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@@ -32,3 +32,5 @@ board-vision/cnn_model/data/* filter=lfs diff=lfs merge=lfs -text
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*.gto filter=lfs diff=lfs merge=lfs -text
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*.3mf filter=lfs diff=lfs merge=lfs -text
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board-vision/.gitattributes
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test/data/images filter=lfs diff=lfs merge=lfs -text
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board-vision/.vscode/settings.json
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board-vision/.vscode/settings.json
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{
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"python.testing.pytestArgs": [
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"--cov-report", "xml:cov.xml",
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"--cov-report", "term",
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"--cov=src",
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"test",
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],
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"python.testing.unittestEnabled": false,
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"python.testing.pytestEnabled": true,
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"coverage-gutters.coverageFileNames": [
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"cov.xml",
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],
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"coverage-gutters.coverageBaseDir": "**",
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"testing.coverageToolbarEnabled": true
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}
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board-vision/main.py
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board-vision/requirements.txt
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board-vision/requirements.txt
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@@ -0,0 +1,157 @@
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aioice==0.9.0
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aiortc==1.9.0
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anyio==4.4.0
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|
argon2-cffi==23.1.0
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|
argon2-cffi-bindings==21.2.0
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arrow==1.3.0
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|
asgiref==3.8.1
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|
asttokens==2.4.1
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async-lru==2.0.4
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|
attrs==23.2.0
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|
av==12.3.0
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|
Babel==2.15.0
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|
beautifulsoup4==4.12.3
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|
bleach==6.1.0
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|
blinker==1.8.2
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|
certifi==2024.7.4
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|
cffi==1.16.0
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|
charset-normalizer==3.3.2
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|
click==8.1.7
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comm==0.2.2
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|
contourpy==1.2.1
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|
coverage==7.6.1
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|
cramjam==2.8.3
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|
cryptography==43.0.3
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|
cycler==0.12.1
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||||||
|
debugpy==1.8.2
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|
decorator==5.1.1
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|
defusedxml==0.7.1
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|
dnspython==2.7.0
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|
executing==2.0.1
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|
fastjsonschema==2.20.0
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|
fastparquet==2024.5.0
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|
filelock==3.15.4
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Flask==3.0.3
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|
fonttools==4.53.1
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fqdn==1.5.1
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fsspec==2024.6.1
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|
google-crc32c==1.6.0
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|
h11==0.14.0
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|
httpcore==1.0.5
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|
httpx==0.27.0
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idna==3.7
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ifaddr==0.2.0
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imageio==2.34.2
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iniconfig==2.0.0
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ipykernel==6.29.5
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ipython==8.26.0
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|
isoduration==20.11.0
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itsdangerous==2.2.0
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janus==1.0.0
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jedi==0.19.1
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Jinja2==3.1.4
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joblib==1.4.2
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json5==0.9.25
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jsonpointer==3.0.0
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jsonschema==4.23.0
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jsonschema-specifications==2023.12.1
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|
jupyter-events==0.10.0
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jupyter-lsp==2.2.5
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jupyter_client==8.6.2
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jupyter_core==5.7.2
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jupyter_server==2.14.2
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jupyter_server_terminals==0.5.3
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jupyterlab==4.2.4
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jupyterlab_pygments==0.3.0
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jupyterlab_server==2.27.3
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kiwisolver==1.4.5
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lazy_loader==0.4
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MarkupSafe==2.1.5
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matplotlib==3.9.1
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matplotlib-inline==0.1.7
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mistune==3.0.2
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mpmath==1.3.0
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nbclient==0.10.0
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nbconvert==7.16.4
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nbformat==5.10.4
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nest-asyncio==1.6.0
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networkx==3.3
|
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notebook_shim==0.2.4
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numpy==2.0.1
|
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nvidia-cublas-cu12==12.1.3.1
|
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nvidia-cuda-cupti-cu12==12.1.105
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nvidia-cuda-nvrtc-cu12==12.1.105
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nvidia-cuda-runtime-cu12==12.1.105
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nvidia-cudnn-cu12==9.1.0.70
|
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nvidia-cufft-cu12==11.0.2.54
|
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nvidia-curand-cu12==10.3.2.106
|
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nvidia-cusolver-cu12==11.4.5.107
|
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nvidia-cusparse-cu12==12.1.0.106
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nvidia-nccl-cu12==2.20.5
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nvidia-nvjitlink-cu12==12.6.20
|
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nvidia-nvtx-cu12==12.1.105
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opencv-python==4.10.0.84
|
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overrides==7.7.0
|
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|
packaging==24.1
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|
pandas==2.2.2
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pandocfilters==1.5.1
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parso==0.8.4
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|
pexpect==4.9.0
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||||||
|
pillow==10.4.0
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||||||
|
platformdirs==4.2.2
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|
pluggy==1.5.0
|
||||||
|
prometheus_client==0.20.0
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||||||
|
prompt_toolkit==3.0.47
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|
psutil==6.0.0
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||||||
|
ptyprocess==0.7.0
|
||||||
|
pure_eval==0.2.3
|
||||||
|
pycparser==2.22
|
||||||
|
pyee==12.0.0
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||||||
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Pygments==2.18.0
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||||||
|
pylibsrtp==0.10.0
|
||||||
|
pyOpenSSL==24.2.1
|
||||||
|
pyparsing==3.1.2
|
||||||
|
pytest==8.3.3
|
||||||
|
pytest-asyncio==0.24.0
|
||||||
|
pytest-cov==5.0.0
|
||||||
|
pytest-timeout==2.3.1
|
||||||
|
python-dateutil==2.9.0.post0
|
||||||
|
python-json-logger==2.0.7
|
||||||
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pytz==2024.1
|
||||||
|
PyYAML==6.0.1
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||||||
|
pyzmq==26.0.3
|
||||||
|
referencing==0.35.1
|
||||||
|
requests==2.32.3
|
||||||
|
rfc3339-validator==0.1.4
|
||||||
|
rfc3986-validator==0.1.1
|
||||||
|
rpds-py==0.19.1
|
||||||
|
scikit-image==0.24.0
|
||||||
|
scikit-learn==1.5.1
|
||||||
|
scipy==1.14.0
|
||||||
|
Send2Trash==1.8.3
|
||||||
|
setuptools==72.1.0
|
||||||
|
six==1.16.0
|
||||||
|
sniffio==1.3.1
|
||||||
|
soupsieve==2.5
|
||||||
|
stack-data==0.6.3
|
||||||
|
sympy==1.13.1
|
||||||
|
terminado==0.18.1
|
||||||
|
threadpoolctl==3.5.0
|
||||||
|
tifffile==2024.7.24
|
||||||
|
tinycss2==1.3.0
|
||||||
|
torch==2.4.0
|
||||||
|
torchaudio==2.4.0
|
||||||
|
torchvision==0.19.0
|
||||||
|
tornado==6.4.1
|
||||||
|
traitlets==5.14.3
|
||||||
|
triton==3.0.0
|
||||||
|
types-python-dateutil==2.9.0.20240316
|
||||||
|
typing_extensions==4.12.2
|
||||||
|
tzdata==2024.1
|
||||||
|
uri-template==1.3.0
|
||||||
|
urllib3==2.2.2
|
||||||
|
wcwidth==0.2.13
|
||||||
|
webcolors==24.6.0
|
||||||
|
webencodings==0.5.1
|
||||||
|
websocket-client==1.8.0
|
||||||
|
Werkzeug==3.0.4
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||||||
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board-vision/test/streaming/test_streamingEncoder.py
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ARG DEBIAN_FRONTEND=nointeractive
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||||||
ARG CONTAINER_USER=esp
|
|
||||||
ARG USER_UID=1050
|
|
||||||
ARG USER_GID=$USER_UID
|
|
||||||
|
|
||||||
RUN apt-get update \
|
|
||||||
&& apt install -y -q \
|
|
||||||
cmake \
|
|
||||||
git \
|
|
||||||
libglib2.0-0 \
|
|
||||||
libnuma1 \
|
|
||||||
libpixman-1-0 \
|
|
||||||
&& rm -rf /var/lib/apt/lists/*
|
|
||||||
|
|
||||||
# QEMU
|
|
||||||
ENV QEMU_REL=esp_develop_8.2.0_20240122
|
|
||||||
ENV QEMU_SHA256=e7c72ef5705ad1444d391711088c8717fc89f42e9bf6d1487f9c2a326b8cfa83
|
|
||||||
ENV QEMU_DIST=qemu-xtensa-softmmu-${QEMU_REL}-x86_64-linux-gnu.tar.xz
|
|
||||||
ENV QEMU_URL=https://github.com/espressif/qemu/releases/download/esp-develop-8.2.0-20240122/${QEMU_DIST}
|
|
||||||
|
|
||||||
ENV LC_ALL=C.UTF-8
|
|
||||||
ENV LANG=C.UTF-8
|
|
||||||
|
|
||||||
RUN wget --no-verbose ${QEMU_URL} \
|
|
||||||
&& echo "${QEMU_SHA256} *${QEMU_DIST}" | sha256sum --check --strict - \
|
|
||||||
&& tar -xf $QEMU_DIST -C /opt \
|
|
||||||
&& rm ${QEMU_DIST}
|
|
||||||
|
|
||||||
ENV PATH=/opt/qemu/bin:${PATH}
|
|
||||||
|
|
||||||
RUN groupadd --gid $USER_GID $CONTAINER_USER \
|
|
||||||
&& adduser --uid $USER_UID --gid $USER_GID --disabled-password --gecos "" ${CONTAINER_USER} \
|
|
||||||
&& usermod -a -G root $CONTAINER_USER && usermod -a -G dialout $CONTAINER_USER
|
|
||||||
|
|
||||||
RUN chmod -R 775 /opt/esp/python_env/
|
|
||||||
|
|
||||||
USER ${CONTAINER_USER}
|
|
||||||
ENV USER=${CONTAINER_USER}
|
|
||||||
WORKDIR /home/${CONTAINER_USER}
|
|
||||||
|
|
||||||
RUN echo "source /opt/esp/idf/export.sh > /dev/null 2>&1" >> ~/.bashrc
|
|
||||||
|
|
||||||
ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
|
|
||||||
|
|
||||||
CMD ["/bin/bash", "-c"]
|
|
||||||
@@ -1,36 +0,0 @@
|
|||||||
{
|
|
||||||
"name": "ESP-IDF QEMU",
|
|
||||||
"build": {
|
|
||||||
"dockerfile": "Dockerfile"
|
|
||||||
},
|
|
||||||
"customizations": {
|
|
||||||
"vscode": {
|
|
||||||
"settings": {
|
|
||||||
"terminal.integrated.defaultProfile.linux": "bash",
|
|
||||||
"idf.espIdfPath": "/opt/esp/idf",
|
|
||||||
"idf.customExtraPaths": "",
|
|
||||||
"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
|
|
||||||
"idf.toolsPath": "/opt/esp",
|
|
||||||
"idf.gitPath": "/usr/bin/git"
|
|
||||||
},
|
|
||||||
"extensions": [
|
|
||||||
"espressif.esp-idf-extension"
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"codespaces": {
|
|
||||||
"settings": {
|
|
||||||
"terminal.integrated.defaultProfile.linux": "bash",
|
|
||||||
"idf.espIdfPath": "/opt/esp/idf",
|
|
||||||
"idf.customExtraPaths": "",
|
|
||||||
"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
|
|
||||||
"idf.toolsPath": "/opt/esp",
|
|
||||||
"idf.gitPath": "/usr/bin/git"
|
|
||||||
},
|
|
||||||
"extensions": [
|
|
||||||
"espressif.esp-idf-extension",
|
|
||||||
"espressif.esp-idf-web"
|
|
||||||
]
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"runArgs": ["--privileged"]
|
|
||||||
}
|
|
||||||
BIN
can-interface/.gitignore
(Stored with Git LFS)
vendored
BIN
can-interface/.gitignore
(Stored with Git LFS)
vendored
Binary file not shown.
23
can-interface/.vscode/c_cpp_properties.json
vendored
23
can-interface/.vscode/c_cpp_properties.json
vendored
@@ -1,23 +0,0 @@
|
|||||||
{
|
|
||||||
"configurations": [
|
|
||||||
{
|
|
||||||
"name": "ESP-IDF",
|
|
||||||
"compilerPath": "${config:idf.toolsPath}/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/xtensa-esp32-elf-gcc",
|
|
||||||
"compileCommands": "${config:idf.buildPath}/compile_commands.json",
|
|
||||||
"includePath": [
|
|
||||||
"${config:idf.espIdfPath}/components/**",
|
|
||||||
"${config:idf.espIdfPathWin}/components/**",
|
|
||||||
"${workspaceFolder}/**"
|
|
||||||
],
|
|
||||||
"browse": {
|
|
||||||
"path": [
|
|
||||||
"${config:idf.espIdfPath}/components",
|
|
||||||
"${config:idf.espIdfPathWin}/components",
|
|
||||||
"${workspaceFolder}"
|
|
||||||
],
|
|
||||||
"limitSymbolsToIncludedHeaders": true
|
|
||||||
}
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"version": 4
|
|
||||||
}
|
|
||||||
15
can-interface/.vscode/launch.json
vendored
15
can-interface/.vscode/launch.json
vendored
@@ -1,15 +0,0 @@
|
|||||||
{
|
|
||||||
"version": "0.2.0",
|
|
||||||
"configurations": [
|
|
||||||
{
|
|
||||||
"type": "gdbtarget",
|
|
||||||
"request": "attach",
|
|
||||||
"name": "Eclipse CDT GDB Adapter"
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"type": "espidf",
|
|
||||||
"name": "Launch",
|
|
||||||
"request": "launch"
|
|
||||||
}
|
|
||||||
]
|
|
||||||
}
|
|
||||||
31
can-interface/.vscode/settings.json
vendored
31
can-interface/.vscode/settings.json
vendored
@@ -1,31 +0,0 @@
|
|||||||
{
|
|
||||||
"C_Cpp.intelliSenseEngine": "default",
|
|
||||||
"idf.adapterTargetName": "esp32",
|
|
||||||
"idf.customExtraPaths": "/home/alexander/.espressif/tools/xtensa-esp-elf-gdb/14.2_20240403/xtensa-esp-elf-gdb/bin:/home/alexander/.espressif/tools/riscv32-esp-elf-gdb/14.2_20240403/riscv32-esp-elf-gdb/bin:/home/alexander/.espressif/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin:/home/alexander/.espressif/tools/riscv32-esp-elf/esp-13.2.0_20240530/riscv32-esp-elf/bin:/home/alexander/.espressif/tools/esp32ulp-elf/2.38_20240113/esp32ulp-elf/bin:/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/bin:/home/alexander/.espressif/tools/ninja/1.11.1:/home/alexander/.espressif/tools/esp-rom-elfs/20240305",
|
|
||||||
"idf.customExtraVars": {
|
|
||||||
"OPENOCD_SCRIPTS": "/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/share/openocd/scripts",
|
|
||||||
"ESP_ROM_ELF_DIR": "/home/alexander/.espressif/tools/esp-rom-elfs/20240305/"
|
|
||||||
},
|
|
||||||
"idf.espIdfPath": "/opt/esp/v5.3.1/esp-idf",
|
|
||||||
"idf.openOcdConfigs": [
|
|
||||||
"board/esp32-wrover-kit-3.3v.cfg"
|
|
||||||
],
|
|
||||||
"idf.port": "/dev/ttyUSB1",
|
|
||||||
"idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
|
|
||||||
"idf.toolsPath": "/home/alexander/.espressif",
|
|
||||||
"idf.flashType": "JTAG",
|
|
||||||
"idf.openOcdLaunchArgs": ["-c", "adapter_khz 10000"],
|
|
||||||
"files.associations": {
|
|
||||||
"*.tcc": "cpp",
|
|
||||||
"cstdint": "cpp",
|
|
||||||
"random": "cpp",
|
|
||||||
"future": "cpp",
|
|
||||||
"bitset": "cpp",
|
|
||||||
"string_view": "cpp",
|
|
||||||
"regex": "cpp",
|
|
||||||
"array": "cpp",
|
|
||||||
"string": "cpp",
|
|
||||||
"span": "cpp",
|
|
||||||
"cstring": "cpp"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
259
can-interface/.vscode/tasks.json
vendored
259
can-interface/.vscode/tasks.json
vendored
@@ -1,259 +0,0 @@
|
|||||||
{
|
|
||||||
"version": "2.0.0",
|
|
||||||
"tasks": [
|
|
||||||
{
|
|
||||||
"label": "Build - Build project",
|
|
||||||
"type": "shell",
|
|
||||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py build",
|
|
||||||
"windows": {
|
|
||||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py build",
|
|
||||||
"options": {
|
|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"options": {
|
|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"problemMatcher": [
|
|
||||||
{
|
|
||||||
"owner": "cpp",
|
|
||||||
"fileLocation": [
|
|
||||||
"autoDetect",
|
|
||||||
"${workspaceFolder}"
|
|
||||||
],
|
|
||||||
"pattern": {
|
|
||||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
|
||||||
"file": 1,
|
|
||||||
"line": 2,
|
|
||||||
"column": 3,
|
|
||||||
"severity": 4,
|
|
||||||
"message": 5
|
|
||||||
}
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"group": {
|
|
||||||
"kind": "build",
|
|
||||||
"isDefault": true
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"label": "Set ESP-IDF Target",
|
|
||||||
"type": "shell",
|
|
||||||
"command": "${command:espIdf.setTarget}",
|
|
||||||
"problemMatcher": {
|
|
||||||
"owner": "cpp",
|
|
||||||
"fileLocation": [
|
|
||||||
"autoDetect",
|
|
||||||
"${workspaceFolder}"
|
|
||||||
],
|
|
||||||
"pattern": {
|
|
||||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
|
||||||
"file": 1,
|
|
||||||
"line": 2,
|
|
||||||
"column": 3,
|
|
||||||
"severity": 4,
|
|
||||||
"message": 5
|
|
||||||
}
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"label": "Clean - Clean the project",
|
|
||||||
"type": "shell",
|
|
||||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py fullclean",
|
|
||||||
"windows": {
|
|
||||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py fullclean",
|
|
||||||
"options": {
|
|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"options": {
|
|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"problemMatcher": [
|
|
||||||
{
|
|
||||||
"owner": "cpp",
|
|
||||||
"fileLocation": [
|
|
||||||
"autoDetect",
|
|
||||||
"${workspaceFolder}"
|
|
||||||
],
|
|
||||||
"pattern": {
|
|
||||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
|
||||||
"file": 1,
|
|
||||||
"line": 2,
|
|
||||||
"column": 3,
|
|
||||||
"severity": 4,
|
|
||||||
"message": 5
|
|
||||||
}
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"label": "Flash - Flash the device",
|
|
||||||
"type": "shell",
|
|
||||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} -b ${config:idf.flashBaudRate} flash",
|
|
||||||
"windows": {
|
|
||||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py flash -p ${config:idf.portWin} -b ${config:idf.flashBaudRate}",
|
|
||||||
"options": {
|
|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"options": {
|
|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"problemMatcher": [
|
|
||||||
{
|
|
||||||
"owner": "cpp",
|
|
||||||
"fileLocation": [
|
|
||||||
"autoDetect",
|
|
||||||
"${workspaceFolder}"
|
|
||||||
],
|
|
||||||
"pattern": {
|
|
||||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
|
||||||
"file": 1,
|
|
||||||
"line": 2,
|
|
||||||
"column": 3,
|
|
||||||
"severity": 4,
|
|
||||||
"message": 5
|
|
||||||
}
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"label": "Monitor: Start the monitor",
|
|
||||||
"type": "shell",
|
|
||||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} monitor",
|
|
||||||
"windows": {
|
|
||||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py -p ${config:idf.portWin} monitor",
|
|
||||||
"options": {
|
|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"options": {
|
|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"problemMatcher": [
|
|
||||||
{
|
|
||||||
"owner": "cpp",
|
|
||||||
"fileLocation": [
|
|
||||||
"autoDetect",
|
|
||||||
"${workspaceFolder}"
|
|
||||||
],
|
|
||||||
"pattern": {
|
|
||||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
|
||||||
"file": 1,
|
|
||||||
"line": 2,
|
|
||||||
"column": 3,
|
|
||||||
"severity": 4,
|
|
||||||
"message": 5
|
|
||||||
}
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"dependsOn": "Flash - Flash the device"
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"label": "OpenOCD: Start openOCD",
|
|
||||||
"type": "shell",
|
|
||||||
"presentation": {
|
|
||||||
"echo": true,
|
|
||||||
"reveal": "never",
|
|
||||||
"focus": false,
|
|
||||||
"panel": "new"
|
|
||||||
},
|
|
||||||
"command": "openocd -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
|
|
||||||
"windows": {
|
|
||||||
"command": "openocd.exe -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
|
|
||||||
"options": {
|
|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"options": {
|
|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"problemMatcher": {
|
|
||||||
"owner": "cpp",
|
|
||||||
"fileLocation": [
|
|
||||||
"autoDetect",
|
|
||||||
"${workspaceFolder}"
|
|
||||||
],
|
|
||||||
"pattern": {
|
|
||||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
|
||||||
"file": 1,
|
|
||||||
"line": 2,
|
|
||||||
"column": 3,
|
|
||||||
"severity": 4,
|
|
||||||
"message": 5
|
|
||||||
}
|
|
||||||
}
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"label": "adapter",
|
|
||||||
"type": "shell",
|
|
||||||
"command": "${config:idf.pythonBinPath}",
|
|
||||||
"isBackground": true,
|
|
||||||
"options": {
|
|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}",
|
|
||||||
"PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"problemMatcher": {
|
|
||||||
"background": {
|
|
||||||
"beginsPattern": "\bDEBUG_ADAPTER_STARTED\b",
|
|
||||||
"endsPattern": "DEBUG_ADAPTER_READY2CONNECT",
|
|
||||||
"activeOnStart": true
|
|
||||||
},
|
|
||||||
"pattern": {
|
|
||||||
"regexp": "(\\d+)-(\\d+)-(\\d+)\\s(\\d+):(\\d+):(\\d+),(\\d+)\\s-(.+)\\s(ERROR)",
|
|
||||||
"file": 8,
|
|
||||||
"line": 2,
|
|
||||||
"column": 3,
|
|
||||||
"severity": 4,
|
|
||||||
"message": 9
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"args": [
|
|
||||||
"${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter_main.py",
|
|
||||||
"-e",
|
|
||||||
"${workspaceFolder}/build/${command:espIdf.getProjectName}.elf",
|
|
||||||
"-s",
|
|
||||||
"$OPENOCD_SCRIPTS",
|
|
||||||
"-dn",
|
|
||||||
"esp32",
|
|
||||||
"-om",
|
|
||||||
"connect_to_instance",
|
|
||||||
"-t",
|
|
||||||
"xtensa-esp32-elf-"
|
|
||||||
|
|
||||||
],
|
|
||||||
"windows": {
|
|
||||||
"command": "${config:idf.pythonBinPathWin}",
|
|
||||||
"options": {
|
|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}",
|
|
||||||
"PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
]
|
|
||||||
}
|
|
||||||
@@ -1,6 +0,0 @@
|
|||||||
# The following lines of boilerplate have to be in your project's
|
|
||||||
# CMakeLists in this exact order for cmake to work correctly
|
|
||||||
cmake_minimum_required(VERSION 3.16)
|
|
||||||
|
|
||||||
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
|
||||||
project(can-interface)
|
|
||||||
File diff suppressed because one or more lines are too long
BIN
can-interface/README.md
(Stored with Git LFS)
BIN
can-interface/README.md
(Stored with Git LFS)
Binary file not shown.
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
(Stored with Git LFS)
vendored
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
(Stored with Git LFS)
vendored
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
(Stored with Git LFS)
vendored
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
(Stored with Git LFS)
vendored
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
(Stored with Git LFS)
vendored
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
(Stored with Git LFS)
vendored
Binary file not shown.
@@ -1 +0,0 @@
|
|||||||
<!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>
|
|
||||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
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Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
(Stored with Git LFS)
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
(Stored with Git LFS)
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
(Stored with Git LFS)
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
(Stored with Git LFS)
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
(Stored with Git LFS)
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
(Stored with Git LFS)
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
(Stored with Git LFS)
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
(Stored with Git LFS)
Binary file not shown.
File diff suppressed because it is too large
Load Diff
@@ -1,4 +0,0 @@
|
|||||||
(sym_lib_table
|
|
||||||
(version 7)
|
|
||||||
(lib (name "ESP32-DEVKIT-V1")(type "KiCad")(uri "${KIPRJMOD}/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym")(options "")(descr ""))
|
|
||||||
)
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
{"hostname":"hal","username":"alexander"}
|
|
||||||
@@ -1,8 +0,0 @@
|
|||||||
idf_component_register(SRCS
|
|
||||||
"canTP.cpp"
|
|
||||||
"gobotRPC.cpp"
|
|
||||||
INCLUDE_DIRS "include"
|
|
||||||
REQUIRES driver
|
|
||||||
REQUIRES mcp2521
|
|
||||||
REQUIRES mcp2521_hardware_interface
|
|
||||||
)
|
|
||||||
@@ -1,75 +0,0 @@
|
|||||||
#include "canTP.hpp"
|
|
||||||
#include <math.h>
|
|
||||||
#include <cstring>
|
|
||||||
|
|
||||||
void onRxHandlerWrapper(void *arg) {
|
|
||||||
SocketCANTP *socket = (SocketCANTP *)arg;
|
|
||||||
socket->onRxHandler();
|
|
||||||
}
|
|
||||||
|
|
||||||
void SocketCANTP::onRxHandler() {
|
|
||||||
uint8_t tmpBuffer[8];
|
|
||||||
rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
|
||||||
mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, tmpBuffer, info.length);
|
|
||||||
|
|
||||||
CANTP_FRAME_TYPE ft = static_cast<CANTP_FRAME_TYPE>((tmpBuffer[0] & 0xF0) >> 4);
|
|
||||||
|
|
||||||
switch (ft) {
|
|
||||||
case CANTP_FRAME_TYPE::SINGLE_FRAME:
|
|
||||||
if (userHandler) {
|
|
||||||
userHandler(tmpBuffer + 1, info.length - 1, userArg);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
|
|
||||||
case CANTP_FRAME_TYPE::FIRST_FRAME:
|
|
||||||
int sizeTotal = ((tmpBuffer[0] & 0x0F) << 8 | tmpBuffer[1]) - 6;
|
|
||||||
consecitonFrameCounter = ceil(((float)(sizeTotal)) / 7.0);
|
|
||||||
memcpy(rxBuffer, tmpBuffer + 1, 6);
|
|
||||||
|
|
||||||
sendFlowControl(CANTP_FLOW_STATUS::CLEAR_TO_SEND, blockSizes, 0);
|
|
||||||
|
|
||||||
break;
|
|
||||||
|
|
||||||
case CANTP_FRAME_TYPE::CONSECUTIVE_FRAME:
|
|
||||||
|
|
||||||
|
|
||||||
consecitonFrameCounter--;
|
|
||||||
if(consecitonFrameCounter == 0) {
|
|
||||||
if (userHandler) {
|
|
||||||
userHandler(rxBuffer, rxLength, userArg);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
|
|
||||||
case CANTP_FRAME_TYPE::FLOW_CONTROL:
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
SocketCANTP::SocketCANTP(
|
|
||||||
MCP2521 *mcp2521,
|
|
||||||
uint32_t address,
|
|
||||||
bool is_extended,
|
|
||||||
uint8_t blockSizes
|
|
||||||
) {
|
|
||||||
this->mcp2521 = mcp2521;
|
|
||||||
this->address = address;
|
|
||||||
this->is_extended = is_extended;
|
|
||||||
this->rxLength = 0;
|
|
||||||
this->consecitonFrameCounter = 0;
|
|
||||||
this->blockSizes = 0;
|
|
||||||
|
|
||||||
mcp2521->register_rx0_handler(onRxHandlerWrapper, this);
|
|
||||||
}
|
|
||||||
|
|
||||||
void SocketCANTP::send(uint8_t *data, uint8_t length) {
|
|
||||||
mcp2521->prepare_tx(
|
|
||||||
MCP2521_TX_BUFFER::TXB0, address, data, length, is_extended, false);
|
|
||||||
mcp2521->request_to_send(MCP2521_TX_BUFFER::TXB0);
|
|
||||||
}
|
|
||||||
|
|
||||||
void SocketCANTP::register_rx_handler(rx_handler handler, void *arg) {
|
|
||||||
userHandler = handler;
|
|
||||||
userArg = arg;
|
|
||||||
}
|
|
||||||
@@ -1,556 +0,0 @@
|
|||||||
<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/24.7.17 Chrome/128.0.6613.36 Electron/32.0.1 Safari/537.36" version="24.7.17">
|
|
||||||
<diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
|
|
||||||
<mxGraphModel dx="1024" dy="599" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
|
|
||||||
<root>
|
|
||||||
<mxCell id="0" />
|
|
||||||
<mxCell id="1" parent="0" />
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-1" value="GoBot RPC Protocol" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="60" width="120" height="120" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-2" value="CAN" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="180" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-3" value="CAN" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="220" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-4" value="Physical" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="220" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-6" value="Data Link" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="180" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-7" value="Network" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="140" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-8" value="Transport" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="100" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-10" value="Application" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="60" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-11" value="1" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="440" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-12" value="2" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="520" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-13" value="3" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="600" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-15" value="4" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="680" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-16" value="5" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="760" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-17" value="6" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="840" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-19" value="7" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="920" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-20" value="0" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-22" value="Bit" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="320" y="220" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-23" value="RPC Number" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="240" width="320" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-25" value="RPC Segment Number" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="760" y="240" width="240" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-27" value="0" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-28" value="1" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="400" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-29" value="2" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="440" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-30" value="3" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="480" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-35" value="4" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="520" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-36" value="5" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="560" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-37" value="6" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="600" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-38" value="7" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="640" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-39" value="Parameter Data" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="400" y="80" width="280" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-40" value="Header" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="80" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
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</mxGraphModel>
|
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||||||
</diagram>
|
|
||||||
</mxfile>
|
|
||||||
@@ -1,51 +0,0 @@
|
|||||||
#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();
|
|
||||||
}
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
/home/alexander/Projects/gobot/common-libaries/mcp2521
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
/home/alexander/Projects/gobot/common-libaries/mcp2521_hardware_interface
|
|
||||||
File diff suppressed because it is too large
Load Diff
Submodule can-interface/docs/doxygen-awesome-css deleted from 568f56cde6
@@ -1,7 +0,0 @@
|
|||||||
idf_component_register(SRCS "hello_world_main.cpp"
|
|
||||||
REQUIRES driver
|
|
||||||
REQUIRES mcp2521
|
|
||||||
REQUIRES mcp2521_hardware_interface
|
|
||||||
REQUIRES CAN-Protocol-Stack
|
|
||||||
REQUIRES spi_flash
|
|
||||||
INCLUDE_DIRS "")
|
|
||||||
@@ -1,7 +0,0 @@
|
|||||||
{
|
|
||||||
"folders": [
|
|
||||||
{
|
|
||||||
"path": ".."
|
|
||||||
}
|
|
||||||
]
|
|
||||||
}
|
|
||||||
@@ -1,129 +0,0 @@
|
|||||||
/*
|
|
||||||
* SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
|
|
||||||
*
|
|
||||||
* SPDX-License-Identifier: CC0-1.0
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <stdio.h>
|
|
||||||
#include <string.h>
|
|
||||||
#include <inttypes.h>
|
|
||||||
#include "sdkconfig.h"
|
|
||||||
|
|
||||||
#include "freertos/FreeRTOS.h"
|
|
||||||
#include "freertos/task.h"
|
|
||||||
#include "freertos/semphr.h"
|
|
||||||
#include "freertos/queue.h"
|
|
||||||
|
|
||||||
#include "esp_chip_info.h"
|
|
||||||
#include "esp_flash.h"
|
|
||||||
#include "esp_system.h"
|
|
||||||
|
|
||||||
#include "driver/gpio.h"
|
|
||||||
#include "driver/spi_master.h"
|
|
||||||
|
|
||||||
#include "mcp2521.hpp"
|
|
||||||
|
|
||||||
#define SPI_PIN_SCLK GPIO_NUM_18
|
|
||||||
#define SPI_PIN_MISO GPIO_NUM_19
|
|
||||||
#define SPI_PIN_MOSI GPIO_NUM_23
|
|
||||||
|
|
||||||
#define SPI_PIN_CS0 GPIO_NUM_25
|
|
||||||
#define SPI_PIN_CS1 GPIO_NUM_27
|
|
||||||
|
|
||||||
#define CAN_INT0_PIN GPIO_NUM_5
|
|
||||||
#define CAN_INT1_PIN GPIO_NUM_26
|
|
||||||
|
|
||||||
void onRX0(void *arg) {
|
|
||||||
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
|
|
||||||
|
|
||||||
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
|
||||||
uint8_t data[8];
|
|
||||||
|
|
||||||
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
|
||||||
|
|
||||||
printf("RX0: (%x) ", info.id);
|
|
||||||
for (int i = 0; i < info.length; i++) {
|
|
||||||
printf("%x ", data[i]);
|
|
||||||
}
|
|
||||||
printf("\n");
|
|
||||||
}
|
|
||||||
|
|
||||||
void onRX1(void *arg) {
|
|
||||||
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
|
|
||||||
|
|
||||||
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
|
||||||
uint8_t data[8];
|
|
||||||
|
|
||||||
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
|
||||||
|
|
||||||
printf("RX1: (%x) ", info.id);
|
|
||||||
for (int i = 0; i < info.length; i++) {
|
|
||||||
printf("%x ", data[i]);
|
|
||||||
}
|
|
||||||
printf("\n");
|
|
||||||
}
|
|
||||||
|
|
||||||
extern "C" void app_main() {
|
|
||||||
printf("Hello world!\n");
|
|
||||||
|
|
||||||
const gpio_num_t LED_PIN = GPIO_NUM_2;
|
|
||||||
gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);
|
|
||||||
|
|
||||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
|
||||||
|
|
||||||
MCP2521_HardwareHandleFactory_ESPBus mcp2521_hardware_factory(
|
|
||||||
VSPI_HOST,
|
|
||||||
SPI_PIN_MOSI,
|
|
||||||
SPI_PIN_MISO,
|
|
||||||
SPI_PIN_SCLK
|
|
||||||
);
|
|
||||||
|
|
||||||
MCP2521_HardwareHandle_ESPBus hardware_mcp2521_0 = mcp2521_hardware_factory.create(CAN_INT0_PIN, SPI_PIN_CS0);
|
|
||||||
MCP2521_HardwareHandle_ESPBus hardware_mcp2521_1 = mcp2521_hardware_factory.create(CAN_INT1_PIN, SPI_PIN_CS1);
|
|
||||||
|
|
||||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
|
||||||
|
|
||||||
MCP2521 mcp2521_0(&hardware_mcp2521_0);
|
|
||||||
MCP2521 mcp2521_1(&hardware_mcp2521_1);
|
|
||||||
|
|
||||||
uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
|
|
||||||
|
|
||||||
mcp2521_0.reset();
|
|
||||||
mcp2521_1.reset();
|
|
||||||
mcp2521_0.enable_interrupts(true, true, true, true, true, true, true, true);
|
|
||||||
mcp2521_1.enable_interrupts(true, true, true, true, true, true, true, true);
|
|
||||||
|
|
||||||
mcp2521_0.register_rx0_handler(onRX0, &mcp2521_0);
|
|
||||||
mcp2521_1.register_rx0_handler(onRX1, &mcp2521_1);
|
|
||||||
mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
|
|
||||||
mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
|
|
||||||
|
|
||||||
mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
|
|
||||||
mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
|
|
||||||
|
|
||||||
printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
|
|
||||||
printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
|
|
||||||
|
|
||||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
|
||||||
|
|
||||||
mcp2521_0.prepare_tx(
|
|
||||||
MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
|
|
||||||
|
|
||||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
|
||||||
mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
|
||||||
//vTaskDelay(10 / portTICK_PERIOD_MS);
|
|
||||||
//mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
|
||||||
|
|
||||||
//mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
|
|
||||||
//mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
|
||||||
|
|
||||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
|
||||||
|
|
||||||
bool flag = true;
|
|
||||||
while (true) {
|
|
||||||
gpio_set_level(LED_PIN, flag);
|
|
||||||
flag = !flag;
|
|
||||||
|
|
||||||
vTaskDelay(500 / portTICK_PERIOD_MS);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
Binary file not shown.
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user