSI
+channel3\assigned_signal_name=CE0
+channel3\initial_pin_state=2
+channel3\name=CS#
+channels=4
+color=4294277376
+conv_options=0
+conversion_type=0
+decoder0\ann_class0\visible=true
+decoder0\ann_class1\visible=true
+decoder0\ann_class2\visible=true
+decoder0\ann_class3\visible=true
+decoder0\ann_class4\visible=true
+decoder0\ann_class5\visible=true
+decoder0\ann_class6\visible=true
+decoder0\id=spi
+decoder0\options=0
+decoder0\row0\visible=true
+decoder0\row1\visible=true
+decoder0\row2\visible=true
+decoder0\row3\visible=true
+decoder0\row4\visible=true
+decoder0\row5\visible=true
+decoder0\row6\visible=true
+decoder0\visible=true
+decoders=1
+enabled=true
+name=SPI0
+
+[decode_signal1]
+channel0\assigned_signal_name=CLK
+channel0\initial_pin_state=2
+channel0\name=CLK
+channel1\assigned_signal_name=MISO
+channel1\initial_pin_state=2
+channel1\name=MISO
+channel2\assigned_signal_name=MOSI
+channel2\initial_pin_state=2
+channel2\name=MOSI
+channel3\assigned_signal_name=CE1
+channel3\initial_pin_state=2
+channel3\name=CS#
+channels=4
+color=4279638298
+conv_options=0
+conversion_type=0
+decoder0\ann_class0\visible=true
+decoder0\ann_class1\visible=true
+decoder0\ann_class2\visible=true
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+
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common-libaries/mcp2521/CMakeLists.txt

@@ -0,0 +1,8 @@
+idf_component_register(SRCS
+                         "interface_commands.cpp"
+                         "interface_interrupts.cpp"
+                         "toplevel_commands.cpp"
+                       INCLUDE_DIRS "include"
+                       REQUIRES driver
+                       REQUIRES mcp2521_hardware_interface
+                       )

common-libaries/mcp2521/docs/.$MCP2521_Libary_ClassDiagram.drawio.bkp

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common-libaries/mcp2521/include/bitfields.hpp

@@ -0,0 +1,177 @@
+#pragma once
+#include <cstdint>
+
+/**
+ * @brief RXnBF PIN CONTROL AND STATUS REGISTER (ADDRESS: 0Ch)
+ * 
+ */
+struct BFPCTRL {
+    uint8_t B0BFM : 1;
+    uint8_t B1BFM : 1;
+    uint8_t B0BFE : 1;
+    uint8_t B1BFE : 1;
+    uint8_t B0BFS : 1;
+    uint8_t B1BFS : 1;
+    uint8_t : 2;
+};
+
+/**
+ * @brief TXnRTS PIN CONTROL AND STATUS REGISTER
+ * 
+ */
+struct TXRTSCTRL {
+    uint8_t B0RTSM : 1;
+    uint8_t B1RTSM : 1;
+    uint8_t B2RTSM : 1;
+    uint8_t B0RTS : 1;
+    uint8_t B1RTS : 1;
+    uint8_t B2RTS : 1;
+    uint8_t : 2;
+};
+
+struct CANSTAT {
+    uint8_t ICOD0 : ;
+    uint8_t : 1;
+    uint8_t OPMOD0 : 1;
+    uint8_t OPMOD1 : 1;
+    uint8_t OPMOD2 : 1;
+    uint8_t : 1;
+};
+
+struct CANCTRL {
+    uint8_t CLKPRE0 : 1;
+    uint8_t CLKPRE1 : 1;
+    uint8_t CLKEN : 1;
+    uint8_t OSM : 1;
+    uint8_t ABAT : 1;
+    uint8_t REQOP0 : 1;
+    uint8_t REQOP1 : 1;
+    uint8_t REQOP2 : 1;
+};
+
+struct TEC {
+    uint8_t TEC;
+};
+
+struct REC {
+    uint8_t REC;
+};
+
+struct CNF3 {
+    uint8_t PHSEG20 : 1;
+    uint8_t PHSEG21 : 1;
+    uint8_t PHSEG22 : 1;
+    uint8_t : 3;
+    uint8_t WAKFIL : 1;
+    uint8_t SOF : 1;
+};
+
+struct CNF2 {
+    uint8_t PRSEG0 : 1;
+    uint8_t PRSEG1 : 1;
+    uint8_t PRSEG2 : 1;
+    uint8_t PHSEG10 : 1;
+    uint8_t PHSEG11 : 1;
+    uint8_t PHSEG12 : 1;
+    uint8_t SAM : 1;
+    uint8_t BTLMODE : 1;
+};
+
+struct CNF1 {
+    uint8_t BRP0 : 1;
+    uint8_t BRP1 : 1;
+    uint8_t BRP2 : 1;
+    uint8_t BRP3 : 1;
+    uint8_t BRP4 : 1;
+    uint8_t BRP5 : 1;
+    uint8_t SJW0 : 1;
+    uint8_t SJW1 : 1;
+};
+
+struct CANINTE {
+    uint8_t RX0IE : 1;
+    uint8_t RX1IE : 1;
+    uint8_t TX0IE : 1;
+    uint8_t TX1IE : 1;
+    uint8_t TX2IE : 1;
+    uint8_t ERRIE : 1;
+    uint8_t WAKIE : 1;
+    uint8_t MERRE : 1;
+};
+
+struct CANINTF {
+    uint8_t RX0IF : 1;
+    uint8_t RX1IF : 1;
+    uint8_t TX0IF : 1;
+    uint8_t TX1IF : 1;
+    uint8_t TX2IF : 1;
+    uint8_t ERRIF : 1;
+    uint8_t WAKIF : 1;
+    uint8_t MERRF : 1;
+};
+
+struct EFLG {
+    uint8_t EWARN : 1;
+    uint8_t RXWAR : 1;
+    uint8_t TXWAR : 1;
+    uint8_t RXEP : 1;
+    uint8_t TXEP : 1;
+    uint8_t TXBO : 1;
+    uint8_t RX0OVR : 1;
+    uint8_t RX1OVR : 1;
+};
+
+struct TXB0CTRL {
+    uint8_t TXP0 : 1;
+    uint8_t TXP1 : 1;
+    uint8_t : 1;
+    uint8_t TXREQ : 1;
+    uint8_t TXERR : 1;
+    uint8_t MLOA : 1;
+    uint8_t ABTF : 1;
+    uint8_t : 1;
+};
+
+struct TXB1CTRL {
+    uint8_t TXP0 : 1;
+    uint8_t TXP1 : 1;
+    uint8_t : 1;
+    uint8_t TXREQ : 1;
+    uint8_t TXERR : 1;
+    uint8_t MLOA : 1;
+    uint8_t ABTF : 1;
+    uint8_t : 1;
+};
+
+struct TXB2CTRL {
+    uint8_t TXP0 : 1;
+    uint8_t TXP1 : 1;
+    uint8_t : 1;
+    uint8_t TXREQ : 1;
+    uint8_t TXERR : 1;
+    uint8_t MLOA : 1;
+    uint8_t ABTF : 1;
+    uint8_t : 1;
+};
+
+struct RXB0CTRL {
+    uint8_t FILHIT0 : 1;
+    uint8_t BUKT1 : 1;
+    uint8_t BUKT : 1;
+    uint8_t RXRTR : 1;
+    uint8_t : 1;
+    uint8_t RXM0 : 1;
+    uint8_t RXM1 : 1;
+    uint8_t : 1;
+};
+
+struct RXB1CTRL {
+    uint8_t FILHIT0 : 1;
+    uint8_t FILHIT1 : 1;
+    uint8_t FILHIT2 : 1;
+    uint8_t RXRTR : 1;
+    uint8_t : 1;
+    uint8_t RXM0 : 1;
+    uint8_t RXM1 : 1;
+    uint8_t : 1;
+};

common-libaries/mcp2521/include/mcp2521.hpp

@@ -0,0 +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"

common-libaries/mcp2521/include/mcp2521_addresses.hpp

@@ -0,0 +1,192 @@
+#pragma once
+#include <stdint.h> 
+
+#define MCP2521_BFPCTRL 0x0C
+#define MCP2521_BFPCTRL_B1BFS (1 << 5)
+#define MCP2521_BFPCTRL_B0BFS (1 << 4)
+#define MCP2521_BFPCTRL_B1BFE (1 << 3)
+#define MCP2521_BFPCTRL_B0BFE (1 << 2)
+#define MCP2521_BFPCTRL_B1BFM (1 << 1)
+#define MCP2521_BFPCTRL_B0BFM (1 << 0)
+
+#define MCP2521_TXRTSCTRL 0x0D
+#define MCP2521_TXRTSCTRL_B2RTS (1 << 5)
+#define MCP2521_TXRTSCTRL_B1RTS (1 << 4)
+#define MCP2521_TXRTSCTRL_B0RTS (1 << 3)
+#define MCP2521_TXRTSCTRL_B2RTSM (1 << 2)
+#define MCP2521_TXRTSCTRL_B1RTSM (1 << 1)
+#define MCP2521_TXRTSCTRL_B0RTSM (1 << 0)
+
+#define MCP2521_CANSTAT 0x0E
+#define MCP2521_CANSTAT_OPMOD2 (1 << 7)
+#define MCP2521_CANSTAT_OPMOD1 (1 << 6)
+#define MCP2521_CANSTAT_OPMOD0 (1 << 5)
+#define MCP2521_CANSTAT_ICOD2 (1 << 2)
+#define MCP2521_CANSTAT_ICOD1 (1 << 1)
+#define MCP2521_CANSTAT_ICOD0 (1 << 0)
+
+struct CANSTAT_Register {
+    uint8_t ICOD : 3;
+    uint8_t : 1; // Unused bit
+    uint8_t OPMOD : 3;
+    uint8_t : 1; // Unused bit
+};
+
+#define MCP2521_CANCTRL 0x0F
+#define MCP2521_CANCTRL_REQOP2 (1 << 7)
+#define MCP2521_CANCTRL_REQOP1 (1 << 6)
+#define MCP2521_CANCTRL_REQOP0 (1 << 5)
+#define MCP2521_CANCTRL_ABAT (1 << 4)
+#define MCP2521_CANCTRL_OSM (1 << 3)
+#define MCP2521_CANCTRL_CLKEN (1 << 2)
+#define MCP2521_CANCTRL_CLKPRE1 (1 << 1)
+#define MCP2521_CANCTRL_CLKPRE0 (1 << 0)
+
+#define MCP2521_TEC 0x1C
+
+#define MCP2521_REC 0x1D
+
+#define MCP2521_CNF3 0x28
+#define MCP2521_CNF3_SOF (1 << 7)
+#define MCP2521_CNF3_WAKFIL (1 << 6)
+#define MCP2521_CNF3_PHSEG22 (1 << 2)
+#define MCP2521_CNF3_PHSEG21 (1 << 1)
+#define MCP2521_CNF3_PHSEG20 (1 << 0)
+
+#define MCP2521_CNF2 0x29
+#define MCP2521_CNF2_BTLMODE (1 << 7)
+#define MCP2521_CNF2_SAM (1 << 6)
+#define MCP2521_CNF2_PHSEG12 (1 << 5)
+#define MCP2521_CNF2_PHSEG11 (1 << 4)
+#define MCP2521_CNF2_PHSEG10 (1 << 3)
+#define MCP2521_CNF2_PRSEG2 (1 << 2)
+#define MCP2521_CNF2_PRSEG1 (1 << 1)
+#define MCP2521_CNF2_PRSEG0 (1 << 0)
+
+#define MCP2521_CNF1 0x2A
+#define MCP2521_CNF1_SJW1 (1 << 7)
+#define MCP2521_CNF1_SJW0 (1 << 6)
+#define MCP2521_CNF1_BRP5 (1 << 5)
+#define MCP2521_CNF1_BRP4 (1 << 4)
+#define MCP2521_CNF1_BRP3 (1 << 3)
+#define MCP2521_CNF1_BRP2 (1 << 2)
+#define MCP2521_CNF1_BRP1 (1 << 1)
+#define MCP2521_CNF1_BRP0 (1 << 0)
+
+#define MCP2521_CANINTE 0x2B
+#define MCP2521_CANINTE_MERRE (1 << 7)
+#define MCP2521_CANINTE_WAKIE (1 << 6)
+#define MCP2521_CANINTE_ERRIE (1 << 5)
+#define MCP2521_CANINTE_TX2IE (1 << 4)
+#define MCP2521_CANINTE_TX1IE (1 << 3)
+#define MCP2521_CANINTE_TX0IE (1 << 2)
+#define MCP2521_CANINTE_RX1IE (1 << 1)
+#define MCP2521_CANINTE_RX0IE (1 << 0)
+
+#define MCP2521_CANINTF 0x2C
+#define MCP2521_CANINTF_MERRF (1 << 7)
+#define MCP2521_CANINTF_WAKIF (1 << 6)
+#define MCP2521_CANINTF_ERRIF (1 << 5)
+#define MCP2521_CANINTF_TX2IF (1 << 4)
+#define MCP2521_CANINTF_TX1IF (1 << 3)
+#define MCP2521_CANINTF_TX0IF (1 << 2)
+#define MCP2521_CANINTF_RX1IF (1 << 1)
+#define MCP2521_CANINTF_RX0IF (1 << 0)
+
+#define MCP2521_EFLG 0x2D
+#define MCP2521_EFLG_RX1OVR (1 << 7)
+#define MCP2521_EFLG_RX0OVR (1 << 6)
+#define MCP2521_EFLG_TXBO (1 << 5)
+#define MCP2521_EFLG_TXEP (1 << 4)
+#define MCP2521_EFLG_RXEP (1 << 3)
+#define MCP2521_EFLG_TXWAR (1 << 2)
+#define MCP2521_EFLG_RXWAR (1 << 1)
+#define MCP2521_EFLG_EWARN (1 << 0)
+
+#define MCP2521_TXB0CTRL 0x30
+#define MCP2521_TXB0CTRL_ABTF (1 << 6)
+#define MCP2521_TXB0CTRL_MLOA (1 << 5)
+#define MCP2521_TXB0CTRL_TXERR (1 << 4)
+#define MCP2521_TXB0CTRL_TXREQ (1 << 3)
+#define MCP2521_TXB0CTRL_TXP1 (1 << 1)
+#define MCP2521_TXB0CTRL_TXP0 (1 << 0)
+
+#define MCP2521_TXB0DLC 0x35
+#define MCP2521_TXB1DLC 0x45
+#define MCP2521_TXB2DLC 0x55
+
+#define MCP2521_TXB1CTRL 0x40
+#define MCP2521_TXB1CTRL_ABTF (1 << 6)
+#define MCP2521_TXB1CTRL_MLOA (1 << 5)
+#define MCP2521_TXB1CTRL_TXERR (1 << 4)
+#define MCP2521_TXB1CTRL_TXREQ (1 << 3)
+#define MCP2521_TXB1CTRL_TXP1 (1 << 1)
+#define MCP2521_TXB1CTRL_TXP0 (1 << 0)
+
+#define MCP2521_TXB2CTRL 0x50
+#define MCP2521_TXB2CTRL_ABTF (1 << 6)
+#define MCP2521_TXB2CTRL_MLOA (1 << 5)
+#define MCP2521_TXB2CTRL_TXERR (1 << 4)
+#define MCP2521_TXB2CTRL_TXREQ (1 << 3)
+#define MCP2521_TXB2CTRL_TXP1 (1 << 1)
+#define MCP2521_TXB2CTRL_TXP0 (1 << 0)
+
+struct TXBnCTRL_Register {
+    uint8_t TXP : 2;
+    uint8_t : 1; // Unused bit
+    uint8_t TXREQ : 1;
+    uint8_t TXERR : 1;
+    uint8_t MLOA : 1;
+    uint8_t ABTF : 1;
+    uint8_t : 1; // Unused bit
+};
+
+
+#define MCP2521_RXB0CTRL 0x60
+#define MCP2521_RXB0CTRL_RXM1 (1 << 6)
+#define MCP2521_RXB0CTRL_RXM0 (1 << 5)
+#define MCP2521_RXB0CTRL_RXRTR (1 << 3)
+#define MCP2521_RXB0CTRL_BUKT (1 << 2)
+#define MCP2521_RXB0CTRL_BUKT1 (1 << 1)
+#define MCP2521_RXB0CTRL_FILHIT0 (1 << 0)
+
+#define MCP2521_RXB1CTRL 0x70
+#define MCP2521_RXB1CTRL_RXM1 (1 << 6)
+#define MCP2521_RXB1CTRL_RXM0 (1 << 5)
+#define MCP2521_RXB1CTRL_RXRTR (1 << 3)
+#define MCP2521_RXB1CTRL_FILHIT2 (1 << 2)
+#define MCP2521_RXB1CTRL_FILHIT1 (1 << 1)
+#define MCP2521_RXB1CTRL_FILHIT0 (1 << 0)
+
+#define MCP2521_OP_RESET            0b11000000
+#define MCP2521_OP_READ             0b00000011
+#define MCP2521_OP_READ_RX_BUFFER   0b10010000
+#define MCP2521_OP_WRITE            0b00000010
+#define MCP2521_OP_LOAD_TX_BUFFER   0b01000000
+#define MCP2521_OP_RTS              0b10000000
+#define MCP2521_OP_READ_STATUS      0b10100000
+#define MCP2521_OP_RX_STATUS        0b10110000
+#define MCP2521_OP_BIT_MODIFY       0b00000101
+
+#define MCP2521_TXB0SIDH 0x31
+#define MCP2521_TXB1SIDH 0x41
+#define MCP2521_TXB2SIDH 0x51
+
+#define MCP2521_TXB0SIDL 0x32
+#define MCP2521_TXB1SIDL 0x42
+#define MCP2521_TXB2SIDL 0x52
+
+#define MCP2521_RXB0SIDH 0x61
+#define MCP2521_RXB1SIDH 0x71
+
+#define MCP2521_RXB0SIDL 0x62
+#define MCP2521_RXB1SIDL 0x72
+
+#define MCP2521_RXB0EID8 0x63
+#define MCP2521_RXB1EID8 0x73
+
+#define MCP2521_RXB0EID0 0x64
+#define MCP2521_RXB1EID0 0x74
+
+#define MCP2521_RXB0DLC 0x65
+#define MCP2521_RXB1DLC 0x75

common-libaries/mcp2521/include/mcp2521_command.hpp

@@ -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);
+};
+

common-libaries/mcp2521/include/mcp2521_toplevel.hpp

@@ -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);
+
+};

common-libaries/mcp2521/interface_commands.cpp

@@ -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);
+}

common-libaries/mcp2521/interface_interrupts.cpp

@@ -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);
+}

common-libaries/mcp2521/toplevel_commands.cpp

@@ -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);
+}

common-libaries/mcp2521_hardware_interface/CMakeLists.txt

@@ -0,0 +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)

common-libaries/mcp2521_hardware_interface/esp_implementation_bus.cpp

@@ -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

common-libaries/mcp2521_hardware_interface/esp_implementation_bus_factory.cpp

@@ -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

common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp

@@ -0,0 +1,209 @@
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+#include "mcp2521_hardware_esp.hpp"
+
+const uint8_t null_buffer[32] = {0};
+
+void MCP2521_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,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 0,
+            .rxlength = 0,
+            .tx_buffer = NULL,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd, uint8_t address) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = address,
+            .length = 0,
+            .rxlength = 0,
+            .tx_buffer = NULL,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_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,
+            .cmd = cmd,
+            .addr = address,
+            .length = 8*length,
+            .rxlength = 8*length,
+            .tx_buffer = null_buffer,
+            .rx_buffer = data
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_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,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 8*length,
+            .rxlength = 8*length,
+            .tx_buffer = NULL,
+            .rx_buffer = data
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t address) {
+    uint8_t result = 0;
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = address,
+            .length = 8,
+            .rxlength = 8,
+            .tx_buffer = null_buffer,
+            .rx_buffer = &result
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+    return result;
+}
+
+uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd) {
+    uint8_t result;
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 8,
+            .rxlength = 8,
+            .tx_buffer = null_buffer,
+            .rx_buffer = &result
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+    return result;
+}
+
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
+    uint8_t result;
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = address,
+            .length = 8*length,
+            .rxlength = 0,
+            .tx_buffer = data,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_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,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 8*length,
+            .rxlength = 0,
+            .tx_buffer = data,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_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,
+            .cmd = cmd,
+            .addr = address,
+            .length = 8,
+            .rxlength = 0,
+            .tx_buffer = &data,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t data) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 8,
+            .rxlength = 0,
+            .tx_buffer = &data,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+#endif

common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp

@@ -0,0 +1,92 @@
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+#include "mcp2521_hardware_esp.hpp"
+#include "driver/gpio.h"
+#include <string.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+MCP2521_HardwareHandle_ESP::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
+) {
+    initPins(int_pin);
+    initSPIBus(spi_host, mosi, miso, sclk, bus_config);
+    this->spi_bus_config = bus_config;
+    initSPIDevice(spi_host, cs);
+}
+
+MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
+    spi_host_device_t spi_host,
+    spi_bus_config_t *bus_config,
+    gpio_num_t cs, 
+    gpio_num_t int_pin
+) {
+    initPins(int_pin);
+    this->spi_bus_config = bus_config;
+    initSPIDevice(spi_host, cs);
+}
+
+MCP2521_HardwareHandle_ESP::~MCP2521_HardwareHandle_ESP() {
+
+}
+
+void MCP2521_HardwareHandle_ESP::initSPIBus(
+    spi_host_device_t spi_host,
+    gpio_num_t mosi, 
+    gpio_num_t miso, 
+    gpio_num_t sclk, 
+    spi_bus_config_t *bus_config
+) {
+    memset(bus_config, 0, sizeof(spi_bus_config_t));
+    bus_config->mosi_io_num = mosi;
+    bus_config->miso_io_num = miso;
+    bus_config->sclk_io_num = sclk;
+
+    bus_config->quadwp_io_num = -1;
+    bus_config->quadhd_io_num = -1;
+
+    bus_config->flags = SPICOMMON_BUSFLAG_MASTER;
+    spi_bus_initialize(spi_host, bus_config, SPI_DMA_CH_AUTO);
+}
+
+void MCP2521_HardwareHandle_ESP::initSPIDevice(
+    spi_host_device_t spi_host,
+    gpio_num_t cs
+) {
+    memset(&this->spi_device_config, 0, sizeof(spi_device_interface_config_t));
+    this->spi_device_config = {
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+
+        .mode = 0,
+        .duty_cycle_pos = 128,
+        // cs_ena_pretrans = 0 and cs_ena_posttrans = 0 need to be set to zero, if not its not compatible with full-duplex mode
+        // Learned this the hard way
+        .cs_ena_pretrans = 0,
+        .cs_ena_posttrans = 0,
+        .clock_speed_hz = 10000,
+
+        .spics_io_num = cs,
+        .flags = SPI_DEVICE_NO_DUMMY,
+        .queue_size = 5,
+    };
+
+    spi_bus_add_device(spi_host, &this->spi_device_config, &this->spi_device_handle);
+
+    spiMutex = xSemaphoreCreateMutex();
+}
+
+spi_bus_config_t * MCP2521_HardwareHandle_ESP::getSPI_bus_config() {
+    return this->spi_bus_config;
+}
+
+#endif

common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp

@@ -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

common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp

@@ -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

common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus.hpp

@@ -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
+    );
+};

common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus_factory.hpp

@@ -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

common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp

@@ -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;
+};
+

spec/gobot-spec/.obsidian/app.json

@@ -0,0 +1 @@
+{}

spec/gobot-spec/.obsidian/appearance.json

@@ -0,0 +1 @@
+{}

spec/gobot-spec/.obsidian/community-plugins.json

@@ -0,0 +1,4 @@
+[
+  "table-editor-obsidian",
+  "dataview"
+]

spec/gobot-spec/.obsidian/core-plugins.json

@@ -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
+}

spec/gobot-spec/.obsidian/graph.json

@@ -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
+}

spec/gobot-spec/.obsidian/plugins/dataview/manifest.json

@@ -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
+}

spec/gobot-spec/.obsidian/plugins/dataview/styles.css

@@ -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: ")";
+}

spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/data.json

@@ -0,0 +1,6 @@
+{
+  "formatType": "normal",
+  "showRibbonIcon": true,
+  "bindEnter": true,
+  "bindTab": true
+}

spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/manifest.json

@@ -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"
+}

spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/styles.css

@@ -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;
+}

spec/gobot-spec/.obsidian/workspace.json

@@ -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"
+            }
+          },
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