Compare commits
3 Commits
c6fd825e39
...
can-interf
| Author | SHA1 | Date | |
|---|---|---|---|
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bdec2db94d | ||
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c1dc89eb58 | ||
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f26cc07558 |
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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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can-interface/.vscode/settings.json
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can-interface/.vscode/settings.json
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@@ -10,10 +10,11 @@
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|||||||
"idf.openOcdConfigs": [
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"idf.openOcdConfigs": [
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||||||
"board/esp32-wrover-kit-3.3v.cfg"
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"board/esp32-wrover-kit-3.3v.cfg"
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||||||
],
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],
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||||||
"idf.port": "/dev/ttyUSB0",
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"idf.port": "/dev/ttyUSB1",
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||||||
"idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
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"idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
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||||||
"idf.toolsPath": "/home/alexander/.espressif",
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"idf.toolsPath": "/home/alexander/.espressif",
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||||||
"idf.flashType": "UART",
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"idf.flashType": "JTAG",
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||||||
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"idf.openOcdLaunchArgs": ["-c", "adapter_khz 10000"],
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||||||
"files.associations": {
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"files.associations": {
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||||||
"*.tcc": "cpp",
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"*.tcc": "cpp",
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||||||
"cstdint": "cpp",
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"cstdint": "cpp",
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||||||
@@ -24,6 +25,7 @@
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|||||||
"regex": "cpp",
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"regex": "cpp",
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||||||
"array": "cpp",
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"array": "cpp",
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||||||
"string": "cpp",
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"string": "cpp",
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||||||
"span": "cpp"
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"span": "cpp",
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||||||
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"cstring": "cpp"
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||||||
}
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}
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||||||
}
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}
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||||||
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|||||||
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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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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
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@@ -0,0 +1 @@
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|||||||
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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
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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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||||||
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"canTP.cpp"
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||||||
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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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)
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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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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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CANTP_FRAME_TYPE ft = static_cast<CANTP_FRAME_TYPE>((tmpBuffer[0] & 0xF0) >> 4);
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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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||||||
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int sizeTotal = ((tmpBuffer[0] & 0x0F) << 8 | tmpBuffer[1]) - 6;
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consecitonFrameCounter = ceil(((float)(sizeTotal)) / 7.0);
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memcpy(rxBuffer, tmpBuffer + 1, 6);
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sendFlowControl(CANTP_FLOW_STATUS::CLEAR_TO_SEND, blockSizes, 0);
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||||||
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break;
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||||||
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case CANTP_FRAME_TYPE::CONSECUTIVE_FRAME:
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||||||
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consecitonFrameCounter--;
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||||||
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if(consecitonFrameCounter == 0) {
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if (userHandler) {
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|
userHandler(rxBuffer, rxLength, userArg);
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||||||
|
}
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||||||
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}
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||||||
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break;
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||||||
|
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||||||
|
case CANTP_FRAME_TYPE::FLOW_CONTROL:
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||||||
|
break;
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||||||
|
}
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||||||
|
}
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||||||
|
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||||||
|
|
||||||
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SocketCANTP::SocketCANTP(
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||||||
|
MCP2521 *mcp2521,
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||||||
|
uint32_t address,
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||||||
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bool is_extended,
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||||||
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uint8_t blockSizes
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||||||
|
) {
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||||||
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this->mcp2521 = mcp2521;
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||||||
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this->address = address;
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||||||
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this->is_extended = is_extended;
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||||||
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this->rxLength = 0;
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||||||
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this->consecitonFrameCounter = 0;
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||||||
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this->blockSizes = 0;
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||||||
|
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||||||
|
mcp2521->register_rx0_handler(onRxHandlerWrapper, this);
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||||||
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}
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||||||
|
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||||||
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void SocketCANTP::send(uint8_t *data, uint8_t length) {
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||||||
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mcp2521->prepare_tx(
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||||||
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MCP2521_TX_BUFFER::TXB0, address, data, length, is_extended, false);
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||||||
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mcp2521->request_to_send(MCP2521_TX_BUFFER::TXB0);
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||||||
|
}
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||||||
|
|
||||||
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void SocketCANTP::register_rx_handler(rx_handler handler, void *arg) {
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||||||
|
userHandler = handler;
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||||||
|
userArg = arg;
|
||||||
|
}
|
||||||
@@ -0,0 +1,556 @@
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|||||||
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<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">
|
||||||
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<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">
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||||||
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<root>
|
||||||
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<mxCell id="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">
|
||||||
|
<mxGeometry x="120" y="60" width="120" height="120" as="geometry" />
|
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</mxCell>
|
||||||
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<mxCell id="VN9_mGhUesFHwJ--pmr3-2" value="CAN" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
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<mxGeometry x="120" y="180" width="120" height="40" as="geometry" />
|
||||||
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</mxCell>
|
||||||
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<mxCell id="VN9_mGhUesFHwJ--pmr3-3" value="CAN" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
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<mxGeometry x="120" y="220" width="120" height="40" as="geometry" />
|
||||||
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</mxCell>
|
||||||
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<mxCell id="VN9_mGhUesFHwJ--pmr3-4" value="Physical" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
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|
<mxGeometry x="40" y="220" width="80" height="40" as="geometry" />
|
||||||
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</mxCell>
|
||||||
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<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">
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|
<mxGeometry x="40" y="180" width="80" height="40" as="geometry" />
|
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</mxCell>
|
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<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">
|
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|
<mxGeometry x="40" y="100" width="80" height="40" as="geometry" />
|
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</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">
|
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<mxGeometry x="40" y="60" width="80" height="40" as="geometry" />
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</mxCell>
|
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|
<mxCell id="VN9_mGhUesFHwJ--pmr3-11" value="1" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
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|
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</mxCell>
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<mxCell id="VN9_mGhUesFHwJ--pmr3-12" value="2" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
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|
<mxGeometry x="520" y="220" width="80" height="20" as="geometry" />
|
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</mxCell>
|
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|
<mxCell id="VN9_mGhUesFHwJ--pmr3-13" value="3" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
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<mxGeometry x="600" y="220" width="80" height="20" as="geometry" />
|
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</mxCell>
|
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<mxCell id="VN9_mGhUesFHwJ--pmr3-15" value="4" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
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<mxGeometry x="680" y="220" width="80" height="20" as="geometry" />
|
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</mxCell>
|
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<mxCell id="VN9_mGhUesFHwJ--pmr3-16" value="5" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
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<mxCell id="VN9_mGhUesFHwJ--pmr3-17" value="6" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
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</mxCell>
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<mxCell id="VN9_mGhUesFHwJ--pmr3-19" value="7" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
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|
<mxGeometry x="920" y="220" width="80" height="20" as="geometry" />
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|
</mxCell>
|
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|
<mxCell id="VN9_mGhUesFHwJ--pmr3-20" value="0" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
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|
<mxGeometry x="360" y="220" width="80" height="20" as="geometry" />
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|
</mxCell>
|
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|
<mxCell id="VN9_mGhUesFHwJ--pmr3-22" value="Bit" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
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|
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|
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|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-23" value="RPC Number" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
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|
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|
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|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-25" value="RPC Segment Number" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
<mxCell id="VN9_mGhUesFHwJ--pmr3-30" value="3" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
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|
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|
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<mxCell id="VN9_mGhUesFHwJ--pmr3-36" value="5" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
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|
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<mxGeometry width="50" height="50" relative="1" as="geometry">
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<mxGeometry x="160" y="1240" width="120" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-269" value="Set Vacum" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="160" y="1280" width="120" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-270" value="Up (0) / Down (1)" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="281" y="1240" width="120" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-271" value="Off (0) / On (1)" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="281.29" y="1281" width="120" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-273" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="119.28" y="1099.71" as="sourcePoint" />
|
||||||
|
<mxPoint x="159.28" y="1099.71" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-274" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="119.28" y="1139.71" as="sourcePoint" />
|
||||||
|
<mxPoint x="159.28" y="1139.71" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-275" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="118.57" y="1220" as="sourcePoint" />
|
||||||
|
<mxPoint x="158.57" y="1220" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-276" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="119.28" y="1180" as="sourcePoint" />
|
||||||
|
<mxPoint x="159.28" y="1180" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-277" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="118.57" y="1300" as="sourcePoint" />
|
||||||
|
<mxPoint x="158.57" y="1300" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-278" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="181" y="1120" as="sourcePoint" />
|
||||||
|
<mxPoint x="221" y="1120" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-279" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="119.28999999999999" y="1259.86" as="sourcePoint" />
|
||||||
|
<mxPoint x="159.29" y="1259.86" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-282" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="120" y="1340" as="sourcePoint" />
|
||||||
|
<mxPoint x="160" y="1340" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-283" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="121" y="1379.6699999999998" as="sourcePoint" />
|
||||||
|
<mxPoint x="161" y="1379.6699999999998" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-284" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="120" y="1420" as="sourcePoint" />
|
||||||
|
<mxPoint x="160" y="1420" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-285" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="120" y="1499.83" as="sourcePoint" />
|
||||||
|
<mxPoint x="160" y="1499.83" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-286" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="118.57" y="1459.76" as="sourcePoint" />
|
||||||
|
<mxPoint x="158.57" y="1459.76" as="targetPoint" />
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-288" value="Get Info" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="158.57" y="920" width="120" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-289" value="CAN-Address" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="280" y="940" width="120" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-290" value="Node Type" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="400" y="940" width="120" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-292" value="Status Bits" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="520" y="940" width="120" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-293" value="Error Code" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="640" y="940" width="120" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-294" value="Head" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;rotation=-90;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="-0.71" y="1200.29" width="118.57" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-295" value="Vacum" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;rotation=-90;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40.5" y="1280.5" width="41" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="VN9_mGhUesFHwJ--pmr3-296" value="ALL" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;rotation=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="920" width="36.36" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
</root>
|
||||||
|
</mxGraphModel>
|
||||||
|
</diagram>
|
||||||
|
</mxfile>
|
||||||
@@ -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();
|
||||||
|
}
|
||||||
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 driver
|
||||||
REQUIRES mcp2521
|
REQUIRES mcp2521
|
||||||
REQUIRES mcp2521_hardware_interface
|
REQUIRES mcp2521_hardware_interface
|
||||||
|
REQUIRES CAN-Protocol-Stack
|
||||||
REQUIRES spi_flash
|
REQUIRES spi_flash
|
||||||
INCLUDE_DIRS "")
|
INCLUDE_DIRS "")
|
||||||
|
|||||||
@@ -23,23 +23,40 @@
|
|||||||
|
|
||||||
#include "mcp2521.hpp"
|
#include "mcp2521.hpp"
|
||||||
|
|
||||||
#define SPI_PIN_CS0 GPIO_NUM_5
|
|
||||||
#define SPI_PIN_SCLK GPIO_NUM_18
|
#define SPI_PIN_SCLK GPIO_NUM_18
|
||||||
#define SPI_PIN_MISO GPIO_NUM_19
|
#define SPI_PIN_MISO GPIO_NUM_19
|
||||||
#define SPI_PIN_MOSI GPIO_NUM_23
|
#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
|
||||||
|
|
||||||
void onRX(void *arg) {
|
#define CAN_INT0_PIN GPIO_NUM_5
|
||||||
MCP2521 *mcp2521 = (MCP2521 *)arg;
|
#define CAN_INT1_PIN GPIO_NUM_26
|
||||||
|
|
||||||
rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
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];
|
uint8_t data[8];
|
||||||
|
|
||||||
mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
||||||
|
|
||||||
printf("RX: (%x) ", info.id);
|
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++) {
|
for (int i = 0; i < info.length; i++) {
|
||||||
printf("%x ", data[i]);
|
printf("%x ", data[i]);
|
||||||
}
|
}
|
||||||
@@ -52,46 +69,53 @@ extern "C" void app_main() {
|
|||||||
const gpio_num_t LED_PIN = GPIO_NUM_2;
|
const gpio_num_t LED_PIN = GPIO_NUM_2;
|
||||||
gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);
|
gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);
|
||||||
|
|
||||||
gpio_set_direction(EXTERNAL_TRIGGER, GPIO_MODE_OUTPUT);
|
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||||
gpio_set_level(EXTERNAL_TRIGGER, true);
|
|
||||||
|
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);
|
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||||
|
|
||||||
|
MCP2521 mcp2521_0(&hardware_mcp2521_0);
|
||||||
spi_bus_config_t spi_bus;
|
MCP2521 mcp2521_1(&hardware_mcp2521_1);
|
||||||
|
|
||||||
MCP2521_Hardware_Handle_ESP hardware_mcp2521(
|
|
||||||
VSPI_HOST,
|
|
||||||
&spi_bus,
|
|
||||||
SPI_PIN_MOSI,
|
|
||||||
SPI_PIN_MISO,
|
|
||||||
SPI_PIN_SCLK,
|
|
||||||
SPI_PIN_CS0,
|
|
||||||
CAN_INT_PIN
|
|
||||||
);
|
|
||||||
|
|
||||||
MCP2521 mcp2521(&hardware_mcp2521);
|
|
||||||
|
|
||||||
uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
|
uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
|
||||||
|
|
||||||
gpio_set_level(EXTERNAL_TRIGGER, false);
|
mcp2521_0.reset();
|
||||||
mcp2521.reset();
|
mcp2521_1.reset();
|
||||||
mcp2521.enable_interrupts(true, true, true, true, true, true, true, true);
|
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.register_rx0_handler(onRX, &mcp2521);
|
mcp2521_0.register_rx0_handler(onRX0, &mcp2521_0);
|
||||||
mcp2521.register_rx1_handler(onRX, &mcp2521);
|
mcp2521_1.register_rx0_handler(onRX1, &mcp2521_1);
|
||||||
mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
|
mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
|
||||||
|
mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
|
||||||
|
|
||||||
vTaskDelay(3 / portTICK_PERIOD_MS);
|
mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
|
||||||
|
mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
|
||||||
|
|
||||||
mcp2521.prepare_tx(
|
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);
|
MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
|
||||||
|
|
||||||
mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||||
|
mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||||
mcp2521.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
|
//vTaskDelay(10 / portTICK_PERIOD_MS);
|
||||||
mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
//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);
|
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||||
|
|
||||||
@@ -100,6 +124,6 @@ extern "C" void app_main() {
|
|||||||
gpio_set_level(LED_PIN, flag);
|
gpio_set_level(LED_PIN, flag);
|
||||||
flag = !flag;
|
flag = !flag;
|
||||||
|
|
||||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
vTaskDelay(500 / portTICK_PERIOD_MS);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
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]
|
||||||
|
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
|
||||||
|
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=SPI1
|
||||||
|
|
||||||
|
[view0]
|
||||||
|
D0\trace_height=38
|
||||||
|
D1\trace_height=38
|
||||||
|
D2\trace_height=38
|
||||||
|
D3\trace_height=38
|
||||||
|
D4\trace_height=38
|
||||||
|
D5\trace_height=38
|
||||||
|
D6\trace_height=38
|
||||||
|
D7\trace_height=38
|
||||||
|
offset=22 serialization::archive 19 0 0 0 0 52315583 48568089 25582163 47181659 91047901 0 -8 1 0 6
|
||||||
|
scale=0.0021854614351496547
|
||||||
|
segment_display_mode=1
|
||||||
|
splitter_state=@ByteArray(\0\0\0\xff\0\0\0\x1\0\0\0\x2\0\0\0Z\0\0\x5\xa2\x1\0\0\0\x1\x1\0\0\0\x1\0)
|
||||||
|
v_offset=-10
|
||||||
|
zero_offset=22 serialization::archive 19 0 0 0 0 0 0 0 0 0 0 0 0 0 6
|
||||||
@@ -0,0 +1,102 @@
|
|||||||
|
<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="FmQN2vLuPXQQGOlHbBG4">
|
||||||
|
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|
||||||
|
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|
||||||
|
<mxCell id="0" />
|
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|
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||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="xzzxaMGRirp7Gwq30BhV-1" value="«interface»<br><font face="Courier New"><b>I_MCP2521_</b><b>HardwareHandle</b></font>" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
|
||||||
|
<mxGeometry x="520" y="120" width="200" height="60" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="xzzxaMGRirp7Gwq30BhV-9" value="<b><font face="Courier New">MCP2521_HardwareHandle_ESP</font></b>" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
|
||||||
|
<mxGeometry x="230" y="260" width="250" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="xzzxaMGRirp7Gwq30BhV-11" value="<b><font face="Courier New">MCP2521_</font></b><b><font face="Courier New">HardwareHandle_ESPBus</font></b>" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
|
||||||
|
<mxGeometry x="230" y="200" width="250" height="40" as="geometry" />
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||||||
|
</mxCell>
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||||||
|
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||||||
|
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||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="xzzxaMGRirp7Gwq30BhV-14" value="SPI - Hardware Level" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
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||||||
|
<mxGeometry x="760" y="280" width="160" height="40" as="geometry" />
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||||||
|
</mxCell>
|
||||||
|
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|
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|
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|
<mxPoint x="570" y="220" />
|
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|
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|
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|
</mxGeometry>
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|
</mxCell>
|
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|
||||||
|
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|
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|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="620" y="280" />
|
||||||
|
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|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="xzzxaMGRirp7Gwq30BhV-17" value="MCP2521 - Device Level" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
|
||||||
|
<mxGeometry x="760" y="388" width="160" height="32" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="xzzxaMGRirp7Gwq30BhV-18" value="<b><font face="Courier New">MCP2521_CommandInterface</font></b>" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
|
||||||
|
<mxGeometry x="520" y="340" width="200" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="xzzxaMGRirp7Gwq30BhV-19" value="<b>MCP2521</b>" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
|
||||||
|
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|
||||||
|
</mxCell>
|
||||||
|
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||||||
|
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|
||||||
|
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|
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|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
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|
||||||
|
<mxGeometry relative="1" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="xzzxaMGRirp7Gwq30BhV-24" value="creates" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="xzzxaMGRirp7Gwq30BhV-23" vertex="1" connectable="0">
|
||||||
|
<mxGeometry x="-0.3135" y="1" relative="1" as="geometry">
|
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|
<mxPoint x="16" y="1" as="offset" />
|
||||||
|
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|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="xzzxaMGRirp7Gwq30BhV-22" value="<b><font face="Courier New">MCP2521_HardwareHandleFactory_ESPBus</font></b>" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
|
||||||
|
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|
</mxCell>
|
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||||||
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|
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|
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|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="xzzxaMGRirp7Gwq30BhV-27" value="<b>Socket_CANTP</b>" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
|
||||||
|
<mxGeometry x="520" y="500" width="200" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="xzzxaMGRirp7Gwq30BhV-28" value="<b>Socket_GoBotRPC</b>" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
|
||||||
|
<mxGeometry x="520" y="580" width="200" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
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|
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||||||
|
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|
||||||
|
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|
||||||
|
</root>
|
||||||
|
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|
||||||
|
</diagram>
|
||||||
|
</mxfile>
|
||||||
@@ -0,0 +1,93 @@
|
|||||||
|
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||||||
|
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|
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||||||
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</diagram>
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||||||
|
</mxfile>
|
||||||
@@ -3,4 +3,5 @@
|
|||||||
#include "mcp2521_toplevel.hpp"
|
#include "mcp2521_toplevel.hpp"
|
||||||
#include "mcp2521_command.hpp"
|
#include "mcp2521_command.hpp"
|
||||||
#include "mcp2521_hardware_esp.hpp"
|
#include "mcp2521_hardware_esp.hpp"
|
||||||
|
#include "mcp2521_hardware_esp_bus_factory.hpp"
|
||||||
#include "mcp2521_addresses.hpp"
|
#include "mcp2521_addresses.hpp"
|
||||||
@@ -40,9 +40,9 @@ struct rx_info {
|
|||||||
uint8_t length;
|
uint8_t length;
|
||||||
};
|
};
|
||||||
|
|
||||||
class MCP2521_Command_Interface {
|
class MCP2521_CommandInterface {
|
||||||
private:
|
private:
|
||||||
MCP2521_Hardware_Handle * hardware_handle;
|
I_MCP2521_HardwareHandle * hardware_handle;
|
||||||
|
|
||||||
intHandlerFunction_t rx0_handler;
|
intHandlerFunction_t rx0_handler;
|
||||||
intHandlerFunction_t rx1_handler;
|
intHandlerFunction_t rx1_handler;
|
||||||
@@ -63,8 +63,8 @@ private:
|
|||||||
void * message_error_handler_arg;
|
void * message_error_handler_arg;
|
||||||
public:
|
public:
|
||||||
|
|
||||||
MCP2521_Command_Interface(
|
MCP2521_CommandInterface(
|
||||||
MCP2521_Hardware_Handle * hardware_handle
|
I_MCP2521_HardwareHandle * hardware_handle
|
||||||
);
|
);
|
||||||
|
|
||||||
void handleInterrupt();
|
void handleInterrupt();
|
||||||
|
|||||||
@@ -5,7 +5,7 @@
|
|||||||
#include "mcp2521_command.hpp"
|
#include "mcp2521_command.hpp"
|
||||||
#include "mcp2521_addresses.hpp"
|
#include "mcp2521_addresses.hpp"
|
||||||
|
|
||||||
class MCP2521 : public MCP2521_Command_Interface {
|
class MCP2521 : public MCP2521_CommandInterface {
|
||||||
private:
|
private:
|
||||||
public:
|
public:
|
||||||
void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);
|
void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);
|
||||||
|
|||||||
@@ -4,12 +4,12 @@
|
|||||||
#include "mcp2521_addresses.hpp"
|
#include "mcp2521_addresses.hpp"
|
||||||
|
|
||||||
void runIntHandler(void *arg) {
|
void runIntHandler(void *arg) {
|
||||||
MCP2521_Command_Interface *command_interface = (MCP2521_Command_Interface *)arg;
|
MCP2521_CommandInterface *command_interface = (MCP2521_CommandInterface *)arg;
|
||||||
command_interface->handleInterrupt();
|
command_interface->handleInterrupt();
|
||||||
}
|
}
|
||||||
|
|
||||||
MCP2521_Command_Interface::MCP2521_Command_Interface(
|
MCP2521_CommandInterface::MCP2521_CommandInterface(
|
||||||
MCP2521_Hardware_Handle * hardware_handle
|
I_MCP2521_HardwareHandle * hardware_handle
|
||||||
) {
|
) {
|
||||||
this->hardware_handle = hardware_handle;
|
this->hardware_handle = hardware_handle;
|
||||||
this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
|
this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
|
||||||
@@ -33,42 +33,42 @@ MCP2521_Command_Interface::MCP2521_Command_Interface(
|
|||||||
message_error_handler_arg = NULL;
|
message_error_handler_arg = NULL;
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Command_Interface::reset() {
|
void MCP2521_CommandInterface::reset() {
|
||||||
hardware_handle->execute(MCP2521_OP_RESET);
|
hardware_handle->execute(MCP2521_OP_RESET);
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Command_Interface::read_reg(uint8_t address, uint8_t *data, size_t length) {
|
void MCP2521_CommandInterface::read_reg(uint8_t address, uint8_t *data, size_t length) {
|
||||||
hardware_handle->read(MCP2521_OP_READ, data, length, address);
|
hardware_handle->read(MCP2521_OP_READ, data, length, address);
|
||||||
}
|
}
|
||||||
|
|
||||||
uint8_t MCP2521_Command_Interface::read_reg(uint8_t address) {
|
uint8_t MCP2521_CommandInterface::read_reg(uint8_t address) {
|
||||||
return hardware_handle->read(MCP2521_OP_READ, 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) {
|
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);
|
uint8_t address = (buffer << 1) | (type << 2);
|
||||||
hardware_handle->read(MCP2521_OP_READ_RX_BUFFER | address, data, length);
|
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) {
|
void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t *data, size_t length) {
|
||||||
hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
|
hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t data) {
|
void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t data) {
|
||||||
hardware_handle->write(MCP2521_OP_WRITE, data, address);
|
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) {
|
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);
|
uint8_t address = (buffer << 1) | (type);
|
||||||
hardware_handle->write(MCP2521_OP_LOAD_TX_BUFFER | address, data, length);
|
hardware_handle->write(MCP2521_OP_LOAD_TX_BUFFER | address, data, length);
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Command_Interface::request_to_send(bool txb2, bool txb1, bool txb0) {
|
void MCP2521_CommandInterface::request_to_send(bool txb2, bool txb1, bool txb0) {
|
||||||
uint8_t data = (txb2 << 2) | (txb1 << 1) | txb0;
|
uint8_t data = (txb2 << 2) | (txb1 << 1) | txb0;
|
||||||
hardware_handle->execute(MCP2521_OP_RTS | data);
|
hardware_handle->execute(MCP2521_OP_RTS | data);
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Command_Interface::request_to_send(MCP2521_TX_BUFFER buffer) {
|
void MCP2521_CommandInterface::request_to_send(MCP2521_TX_BUFFER buffer) {
|
||||||
uint8_t mask = 0;
|
uint8_t mask = 0;
|
||||||
|
|
||||||
switch (buffer) {
|
switch (buffer) {
|
||||||
@@ -86,15 +86,15 @@ void MCP2521_Command_Interface::request_to_send(MCP2521_TX_BUFFER buffer) {
|
|||||||
hardware_handle->execute(MCP2521_OP_RTS | mask);
|
hardware_handle->execute(MCP2521_OP_RTS | mask);
|
||||||
}
|
}
|
||||||
|
|
||||||
uint8_t MCP2521_Command_Interface::read_status() {
|
uint8_t MCP2521_CommandInterface::read_status() {
|
||||||
return hardware_handle->read(MCP2521_OP_READ_STATUS);
|
return hardware_handle->read(MCP2521_OP_READ_STATUS);
|
||||||
}
|
}
|
||||||
|
|
||||||
uint8_t MCP2521_Command_Interface::read_rx_status() {
|
uint8_t MCP2521_CommandInterface::read_rx_status() {
|
||||||
return hardware_handle->read(MCP2521_OP_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) {
|
void MCP2521_CommandInterface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
|
||||||
uint8_t data_array[3] = {address, mask, data};
|
uint8_t data_array[3] = {address, mask, data};
|
||||||
hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
|
hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
|
||||||
}
|
}
|
||||||
@@ -1,47 +1,47 @@
|
|||||||
#include "mcp2521.hpp"
|
#include "mcp2521.hpp"
|
||||||
#include "mcp2521_addresses.hpp"
|
#include "mcp2521_addresses.hpp"
|
||||||
|
|
||||||
void MCP2521_Command_Interface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
|
void MCP2521_CommandInterface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
|
||||||
rx0_handler = handler;
|
rx0_handler = handler;
|
||||||
rx0_handler_arg = args;
|
rx0_handler_arg = args;
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Command_Interface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
|
void MCP2521_CommandInterface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
|
||||||
rx1_handler = handler;
|
rx1_handler = handler;
|
||||||
rx1_handler_arg = args;
|
rx1_handler_arg = args;
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Command_Interface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
|
void MCP2521_CommandInterface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
|
||||||
tx0_handler = handler;
|
tx0_handler = handler;
|
||||||
tx0_handler_arg = args;
|
tx0_handler_arg = args;
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Command_Interface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
|
void MCP2521_CommandInterface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
|
||||||
tx1_handler = handler;
|
tx1_handler = handler;
|
||||||
tx1_handler_arg = args;
|
tx1_handler_arg = args;
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Command_Interface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
|
void MCP2521_CommandInterface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
|
||||||
tx2_handler = handler;
|
tx2_handler = handler;
|
||||||
tx2_handler_arg = args;
|
tx2_handler_arg = args;
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Command_Interface::register_error_handler(intHandlerFunction_t handler, void* args) {
|
void MCP2521_CommandInterface::register_error_handler(intHandlerFunction_t handler, void* args) {
|
||||||
error_handler = handler;
|
error_handler = handler;
|
||||||
error_handler_arg = args;
|
error_handler_arg = args;
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Command_Interface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
|
void MCP2521_CommandInterface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
|
||||||
wakeup_handler = handler;
|
wakeup_handler = handler;
|
||||||
wakeup_handler_arg = args;
|
wakeup_handler_arg = args;
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Command_Interface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
|
void MCP2521_CommandInterface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
|
||||||
message_error_handler = handler;
|
message_error_handler = handler;
|
||||||
message_error_handler_arg = args;
|
message_error_handler_arg = args;
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Command_Interface::handleInterrupt() {
|
void MCP2521_CommandInterface::handleInterrupt() {
|
||||||
uint8_t flags = read_reg(MCP2521_CANINTF);
|
uint8_t flags = read_reg(MCP2521_CANINTF);
|
||||||
uint8_t clearBits = 0;
|
uint8_t clearBits = 0;
|
||||||
|
|
||||||
|
|||||||
@@ -1,5 +1,7 @@
|
|||||||
idf_component_register(SRCS "esp_implementation_init.cpp"
|
idf_component_register(SRCS "esp_implementation_init.cpp"
|
||||||
"esp_implementation_cmd.cpp"
|
"esp_implementation_cmd.cpp"
|
||||||
"esp_implementation_int.cpp"
|
"esp_implementation_int.cpp"
|
||||||
|
"esp_implementation_bus.cpp"
|
||||||
|
"esp_implementation_bus_factory.cpp"
|
||||||
INCLUDE_DIRS "include"
|
INCLUDE_DIRS "include"
|
||||||
REQUIRES driver)
|
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
|
||||||
@@ -5,13 +5,13 @@
|
|||||||
|
|
||||||
const uint8_t null_buffer[32] = {0};
|
const uint8_t null_buffer[32] = {0};
|
||||||
|
|
||||||
void MCP2521_Hardware_Handle_ESP::spi_transmit(spi_transaction_t *t) {
|
void MCP2521_HardwareHandle_ESP::spi_transmit(spi_transaction_t *t) {
|
||||||
xSemaphoreTake(spiMutex, portMAX_DELAY);
|
xSemaphoreTake(spiMutex, portMAX_DELAY);
|
||||||
spi_device_transmit(this->spi_device_handle, t);
|
spi_device_transmit(this->spi_device_handle, t);
|
||||||
xSemaphoreGive(spiMutex);
|
xSemaphoreGive(spiMutex);
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd) {
|
void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd) {
|
||||||
spi_transaction_ext_t t = {
|
spi_transaction_ext_t t = {
|
||||||
.base = {
|
.base = {
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
||||||
@@ -30,7 +30,7 @@ void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd) {
|
|||||||
spi_transmit((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 = {
|
spi_transaction_ext_t t = {
|
||||||
.base = {
|
.base = {
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
||||||
@@ -49,7 +49,7 @@ void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd, uint8_t address) {
|
|||||||
spi_transmit((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 = {
|
spi_transaction_ext_t t = {
|
||||||
.base = {
|
.base = {
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
||||||
@@ -68,7 +68,7 @@ void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length
|
|||||||
spi_transmit((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 = {
|
spi_transaction_ext_t t = {
|
||||||
.base = {
|
.base = {
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
||||||
@@ -87,7 +87,7 @@ void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length
|
|||||||
spi_transmit((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;
|
uint8_t result = 0;
|
||||||
spi_transaction_ext_t t = {
|
spi_transaction_ext_t t = {
|
||||||
.base = {
|
.base = {
|
||||||
@@ -108,7 +108,7 @@ uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
|
|||||||
return result;
|
return result;
|
||||||
}
|
}
|
||||||
|
|
||||||
uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
|
uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd) {
|
||||||
uint8_t result;
|
uint8_t result;
|
||||||
spi_transaction_ext_t t = {
|
spi_transaction_ext_t t = {
|
||||||
.base = {
|
.base = {
|
||||||
@@ -129,7 +129,7 @@ uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
|
|||||||
return result;
|
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;
|
uint8_t result;
|
||||||
spi_transaction_ext_t t = {
|
spi_transaction_ext_t t = {
|
||||||
.base = {
|
.base = {
|
||||||
@@ -149,7 +149,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t lengt
|
|||||||
spi_transmit((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 = {
|
spi_transaction_ext_t t = {
|
||||||
.base = {
|
.base = {
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
||||||
@@ -168,7 +168,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t lengt
|
|||||||
spi_transmit((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 = {
|
spi_transaction_ext_t t = {
|
||||||
.base = {
|
.base = {
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
||||||
@@ -187,7 +187,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data, uint8_t addre
|
|||||||
spi_transmit((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 = {
|
spi_transaction_ext_t t = {
|
||||||
.base = {
|
.base = {
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
||||||
|
|||||||
@@ -8,7 +8,7 @@
|
|||||||
#include "freertos/FreeRTOS.h"
|
#include "freertos/FreeRTOS.h"
|
||||||
#include "freertos/task.h"
|
#include "freertos/task.h"
|
||||||
|
|
||||||
MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
|
MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
|
||||||
spi_host_device_t spi_host,
|
spi_host_device_t spi_host,
|
||||||
spi_bus_config_t *bus_config,
|
spi_bus_config_t *bus_config,
|
||||||
gpio_num_t mosi,
|
gpio_num_t mosi,
|
||||||
@@ -23,7 +23,7 @@ MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
|
|||||||
initSPIDevice(spi_host, cs);
|
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_host_device_t spi_host,
|
||||||
spi_bus_config_t *bus_config,
|
spi_bus_config_t *bus_config,
|
||||||
gpio_num_t cs,
|
gpio_num_t cs,
|
||||||
@@ -34,11 +34,11 @@ MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
|
|||||||
initSPIDevice(spi_host, cs);
|
initSPIDevice(spi_host, cs);
|
||||||
}
|
}
|
||||||
|
|
||||||
MCP2521_Hardware_Handle_ESP::~MCP2521_Hardware_Handle_ESP() {
|
MCP2521_HardwareHandle_ESP::~MCP2521_HardwareHandle_ESP() {
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Hardware_Handle_ESP::initSPIBus(
|
void MCP2521_HardwareHandle_ESP::initSPIBus(
|
||||||
spi_host_device_t spi_host,
|
spi_host_device_t spi_host,
|
||||||
gpio_num_t mosi,
|
gpio_num_t mosi,
|
||||||
gpio_num_t miso,
|
gpio_num_t miso,
|
||||||
@@ -57,7 +57,7 @@ void MCP2521_Hardware_Handle_ESP::initSPIBus(
|
|||||||
spi_bus_initialize(spi_host, bus_config, SPI_DMA_CH_AUTO);
|
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,
|
spi_host_device_t spi_host,
|
||||||
gpio_num_t cs
|
gpio_num_t cs
|
||||||
) {
|
) {
|
||||||
@@ -85,7 +85,7 @@ void MCP2521_Hardware_Handle_ESP::initSPIDevice(
|
|||||||
spiMutex = xSemaphoreCreateMutex();
|
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;
|
return this->spi_bus_config;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@@ -6,16 +6,16 @@
|
|||||||
#include "mcp2521_hardware_esp.hpp"
|
#include "mcp2521_hardware_esp.hpp"
|
||||||
|
|
||||||
static void IRAM_ATTR gpio_isr_can_handler(void* arg) {
|
static void IRAM_ATTR gpio_isr_can_handler(void* arg) {
|
||||||
MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
|
MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
|
||||||
handle->isr_can_interrupt();
|
handle->isr_can_interrupt();
|
||||||
}
|
}
|
||||||
|
|
||||||
static void handleInteruptTaskCallerFn(void *arg) {
|
static void handleInteruptTaskCallerFn(void *arg) {
|
||||||
MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
|
MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
|
||||||
handle->handleIntteruptTaskFn();
|
handle->handleIntteruptTaskFn();
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Hardware_Handle_ESP::initPins(
|
void MCP2521_HardwareHandle_ESP::initPins(
|
||||||
gpio_num_t int_pin
|
gpio_num_t int_pin
|
||||||
) {
|
) {
|
||||||
canInterruptSemaphore = xSemaphoreCreateBinary();
|
canInterruptSemaphore = xSemaphoreCreateBinary();
|
||||||
@@ -31,24 +31,25 @@ void MCP2521_Hardware_Handle_ESP::initPins(
|
|||||||
gpio_install_isr_service(0);
|
gpio_install_isr_service(0);
|
||||||
gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
|
gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
|
||||||
|
|
||||||
xTaskCreate(
|
xTaskCreatePinnedToCore(
|
||||||
(TaskFunction_t)&handleInteruptTaskCallerFn,
|
(TaskFunction_t)&handleInteruptTaskCallerFn,
|
||||||
"canInterruptTask",
|
"canInterruptTask",
|
||||||
2048,
|
2048,
|
||||||
this,
|
this,
|
||||||
5,
|
5,
|
||||||
&canInterruptTaskHandle
|
&canInterruptTaskHandle,
|
||||||
|
0
|
||||||
);
|
);
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Hardware_Handle_ESP::handleIntteruptTaskFn() {
|
void MCP2521_HardwareHandle_ESP::handleIntteruptTaskFn() {
|
||||||
while(true) {
|
while(true) {
|
||||||
xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
|
xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
|
||||||
intHandler(intHandlerArg);
|
intHandler(intHandlerArg);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
|
void MCP2521_HardwareHandle_ESP::isr_can_interrupt() {
|
||||||
BaseType_t wokenTask = pdFALSE;
|
BaseType_t wokenTask = pdFALSE;
|
||||||
xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);
|
xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);
|
||||||
|
|
||||||
@@ -57,7 +58,7 @@ void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void MCP2521_Hardware_Handle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
|
void MCP2521_HardwareHandle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
|
||||||
intHandlerArg = arg;
|
intHandlerArg = arg;
|
||||||
intHandler = handler;
|
intHandler = handler;
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -1,3 +1,13 @@
|
|||||||
|
/**
|
||||||
|
* @file mcp2521_hardware_esp.hpp
|
||||||
|
* @author AlexanderHD27
|
||||||
|
* @brief
|
||||||
|
* @version 0.1
|
||||||
|
* @date 2024-11-16
|
||||||
|
*
|
||||||
|
* @copyright Copyright (c) 2024
|
||||||
|
*
|
||||||
|
*/
|
||||||
#pragma once
|
#pragma once
|
||||||
#include "mcp2521_hardware_handle.hpp"
|
#include "mcp2521_hardware_handle.hpp"
|
||||||
|
|
||||||
@@ -8,24 +18,48 @@
|
|||||||
#include "freertos/FreeRTOS.h"
|
#include "freertos/FreeRTOS.h"
|
||||||
#include "freertos/task.h"
|
#include "freertos/task.h"
|
||||||
|
|
||||||
class MCP2521_Hardware_Handle_ESP : public MCP2521_Hardware_Handle {
|
static void handleInteruptTaskCallerFn(void *arg);
|
||||||
char spi_tmp_buffer;
|
static void IRAM_ATTR gpio_isr_can_handler(void* arg);
|
||||||
|
|
||||||
spi_bus_config_t * spi_bus_config;
|
/**
|
||||||
spi_device_interface_config_t spi_device_config;
|
* @brief Hardware handle for MCP2521 over SPI on ESP32
|
||||||
spi_device_handle_t spi_device_handle;
|
* 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;
|
SemaphoreHandle_t canInterruptSemaphore = NULL;
|
||||||
SemaphoreHandle_t spiMutex = NULL;
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Handle to task that handles the MCP2521 interrupt
|
||||||
|
* A Handle can be registered via the registerIntHandler method
|
||||||
|
*/
|
||||||
TaskHandle_t canInterruptTaskHandle = NULL;
|
TaskHandle_t canInterruptTaskHandle = NULL;
|
||||||
|
|
||||||
void spi_transmit(spi_transaction_t *t);
|
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;
|
void * intHandlerArg = NULL;
|
||||||
intHandlerFunction_t intHandler = NULL;
|
intHandlerFunction_t intHandler = NULL;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
MCP2521_Hardware_Handle_ESP(
|
MCP2521_HardwareHandle_ESP(
|
||||||
spi_host_device_t spi_host,
|
spi_host_device_t spi_host,
|
||||||
spi_bus_config_t *bus_config,
|
spi_bus_config_t *bus_config,
|
||||||
gpio_num_t mosi,
|
gpio_num_t mosi,
|
||||||
@@ -35,7 +69,7 @@ public:
|
|||||||
gpio_num_t int_pin
|
gpio_num_t int_pin
|
||||||
);
|
);
|
||||||
|
|
||||||
MCP2521_Hardware_Handle_ESP(
|
MCP2521_HardwareHandle_ESP(
|
||||||
spi_host_device_t spi_host,
|
spi_host_device_t spi_host,
|
||||||
spi_bus_config_t *bus_config,
|
spi_bus_config_t *bus_config,
|
||||||
gpio_num_t cs,
|
gpio_num_t cs,
|
||||||
@@ -59,12 +93,22 @@ public:
|
|||||||
gpio_num_t int_pin
|
gpio_num_t int_pin
|
||||||
);
|
);
|
||||||
|
|
||||||
~MCP2521_Hardware_Handle_ESP();
|
~MCP2521_HardwareHandle_ESP();
|
||||||
|
|
||||||
spi_bus_config_t * getSPI_bus_config();
|
spi_bus_config_t * getSPI_bus_config();
|
||||||
|
|
||||||
// ISR Stuff
|
// 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();
|
void isr_can_interrupt();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* This is the methode run as canInterruptTaskHandle.
|
||||||
|
* It should continously aquire the canInterruptSemaphore and then call the intHandler
|
||||||
|
*/
|
||||||
void handleIntteruptTaskFn();
|
void handleIntteruptTaskFn();
|
||||||
|
|
||||||
// Inherited from MCP2521_Hardware_Handle
|
// Inherited from MCP2521_Hardware_Handle
|
||||||
|
|||||||
@@ -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
|
||||||
@@ -2,23 +2,118 @@
|
|||||||
#include <cstdint>
|
#include <cstdint>
|
||||||
#include <strings.h>
|
#include <strings.h>
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Handler function pointer type
|
||||||
|
*
|
||||||
|
*/
|
||||||
typedef void (*intHandlerFunction_t)(void *);
|
typedef void (*intHandlerFunction_t)(void *);
|
||||||
|
|
||||||
class MCP2521_Hardware_Handle {
|
/**
|
||||||
|
* @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:
|
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;
|
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;
|
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;
|
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;
|
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;
|
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;
|
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;
|
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;
|
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;
|
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;
|
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;
|
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