Compare commits
16 Commits
can-interf
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rpi-fan-co
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.gitignore
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.gitignore
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.gitmodules
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3d-print/models/BoardPositionMarker/Vison Marker Clip - Marker.stl
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3d-print/models/BoardPositionMarker/Vison Marker Clip - Marker.stl
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3d-print/models/BoardPositionMarker/Vison Marker Clip - WhiteRing1.stl
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3d-print/models/BoardPositionMarker/Vison Marker Clip - WhiteRing2.stl
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3d-print/models/BoardPositionMarker/Vison Marker Clip - WhiteRing2.stl
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3d-print/slicers/BoardPositionMarker.3mf
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@@ -1,47 +0,0 @@
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FROM espressif/idf
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ARG DEBIAN_FRONTEND=nointeractive
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ARG CONTAINER_USER=esp
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ARG USER_UID=1050
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ARG USER_GID=$USER_UID
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RUN apt-get update \
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&& apt install -y -q \
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cmake \
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git \
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libglib2.0-0 \
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libnuma1 \
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libpixman-1-0 \
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&& rm -rf /var/lib/apt/lists/*
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# QEMU
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ENV QEMU_REL=esp_develop_8.2.0_20240122
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ENV QEMU_SHA256=e7c72ef5705ad1444d391711088c8717fc89f42e9bf6d1487f9c2a326b8cfa83
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ENV QEMU_DIST=qemu-xtensa-softmmu-${QEMU_REL}-x86_64-linux-gnu.tar.xz
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ENV QEMU_URL=https://github.com/espressif/qemu/releases/download/esp-develop-8.2.0-20240122/${QEMU_DIST}
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ENV LC_ALL=C.UTF-8
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ENV LANG=C.UTF-8
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RUN wget --no-verbose ${QEMU_URL} \
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&& echo "${QEMU_SHA256} *${QEMU_DIST}" | sha256sum --check --strict - \
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&& tar -xf $QEMU_DIST -C /opt \
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&& rm ${QEMU_DIST}
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ENV PATH=/opt/qemu/bin:${PATH}
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RUN groupadd --gid $USER_GID $CONTAINER_USER \
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&& adduser --uid $USER_UID --gid $USER_GID --disabled-password --gecos "" ${CONTAINER_USER} \
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&& usermod -a -G root $CONTAINER_USER && usermod -a -G dialout $CONTAINER_USER
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RUN chmod -R 775 /opt/esp/python_env/
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USER ${CONTAINER_USER}
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ENV USER=${CONTAINER_USER}
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WORKDIR /home/${CONTAINER_USER}
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RUN echo "source /opt/esp/idf/export.sh > /dev/null 2>&1" >> ~/.bashrc
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ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
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CMD ["/bin/bash", "-c"]
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@@ -1,36 +0,0 @@
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{
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"name": "ESP-IDF QEMU",
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"build": {
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"dockerfile": "Dockerfile"
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},
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"customizations": {
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"vscode": {
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"settings": {
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"terminal.integrated.defaultProfile.linux": "bash",
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"idf.espIdfPath": "/opt/esp/idf",
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"idf.customExtraPaths": "",
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"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
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"idf.toolsPath": "/opt/esp",
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"idf.gitPath": "/usr/bin/git"
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},
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"extensions": [
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"espressif.esp-idf-extension"
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]
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},
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"codespaces": {
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"settings": {
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"terminal.integrated.defaultProfile.linux": "bash",
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"idf.espIdfPath": "/opt/esp/idf",
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"idf.customExtraPaths": "",
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"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
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"idf.toolsPath": "/opt/esp",
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"idf.gitPath": "/usr/bin/git"
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},
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"extensions": [
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"espressif.esp-idf-extension",
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"espressif.esp-idf-web"
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]
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}
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},
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"runArgs": ["--privileged"]
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}
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BIN
can-interface/.gitignore
(Stored with Git LFS)
vendored
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can-interface/.gitignore
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can-interface/.vscode/c_cpp_properties.json
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can-interface/.vscode/c_cpp_properties.json
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@@ -1,23 +0,0 @@
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{
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"configurations": [
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||||||
{
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"name": "ESP-IDF",
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||||||
"compilerPath": "${config:idf.toolsPath}/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/xtensa-esp32-elf-gcc",
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"compileCommands": "${config:idf.buildPath}/compile_commands.json",
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"includePath": [
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"${config:idf.espIdfPath}/components/**",
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"${config:idf.espIdfPathWin}/components/**",
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||||||
"${workspaceFolder}/**"
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],
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"browse": {
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||||||
"path": [
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||||||
"${config:idf.espIdfPath}/components",
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||||||
"${config:idf.espIdfPathWin}/components",
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"${workspaceFolder}"
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||||||
],
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||||||
"limitSymbolsToIncludedHeaders": true
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}
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}
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],
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"version": 4
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}
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15
can-interface/.vscode/launch.json
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can-interface/.vscode/launch.json
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@@ -1,15 +0,0 @@
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{
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"version": "0.2.0",
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"configurations": [
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{
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"type": "gdbtarget",
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"request": "attach",
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"name": "Eclipse CDT GDB Adapter"
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},
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{
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"type": "espidf",
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"name": "Launch",
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"request": "launch"
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}
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]
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}
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31
can-interface/.vscode/settings.json
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can-interface/.vscode/settings.json
vendored
@@ -1,31 +0,0 @@
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{
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"C_Cpp.intelliSenseEngine": "default",
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||||||
"idf.adapterTargetName": "esp32",
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||||||
"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",
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|
||||||
"idf.customExtraVars": {
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|
||||||
"OPENOCD_SCRIPTS": "/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/share/openocd/scripts",
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|
||||||
"ESP_ROM_ELF_DIR": "/home/alexander/.espressif/tools/esp-rom-elfs/20240305/"
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||||||
},
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||||||
"idf.espIdfPath": "/opt/esp/v5.3.1/esp-idf",
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|
||||||
"idf.openOcdConfigs": [
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|
||||||
"board/esp32-wrover-kit-3.3v.cfg"
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|
||||||
],
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|
||||||
"idf.port": "/dev/ttyUSB1",
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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.flashType": "JTAG",
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|
||||||
"idf.openOcdLaunchArgs": ["-c", "adapter_khz 10000"],
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|
||||||
"files.associations": {
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|
||||||
"*.tcc": "cpp",
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|
||||||
"cstdint": "cpp",
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||||||
"random": "cpp",
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||||||
"future": "cpp",
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|
||||||
"bitset": "cpp",
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||||||
"string_view": "cpp",
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||||||
"regex": "cpp",
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||||||
"array": "cpp",
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||||||
"string": "cpp",
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||||||
"span": "cpp",
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||||||
"cstring": "cpp"
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|
||||||
}
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|
||||||
}
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|
||||||
259
can-interface/.vscode/tasks.json
vendored
259
can-interface/.vscode/tasks.json
vendored
@@ -1,259 +0,0 @@
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{
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|
||||||
"version": "2.0.0",
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||||||
"tasks": [
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||||||
{
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|
||||||
"label": "Build - Build project",
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|
||||||
"type": "shell",
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|
||||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py build",
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"windows": {
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||||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py build",
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|
||||||
"options": {
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||||||
"env": {
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|
||||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
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||||||
}
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||||||
}
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|
||||||
},
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||||||
"options": {
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||||||
"env": {
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||||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
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}
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||||||
},
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||||||
"problemMatcher": [
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||||||
{
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||||||
"owner": "cpp",
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||||||
"fileLocation": [
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||||||
"autoDetect",
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||||||
"${workspaceFolder}"
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||||||
],
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||||||
"pattern": {
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||||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
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"file": 1,
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"line": 2,
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"column": 3,
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"severity": 4,
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"message": 5
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}
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}
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|
||||||
],
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|
||||||
"group": {
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|
||||||
"kind": "build",
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|
||||||
"isDefault": true
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|
||||||
}
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|
||||||
},
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|
||||||
{
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|
||||||
"label": "Set ESP-IDF Target",
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|
||||||
"type": "shell",
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|
||||||
"command": "${command:espIdf.setTarget}",
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|
||||||
"problemMatcher": {
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|
||||||
"owner": "cpp",
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|
||||||
"fileLocation": [
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|
||||||
"autoDetect",
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|
||||||
"${workspaceFolder}"
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|
||||||
],
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|
||||||
"pattern": {
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|
||||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
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||||||
"file": 1,
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"line": 2,
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||||||
"column": 3,
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||||||
"severity": 4,
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||||||
"message": 5
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||||||
}
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|
||||||
}
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|
||||||
},
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|
||||||
{
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|
||||||
"label": "Clean - Clean the project",
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|
||||||
"type": "shell",
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|
||||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py fullclean",
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|
||||||
"windows": {
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|
||||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py fullclean",
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|
||||||
"options": {
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|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
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|
||||||
}
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|
||||||
}
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|
||||||
},
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|
||||||
"options": {
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|
||||||
"env": {
|
|
||||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
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|
||||||
}
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|
||||||
},
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|
||||||
"problemMatcher": [
|
|
||||||
{
|
|
||||||
"owner": "cpp",
|
|
||||||
"fileLocation": [
|
|
||||||
"autoDetect",
|
|
||||||
"${workspaceFolder}"
|
|
||||||
],
|
|
||||||
"pattern": {
|
|
||||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
|
||||||
"file": 1,
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|
||||||
"line": 2,
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|
||||||
"column": 3,
|
|
||||||
"severity": 4,
|
|
||||||
"message": 5
|
|
||||||
}
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"label": "Flash - Flash the device",
|
|
||||||
"type": "shell",
|
|
||||||
"command": "${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,
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|
||||||
"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.
Binary file not shown.
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">
|
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|
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|
|
||||||
</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
|
|
||||||
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.
Binary file not shown.
BIN
can-interface/pytest_hello_world.py
(Stored with Git LFS)
BIN
can-interface/pytest_hello_world.py
(Stored with Git LFS)
Binary file not shown.
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,152 +0,0 @@
|
|||||||
[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
|
|
||||||
@@ -1,8 +0,0 @@
|
|||||||
idf_component_register(SRCS
|
|
||||||
"interface_commands.cpp"
|
|
||||||
"interface_interrupts.cpp"
|
|
||||||
"toplevel_commands.cpp"
|
|
||||||
INCLUDE_DIRS "include"
|
|
||||||
REQUIRES driver
|
|
||||||
REQUIRES mcp2521_hardware_interface
|
|
||||||
)
|
|
||||||
@@ -1,102 +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="FmQN2vLuPXQQGOlHbBG4">
|
|
||||||
<mxGraphModel dx="1434" dy="838" 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" />
|
|
||||||
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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" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="xzzxaMGRirp7Gwq30BhV-12" value="" style="endArrow=none;dashed=1;html=1;rounded=0;exitX=1;exitY=1;exitDx=0;exitDy=0;strokeWidth=1;dashPattern=1 1;" parent="1" source="xzzxaMGRirp7Gwq30BhV-14" edge="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="1060" y="320" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="320" as="targetPoint" />
|
|
||||||
</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">
|
|
||||||
<mxGeometry x="760" y="280" width="160" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="xzzxaMGRirp7Gwq30BhV-15" value="" style="endArrow=block;html=1;rounded=0;dashed=1;endFill=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=0.25;entryY=1;entryDx=0;entryDy=0;" parent="1" source="xzzxaMGRirp7Gwq30BhV-11" target="xzzxaMGRirp7Gwq30BhV-1" edge="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="590" y="290" as="sourcePoint" />
|
|
||||||
<mxPoint x="640" y="240" as="targetPoint" />
|
|
||||||
<Array as="points">
|
|
||||||
<mxPoint x="570" y="220" />
|
|
||||||
</Array>
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
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<mxCell id="xzzxaMGRirp7Gwq30BhV-16" value="" style="endArrow=block;html=1;rounded=0;dashed=1;endFill=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" parent="1" source="xzzxaMGRirp7Gwq30BhV-9" target="xzzxaMGRirp7Gwq30BhV-1" edge="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="520" y="280" as="sourcePoint" />
|
|
||||||
<mxPoint x="580" y="250" as="targetPoint" />
|
|
||||||
<Array as="points">
|
|
||||||
<mxPoint x="620" y="280" />
|
|
||||||
</Array>
|
|
||||||
</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">
|
|
||||||
<mxGeometry x="520" y="420" width="200" height="40" as="geometry" />
|
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|
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|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="670" y="544" as="sourcePoint" />
|
|
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|
|
||||||
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|
|
||||||
</mxCell>
|
|
||||||
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|
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<mxGeometry relative="1" as="geometry" />
|
|
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</mxCell>
|
|
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<mxCell id="xzzxaMGRirp7Gwq30BhV-24" value="creates" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="xzzxaMGRirp7Gwq30BhV-23" vertex="1" connectable="0">
|
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<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">
|
|
||||||
<mxGeometry x="180" y="120" width="300" height="40" as="geometry" />
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</mxCell>
|
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</mxfile>
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@@ -1,93 +0,0 @@
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@@ -1,177 +0,0 @@
|
|||||||
#pragma once
|
|
||||||
#include <cstdint>
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief RXnBF PIN CONTROL AND STATUS REGISTER (ADDRESS: 0Ch)
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
struct BFPCTRL {
|
|
||||||
uint8_t B0BFM : 1;
|
|
||||||
uint8_t B1BFM : 1;
|
|
||||||
uint8_t B0BFE : 1;
|
|
||||||
uint8_t B1BFE : 1;
|
|
||||||
uint8_t B0BFS : 1;
|
|
||||||
uint8_t B1BFS : 1;
|
|
||||||
uint8_t : 2;
|
|
||||||
};
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief TXnRTS PIN CONTROL AND STATUS REGISTER
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
struct TXRTSCTRL {
|
|
||||||
uint8_t B0RTSM : 1;
|
|
||||||
uint8_t B1RTSM : 1;
|
|
||||||
uint8_t B2RTSM : 1;
|
|
||||||
uint8_t B0RTS : 1;
|
|
||||||
uint8_t B1RTS : 1;
|
|
||||||
uint8_t B2RTS : 1;
|
|
||||||
uint8_t : 2;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct CANSTAT {
|
|
||||||
uint8_t ICOD0 : ;
|
|
||||||
uint8_t : 1;
|
|
||||||
uint8_t OPMOD0 : 1;
|
|
||||||
uint8_t OPMOD1 : 1;
|
|
||||||
uint8_t OPMOD2 : 1;
|
|
||||||
uint8_t : 1;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct CANCTRL {
|
|
||||||
uint8_t CLKPRE0 : 1;
|
|
||||||
uint8_t CLKPRE1 : 1;
|
|
||||||
uint8_t CLKEN : 1;
|
|
||||||
uint8_t OSM : 1;
|
|
||||||
uint8_t ABAT : 1;
|
|
||||||
uint8_t REQOP0 : 1;
|
|
||||||
uint8_t REQOP1 : 1;
|
|
||||||
uint8_t REQOP2 : 1;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct TEC {
|
|
||||||
uint8_t TEC;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct REC {
|
|
||||||
uint8_t REC;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct CNF3 {
|
|
||||||
uint8_t PHSEG20 : 1;
|
|
||||||
uint8_t PHSEG21 : 1;
|
|
||||||
uint8_t PHSEG22 : 1;
|
|
||||||
uint8_t : 3;
|
|
||||||
uint8_t WAKFIL : 1;
|
|
||||||
uint8_t SOF : 1;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct CNF2 {
|
|
||||||
uint8_t PRSEG0 : 1;
|
|
||||||
uint8_t PRSEG1 : 1;
|
|
||||||
uint8_t PRSEG2 : 1;
|
|
||||||
uint8_t PHSEG10 : 1;
|
|
||||||
uint8_t PHSEG11 : 1;
|
|
||||||
uint8_t PHSEG12 : 1;
|
|
||||||
uint8_t SAM : 1;
|
|
||||||
uint8_t BTLMODE : 1;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct CNF1 {
|
|
||||||
uint8_t BRP0 : 1;
|
|
||||||
uint8_t BRP1 : 1;
|
|
||||||
uint8_t BRP2 : 1;
|
|
||||||
uint8_t BRP3 : 1;
|
|
||||||
uint8_t BRP4 : 1;
|
|
||||||
uint8_t BRP5 : 1;
|
|
||||||
uint8_t SJW0 : 1;
|
|
||||||
uint8_t SJW1 : 1;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct CANINTE {
|
|
||||||
uint8_t RX0IE : 1;
|
|
||||||
uint8_t RX1IE : 1;
|
|
||||||
uint8_t TX0IE : 1;
|
|
||||||
uint8_t TX1IE : 1;
|
|
||||||
uint8_t TX2IE : 1;
|
|
||||||
uint8_t ERRIE : 1;
|
|
||||||
uint8_t WAKIE : 1;
|
|
||||||
uint8_t MERRE : 1;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct CANINTF {
|
|
||||||
uint8_t RX0IF : 1;
|
|
||||||
uint8_t RX1IF : 1;
|
|
||||||
uint8_t TX0IF : 1;
|
|
||||||
uint8_t TX1IF : 1;
|
|
||||||
uint8_t TX2IF : 1;
|
|
||||||
uint8_t ERRIF : 1;
|
|
||||||
uint8_t WAKIF : 1;
|
|
||||||
uint8_t MERRF : 1;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct EFLG {
|
|
||||||
uint8_t EWARN : 1;
|
|
||||||
uint8_t RXWAR : 1;
|
|
||||||
uint8_t TXWAR : 1;
|
|
||||||
uint8_t RXEP : 1;
|
|
||||||
uint8_t TXEP : 1;
|
|
||||||
uint8_t TXBO : 1;
|
|
||||||
uint8_t RX0OVR : 1;
|
|
||||||
uint8_t RX1OVR : 1;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct TXB0CTRL {
|
|
||||||
uint8_t TXP0 : 1;
|
|
||||||
uint8_t TXP1 : 1;
|
|
||||||
uint8_t : 1;
|
|
||||||
uint8_t TXREQ : 1;
|
|
||||||
uint8_t TXERR : 1;
|
|
||||||
uint8_t MLOA : 1;
|
|
||||||
uint8_t ABTF : 1;
|
|
||||||
uint8_t : 1;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct TXB1CTRL {
|
|
||||||
uint8_t TXP0 : 1;
|
|
||||||
uint8_t TXP1 : 1;
|
|
||||||
uint8_t : 1;
|
|
||||||
uint8_t TXREQ : 1;
|
|
||||||
uint8_t TXERR : 1;
|
|
||||||
uint8_t MLOA : 1;
|
|
||||||
uint8_t ABTF : 1;
|
|
||||||
uint8_t : 1;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct TXB2CTRL {
|
|
||||||
uint8_t TXP0 : 1;
|
|
||||||
uint8_t TXP1 : 1;
|
|
||||||
uint8_t : 1;
|
|
||||||
uint8_t TXREQ : 1;
|
|
||||||
uint8_t TXERR : 1;
|
|
||||||
uint8_t MLOA : 1;
|
|
||||||
uint8_t ABTF : 1;
|
|
||||||
uint8_t : 1;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct RXB0CTRL {
|
|
||||||
uint8_t FILHIT0 : 1;
|
|
||||||
uint8_t BUKT1 : 1;
|
|
||||||
uint8_t BUKT : 1;
|
|
||||||
uint8_t RXRTR : 1;
|
|
||||||
uint8_t : 1;
|
|
||||||
uint8_t RXM0 : 1;
|
|
||||||
uint8_t RXM1 : 1;
|
|
||||||
uint8_t : 1;
|
|
||||||
};
|
|
||||||
|
|
||||||
struct RXB1CTRL {
|
|
||||||
uint8_t FILHIT0 : 1;
|
|
||||||
uint8_t FILHIT1 : 1;
|
|
||||||
uint8_t FILHIT2 : 1;
|
|
||||||
uint8_t RXRTR : 1;
|
|
||||||
uint8_t : 1;
|
|
||||||
uint8_t RXM0 : 1;
|
|
||||||
uint8_t RXM1 : 1;
|
|
||||||
uint8_t : 1;
|
|
||||||
};
|
|
||||||
@@ -1,7 +0,0 @@
|
|||||||
#pragma once
|
|
||||||
|
|
||||||
#include "mcp2521_toplevel.hpp"
|
|
||||||
#include "mcp2521_command.hpp"
|
|
||||||
#include "mcp2521_hardware_esp.hpp"
|
|
||||||
#include "mcp2521_hardware_esp_bus_factory.hpp"
|
|
||||||
#include "mcp2521_addresses.hpp"
|
|
||||||
@@ -1,192 +0,0 @@
|
|||||||
#pragma once
|
|
||||||
#include <stdint.h>
|
|
||||||
|
|
||||||
#define MCP2521_BFPCTRL 0x0C
|
|
||||||
#define MCP2521_BFPCTRL_B1BFS (1 << 5)
|
|
||||||
#define MCP2521_BFPCTRL_B0BFS (1 << 4)
|
|
||||||
#define MCP2521_BFPCTRL_B1BFE (1 << 3)
|
|
||||||
#define MCP2521_BFPCTRL_B0BFE (1 << 2)
|
|
||||||
#define MCP2521_BFPCTRL_B1BFM (1 << 1)
|
|
||||||
#define MCP2521_BFPCTRL_B0BFM (1 << 0)
|
|
||||||
|
|
||||||
#define MCP2521_TXRTSCTRL 0x0D
|
|
||||||
#define MCP2521_TXRTSCTRL_B2RTS (1 << 5)
|
|
||||||
#define MCP2521_TXRTSCTRL_B1RTS (1 << 4)
|
|
||||||
#define MCP2521_TXRTSCTRL_B0RTS (1 << 3)
|
|
||||||
#define MCP2521_TXRTSCTRL_B2RTSM (1 << 2)
|
|
||||||
#define MCP2521_TXRTSCTRL_B1RTSM (1 << 1)
|
|
||||||
#define MCP2521_TXRTSCTRL_B0RTSM (1 << 0)
|
|
||||||
|
|
||||||
#define MCP2521_CANSTAT 0x0E
|
|
||||||
#define MCP2521_CANSTAT_OPMOD2 (1 << 7)
|
|
||||||
#define MCP2521_CANSTAT_OPMOD1 (1 << 6)
|
|
||||||
#define MCP2521_CANSTAT_OPMOD0 (1 << 5)
|
|
||||||
#define MCP2521_CANSTAT_ICOD2 (1 << 2)
|
|
||||||
#define MCP2521_CANSTAT_ICOD1 (1 << 1)
|
|
||||||
#define MCP2521_CANSTAT_ICOD0 (1 << 0)
|
|
||||||
|
|
||||||
struct CANSTAT_Register {
|
|
||||||
uint8_t ICOD : 3;
|
|
||||||
uint8_t : 1; // Unused bit
|
|
||||||
uint8_t OPMOD : 3;
|
|
||||||
uint8_t : 1; // Unused bit
|
|
||||||
};
|
|
||||||
|
|
||||||
#define MCP2521_CANCTRL 0x0F
|
|
||||||
#define MCP2521_CANCTRL_REQOP2 (1 << 7)
|
|
||||||
#define MCP2521_CANCTRL_REQOP1 (1 << 6)
|
|
||||||
#define MCP2521_CANCTRL_REQOP0 (1 << 5)
|
|
||||||
#define MCP2521_CANCTRL_ABAT (1 << 4)
|
|
||||||
#define MCP2521_CANCTRL_OSM (1 << 3)
|
|
||||||
#define MCP2521_CANCTRL_CLKEN (1 << 2)
|
|
||||||
#define MCP2521_CANCTRL_CLKPRE1 (1 << 1)
|
|
||||||
#define MCP2521_CANCTRL_CLKPRE0 (1 << 0)
|
|
||||||
|
|
||||||
#define MCP2521_TEC 0x1C
|
|
||||||
|
|
||||||
#define MCP2521_REC 0x1D
|
|
||||||
|
|
||||||
#define MCP2521_CNF3 0x28
|
|
||||||
#define MCP2521_CNF3_SOF (1 << 7)
|
|
||||||
#define MCP2521_CNF3_WAKFIL (1 << 6)
|
|
||||||
#define MCP2521_CNF3_PHSEG22 (1 << 2)
|
|
||||||
#define MCP2521_CNF3_PHSEG21 (1 << 1)
|
|
||||||
#define MCP2521_CNF3_PHSEG20 (1 << 0)
|
|
||||||
|
|
||||||
#define MCP2521_CNF2 0x29
|
|
||||||
#define MCP2521_CNF2_BTLMODE (1 << 7)
|
|
||||||
#define MCP2521_CNF2_SAM (1 << 6)
|
|
||||||
#define MCP2521_CNF2_PHSEG12 (1 << 5)
|
|
||||||
#define MCP2521_CNF2_PHSEG11 (1 << 4)
|
|
||||||
#define MCP2521_CNF2_PHSEG10 (1 << 3)
|
|
||||||
#define MCP2521_CNF2_PRSEG2 (1 << 2)
|
|
||||||
#define MCP2521_CNF2_PRSEG1 (1 << 1)
|
|
||||||
#define MCP2521_CNF2_PRSEG0 (1 << 0)
|
|
||||||
|
|
||||||
#define MCP2521_CNF1 0x2A
|
|
||||||
#define MCP2521_CNF1_SJW1 (1 << 7)
|
|
||||||
#define MCP2521_CNF1_SJW0 (1 << 6)
|
|
||||||
#define MCP2521_CNF1_BRP5 (1 << 5)
|
|
||||||
#define MCP2521_CNF1_BRP4 (1 << 4)
|
|
||||||
#define MCP2521_CNF1_BRP3 (1 << 3)
|
|
||||||
#define MCP2521_CNF1_BRP2 (1 << 2)
|
|
||||||
#define MCP2521_CNF1_BRP1 (1 << 1)
|
|
||||||
#define MCP2521_CNF1_BRP0 (1 << 0)
|
|
||||||
|
|
||||||
#define MCP2521_CANINTE 0x2B
|
|
||||||
#define MCP2521_CANINTE_MERRE (1 << 7)
|
|
||||||
#define MCP2521_CANINTE_WAKIE (1 << 6)
|
|
||||||
#define MCP2521_CANINTE_ERRIE (1 << 5)
|
|
||||||
#define MCP2521_CANINTE_TX2IE (1 << 4)
|
|
||||||
#define MCP2521_CANINTE_TX1IE (1 << 3)
|
|
||||||
#define MCP2521_CANINTE_TX0IE (1 << 2)
|
|
||||||
#define MCP2521_CANINTE_RX1IE (1 << 1)
|
|
||||||
#define MCP2521_CANINTE_RX0IE (1 << 0)
|
|
||||||
|
|
||||||
#define MCP2521_CANINTF 0x2C
|
|
||||||
#define MCP2521_CANINTF_MERRF (1 << 7)
|
|
||||||
#define MCP2521_CANINTF_WAKIF (1 << 6)
|
|
||||||
#define MCP2521_CANINTF_ERRIF (1 << 5)
|
|
||||||
#define MCP2521_CANINTF_TX2IF (1 << 4)
|
|
||||||
#define MCP2521_CANINTF_TX1IF (1 << 3)
|
|
||||||
#define MCP2521_CANINTF_TX0IF (1 << 2)
|
|
||||||
#define MCP2521_CANINTF_RX1IF (1 << 1)
|
|
||||||
#define MCP2521_CANINTF_RX0IF (1 << 0)
|
|
||||||
|
|
||||||
#define MCP2521_EFLG 0x2D
|
|
||||||
#define MCP2521_EFLG_RX1OVR (1 << 7)
|
|
||||||
#define MCP2521_EFLG_RX0OVR (1 << 6)
|
|
||||||
#define MCP2521_EFLG_TXBO (1 << 5)
|
|
||||||
#define MCP2521_EFLG_TXEP (1 << 4)
|
|
||||||
#define MCP2521_EFLG_RXEP (1 << 3)
|
|
||||||
#define MCP2521_EFLG_TXWAR (1 << 2)
|
|
||||||
#define MCP2521_EFLG_RXWAR (1 << 1)
|
|
||||||
#define MCP2521_EFLG_EWARN (1 << 0)
|
|
||||||
|
|
||||||
#define MCP2521_TXB0CTRL 0x30
|
|
||||||
#define MCP2521_TXB0CTRL_ABTF (1 << 6)
|
|
||||||
#define MCP2521_TXB0CTRL_MLOA (1 << 5)
|
|
||||||
#define MCP2521_TXB0CTRL_TXERR (1 << 4)
|
|
||||||
#define MCP2521_TXB0CTRL_TXREQ (1 << 3)
|
|
||||||
#define MCP2521_TXB0CTRL_TXP1 (1 << 1)
|
|
||||||
#define MCP2521_TXB0CTRL_TXP0 (1 << 0)
|
|
||||||
|
|
||||||
#define MCP2521_TXB0DLC 0x35
|
|
||||||
#define MCP2521_TXB1DLC 0x45
|
|
||||||
#define MCP2521_TXB2DLC 0x55
|
|
||||||
|
|
||||||
#define MCP2521_TXB1CTRL 0x40
|
|
||||||
#define MCP2521_TXB1CTRL_ABTF (1 << 6)
|
|
||||||
#define MCP2521_TXB1CTRL_MLOA (1 << 5)
|
|
||||||
#define MCP2521_TXB1CTRL_TXERR (1 << 4)
|
|
||||||
#define MCP2521_TXB1CTRL_TXREQ (1 << 3)
|
|
||||||
#define MCP2521_TXB1CTRL_TXP1 (1 << 1)
|
|
||||||
#define MCP2521_TXB1CTRL_TXP0 (1 << 0)
|
|
||||||
|
|
||||||
#define MCP2521_TXB2CTRL 0x50
|
|
||||||
#define MCP2521_TXB2CTRL_ABTF (1 << 6)
|
|
||||||
#define MCP2521_TXB2CTRL_MLOA (1 << 5)
|
|
||||||
#define MCP2521_TXB2CTRL_TXERR (1 << 4)
|
|
||||||
#define MCP2521_TXB2CTRL_TXREQ (1 << 3)
|
|
||||||
#define MCP2521_TXB2CTRL_TXP1 (1 << 1)
|
|
||||||
#define MCP2521_TXB2CTRL_TXP0 (1 << 0)
|
|
||||||
|
|
||||||
struct TXBnCTRL_Register {
|
|
||||||
uint8_t TXP : 2;
|
|
||||||
uint8_t : 1; // Unused bit
|
|
||||||
uint8_t TXREQ : 1;
|
|
||||||
uint8_t TXERR : 1;
|
|
||||||
uint8_t MLOA : 1;
|
|
||||||
uint8_t ABTF : 1;
|
|
||||||
uint8_t : 1; // Unused bit
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
#define MCP2521_RXB0CTRL 0x60
|
|
||||||
#define MCP2521_RXB0CTRL_RXM1 (1 << 6)
|
|
||||||
#define MCP2521_RXB0CTRL_RXM0 (1 << 5)
|
|
||||||
#define MCP2521_RXB0CTRL_RXRTR (1 << 3)
|
|
||||||
#define MCP2521_RXB0CTRL_BUKT (1 << 2)
|
|
||||||
#define MCP2521_RXB0CTRL_BUKT1 (1 << 1)
|
|
||||||
#define MCP2521_RXB0CTRL_FILHIT0 (1 << 0)
|
|
||||||
|
|
||||||
#define MCP2521_RXB1CTRL 0x70
|
|
||||||
#define MCP2521_RXB1CTRL_RXM1 (1 << 6)
|
|
||||||
#define MCP2521_RXB1CTRL_RXM0 (1 << 5)
|
|
||||||
#define MCP2521_RXB1CTRL_RXRTR (1 << 3)
|
|
||||||
#define MCP2521_RXB1CTRL_FILHIT2 (1 << 2)
|
|
||||||
#define MCP2521_RXB1CTRL_FILHIT1 (1 << 1)
|
|
||||||
#define MCP2521_RXB1CTRL_FILHIT0 (1 << 0)
|
|
||||||
|
|
||||||
#define MCP2521_OP_RESET 0b11000000
|
|
||||||
#define MCP2521_OP_READ 0b00000011
|
|
||||||
#define MCP2521_OP_READ_RX_BUFFER 0b10010000
|
|
||||||
#define MCP2521_OP_WRITE 0b00000010
|
|
||||||
#define MCP2521_OP_LOAD_TX_BUFFER 0b01000000
|
|
||||||
#define MCP2521_OP_RTS 0b10000000
|
|
||||||
#define MCP2521_OP_READ_STATUS 0b10100000
|
|
||||||
#define MCP2521_OP_RX_STATUS 0b10110000
|
|
||||||
#define MCP2521_OP_BIT_MODIFY 0b00000101
|
|
||||||
|
|
||||||
#define MCP2521_TXB0SIDH 0x31
|
|
||||||
#define MCP2521_TXB1SIDH 0x41
|
|
||||||
#define MCP2521_TXB2SIDH 0x51
|
|
||||||
|
|
||||||
#define MCP2521_TXB0SIDL 0x32
|
|
||||||
#define MCP2521_TXB1SIDL 0x42
|
|
||||||
#define MCP2521_TXB2SIDL 0x52
|
|
||||||
|
|
||||||
#define MCP2521_RXB0SIDH 0x61
|
|
||||||
#define MCP2521_RXB1SIDH 0x71
|
|
||||||
|
|
||||||
#define MCP2521_RXB0SIDL 0x62
|
|
||||||
#define MCP2521_RXB1SIDL 0x72
|
|
||||||
|
|
||||||
#define MCP2521_RXB0EID8 0x63
|
|
||||||
#define MCP2521_RXB1EID8 0x73
|
|
||||||
|
|
||||||
#define MCP2521_RXB0EID0 0x64
|
|
||||||
#define MCP2521_RXB1EID0 0x74
|
|
||||||
|
|
||||||
#define MCP2521_RXB0DLC 0x65
|
|
||||||
#define MCP2521_RXB1DLC 0x75
|
|
||||||
@@ -1,102 +0,0 @@
|
|||||||
#pragma once
|
|
||||||
#include "mcp2521_addresses.hpp"
|
|
||||||
#include "mcp2521_hardware_handle.hpp"
|
|
||||||
|
|
||||||
#include <stdint.h>
|
|
||||||
|
|
||||||
enum MCP2521_RX_BUFFER {
|
|
||||||
RXB0 = 0,
|
|
||||||
RXB1 = 1
|
|
||||||
};
|
|
||||||
|
|
||||||
enum MCP2521_TX_BUFFER {
|
|
||||||
TXB0 = 0,
|
|
||||||
TXB1 = 1,
|
|
||||||
TXB2 = 2
|
|
||||||
};
|
|
||||||
|
|
||||||
enum MCP2521_BUFFER_TYPE {
|
|
||||||
ID = 0,
|
|
||||||
DATA = 1
|
|
||||||
};
|
|
||||||
|
|
||||||
enum MCP2521_OPERATION_MODE {
|
|
||||||
NORMAL = 0b000,
|
|
||||||
SLEEP = 0b001,
|
|
||||||
LOOPBACK = 0b010,
|
|
||||||
LISTEN_ONLY = 0b011,
|
|
||||||
CONFIG = 0b100
|
|
||||||
};
|
|
||||||
|
|
||||||
struct rx_info {
|
|
||||||
bool extended;
|
|
||||||
|
|
||||||
uint16_t id;
|
|
||||||
uint32_t extended_id;
|
|
||||||
|
|
||||||
bool rtr;
|
|
||||||
bool extended_rtr;
|
|
||||||
|
|
||||||
uint8_t length;
|
|
||||||
};
|
|
||||||
|
|
||||||
class MCP2521_CommandInterface {
|
|
||||||
private:
|
|
||||||
I_MCP2521_HardwareHandle * hardware_handle;
|
|
||||||
|
|
||||||
intHandlerFunction_t rx0_handler;
|
|
||||||
intHandlerFunction_t rx1_handler;
|
|
||||||
intHandlerFunction_t tx0_handler;
|
|
||||||
intHandlerFunction_t tx1_handler;
|
|
||||||
intHandlerFunction_t tx2_handler;
|
|
||||||
intHandlerFunction_t error_handler;
|
|
||||||
intHandlerFunction_t wakeup_handler;
|
|
||||||
intHandlerFunction_t message_error_handler;
|
|
||||||
|
|
||||||
void * rx0_handler_arg;
|
|
||||||
void * rx1_handler_arg;
|
|
||||||
void * tx0_handler_arg;
|
|
||||||
void * tx1_handler_arg;
|
|
||||||
void * tx2_handler_arg;
|
|
||||||
void * error_handler_arg;
|
|
||||||
void * wakeup_handler_arg;
|
|
||||||
void * message_error_handler_arg;
|
|
||||||
public:
|
|
||||||
|
|
||||||
MCP2521_CommandInterface(
|
|
||||||
I_MCP2521_HardwareHandle * hardware_handle
|
|
||||||
);
|
|
||||||
|
|
||||||
void handleInterrupt();
|
|
||||||
|
|
||||||
void reset();
|
|
||||||
|
|
||||||
void read_reg(uint8_t address, uint8_t *data, size_t length);
|
|
||||||
uint8_t read_reg(uint8_t address);
|
|
||||||
|
|
||||||
void read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
|
|
||||||
|
|
||||||
void write_reg(uint8_t address, uint8_t *data, size_t length);
|
|
||||||
void write_reg(uint8_t address, uint8_t data);
|
|
||||||
|
|
||||||
void write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
|
|
||||||
|
|
||||||
void request_to_send(bool txb2, bool txb1, bool txb0);
|
|
||||||
void request_to_send(MCP2521_TX_BUFFER buffer);
|
|
||||||
|
|
||||||
uint8_t read_status();
|
|
||||||
uint8_t read_rx_status();
|
|
||||||
|
|
||||||
void bit_modify(uint8_t address, uint8_t mask, uint8_t data);
|
|
||||||
|
|
||||||
// Registering Handlers for Interrupts
|
|
||||||
void register_rx0_handler(intHandlerFunction_t handler, void * arg);
|
|
||||||
void register_rx1_handler(intHandlerFunction_t handler, void * arg);
|
|
||||||
void register_tx0_handler(intHandlerFunction_t handler, void * arg);
|
|
||||||
void register_tx1_handler(intHandlerFunction_t handler, void * arg);
|
|
||||||
void register_tx2_handler(intHandlerFunction_t handler, void * arg);
|
|
||||||
void register_error_handler(intHandlerFunction_t handler, void * arg);
|
|
||||||
void register_wakeup_handler(intHandlerFunction_t handler, void * arg);
|
|
||||||
void register_message_error_handler(intHandlerFunction_t handler, void * arg);
|
|
||||||
};
|
|
||||||
|
|
||||||
@@ -1,38 +0,0 @@
|
|||||||
#pragma once
|
|
||||||
#include <stdint.h>
|
|
||||||
|
|
||||||
#include "mcp2521.hpp"
|
|
||||||
#include "mcp2521_command.hpp"
|
|
||||||
#include "mcp2521_addresses.hpp"
|
|
||||||
|
|
||||||
class MCP2521 : public MCP2521_CommandInterface {
|
|
||||||
private:
|
|
||||||
public:
|
|
||||||
void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Loads the Data Length Code register for the specified buffer
|
|
||||||
*
|
|
||||||
* @param buffer What Buffer to load the DLC register for
|
|
||||||
* @param length How many bytes are in the message (0-8)
|
|
||||||
* @param rtr: Remote Transmission Request
|
|
||||||
*/
|
|
||||||
void set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Loads the data and id into the specified buffer
|
|
||||||
*
|
|
||||||
* @param buffer
|
|
||||||
* @param id
|
|
||||||
* @param data
|
|
||||||
* @param length
|
|
||||||
*/
|
|
||||||
void prepare_tx(MCP2521_TX_BUFFER buffer, uint32_t id, uint8_t *data, size_t length, bool rtr, bool extended);
|
|
||||||
|
|
||||||
void set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot);
|
|
||||||
void set_singleshot_mode(bool enable);
|
|
||||||
|
|
||||||
void enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1);
|
|
||||||
rx_info get_rx_id(MCP2521_RX_BUFFER buffer);
|
|
||||||
|
|
||||||
};
|
|
||||||
@@ -1,100 +0,0 @@
|
|||||||
#include <cstring>
|
|
||||||
|
|
||||||
#include "mcp2521.hpp"
|
|
||||||
#include "mcp2521_addresses.hpp"
|
|
||||||
|
|
||||||
void runIntHandler(void *arg) {
|
|
||||||
MCP2521_CommandInterface *command_interface = (MCP2521_CommandInterface *)arg;
|
|
||||||
command_interface->handleInterrupt();
|
|
||||||
}
|
|
||||||
|
|
||||||
MCP2521_CommandInterface::MCP2521_CommandInterface(
|
|
||||||
I_MCP2521_HardwareHandle * hardware_handle
|
|
||||||
) {
|
|
||||||
this->hardware_handle = hardware_handle;
|
|
||||||
this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
|
|
||||||
|
|
||||||
rx0_handler = NULL;
|
|
||||||
rx1_handler = NULL;
|
|
||||||
tx0_handler = NULL;
|
|
||||||
tx1_handler = NULL;
|
|
||||||
tx2_handler = NULL;
|
|
||||||
error_handler = NULL;
|
|
||||||
wakeup_handler = NULL;
|
|
||||||
message_error_handler = NULL;
|
|
||||||
|
|
||||||
rx0_handler_arg = NULL;
|
|
||||||
rx1_handler_arg = NULL;
|
|
||||||
tx0_handler_arg = NULL;
|
|
||||||
tx1_handler_arg = NULL;
|
|
||||||
tx2_handler_arg = NULL;
|
|
||||||
error_handler_arg = NULL;
|
|
||||||
wakeup_handler_arg = NULL;
|
|
||||||
message_error_handler_arg = NULL;
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::reset() {
|
|
||||||
hardware_handle->execute(MCP2521_OP_RESET);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::read_reg(uint8_t address, uint8_t *data, size_t length) {
|
|
||||||
hardware_handle->read(MCP2521_OP_READ, data, length, address);
|
|
||||||
}
|
|
||||||
|
|
||||||
uint8_t MCP2521_CommandInterface::read_reg(uint8_t address) {
|
|
||||||
return hardware_handle->read(MCP2521_OP_READ, address);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
|
|
||||||
uint8_t address = (buffer << 1) | (type << 2);
|
|
||||||
hardware_handle->read(MCP2521_OP_READ_RX_BUFFER | address, data, length);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t *data, size_t length) {
|
|
||||||
hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t data) {
|
|
||||||
hardware_handle->write(MCP2521_OP_WRITE, data, address);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
|
|
||||||
uint8_t address = (buffer << 1) | (type);
|
|
||||||
hardware_handle->write(MCP2521_OP_LOAD_TX_BUFFER | address, data, length);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::request_to_send(bool txb2, bool txb1, bool txb0) {
|
|
||||||
uint8_t data = (txb2 << 2) | (txb1 << 1) | txb0;
|
|
||||||
hardware_handle->execute(MCP2521_OP_RTS | data);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::request_to_send(MCP2521_TX_BUFFER buffer) {
|
|
||||||
uint8_t mask = 0;
|
|
||||||
|
|
||||||
switch (buffer) {
|
|
||||||
case MCP2521_TX_BUFFER::TXB0:
|
|
||||||
mask = 0b001;
|
|
||||||
break;
|
|
||||||
case MCP2521_TX_BUFFER::TXB1:
|
|
||||||
mask = 0b010;
|
|
||||||
break;
|
|
||||||
case MCP2521_TX_BUFFER::TXB2:
|
|
||||||
mask = 0b100;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
hardware_handle->execute(MCP2521_OP_RTS | mask);
|
|
||||||
}
|
|
||||||
|
|
||||||
uint8_t MCP2521_CommandInterface::read_status() {
|
|
||||||
return hardware_handle->read(MCP2521_OP_READ_STATUS);
|
|
||||||
}
|
|
||||||
|
|
||||||
uint8_t MCP2521_CommandInterface::read_rx_status() {
|
|
||||||
return hardware_handle->read(MCP2521_OP_RX_STATUS);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
|
|
||||||
uint8_t data_array[3] = {address, mask, data};
|
|
||||||
hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
|
|
||||||
}
|
|
||||||
@@ -1,113 +0,0 @@
|
|||||||
#include "mcp2521.hpp"
|
|
||||||
#include "mcp2521_addresses.hpp"
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
|
|
||||||
rx0_handler = handler;
|
|
||||||
rx0_handler_arg = args;
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
|
|
||||||
rx1_handler = handler;
|
|
||||||
rx1_handler_arg = args;
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
|
|
||||||
tx0_handler = handler;
|
|
||||||
tx0_handler_arg = args;
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
|
|
||||||
tx1_handler = handler;
|
|
||||||
tx1_handler_arg = args;
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
|
|
||||||
tx2_handler = handler;
|
|
||||||
tx2_handler_arg = args;
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::register_error_handler(intHandlerFunction_t handler, void* args) {
|
|
||||||
error_handler = handler;
|
|
||||||
error_handler_arg = args;
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
|
|
||||||
wakeup_handler = handler;
|
|
||||||
wakeup_handler_arg = args;
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
|
|
||||||
message_error_handler = handler;
|
|
||||||
message_error_handler_arg = args;
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_CommandInterface::handleInterrupt() {
|
|
||||||
uint8_t flags = read_reg(MCP2521_CANINTF);
|
|
||||||
uint8_t clearBits = 0;
|
|
||||||
|
|
||||||
if (flags & MCP2521_CANINTF_RX0IF) {
|
|
||||||
if (rx0_handler) {
|
|
||||||
rx0_handler(rx0_handler_arg);
|
|
||||||
}
|
|
||||||
flags &= ~MCP2521_CANINTF_RX0IF;
|
|
||||||
clearBits |= MCP2521_CANINTF_RX0IF;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (flags & MCP2521_CANINTF_RX1IF) {
|
|
||||||
if (rx1_handler) {
|
|
||||||
rx1_handler(rx1_handler_arg);
|
|
||||||
}
|
|
||||||
flags &= ~MCP2521_CANINTF_RX1IF;
|
|
||||||
clearBits |= MCP2521_CANINTF_RX1IF;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (flags & MCP2521_CANINTF_TX0IF) {
|
|
||||||
if (tx0_handler) {
|
|
||||||
tx0_handler(tx0_handler_arg);
|
|
||||||
}
|
|
||||||
flags &= ~MCP2521_CANINTF_TX0IF;
|
|
||||||
clearBits |= MCP2521_CANINTF_TX0IF;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (flags & MCP2521_CANINTF_TX1IF) {
|
|
||||||
if (tx1_handler) {
|
|
||||||
tx1_handler(tx1_handler_arg);
|
|
||||||
}
|
|
||||||
flags &= ~MCP2521_CANINTF_TX1IF;
|
|
||||||
clearBits |= MCP2521_CANINTF_TX1IF;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (flags & MCP2521_CANINTF_TX2IF) {
|
|
||||||
if (tx2_handler) {
|
|
||||||
tx2_handler(tx2_handler_arg);
|
|
||||||
}
|
|
||||||
flags &= ~MCP2521_CANINTF_TX2IF;
|
|
||||||
clearBits |= MCP2521_CANINTF_TX2IF;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (flags & MCP2521_CANINTF_ERRIF) {
|
|
||||||
if (error_handler) {
|
|
||||||
error_handler(error_handler_arg);
|
|
||||||
}
|
|
||||||
flags &= ~MCP2521_CANINTF_ERRIF;
|
|
||||||
clearBits |= MCP2521_CANINTF_ERRIF;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (flags & MCP2521_CANINTF_WAKIF) {
|
|
||||||
if (wakeup_handler) {
|
|
||||||
wakeup_handler(wakeup_handler_arg);
|
|
||||||
}
|
|
||||||
flags &= ~MCP2521_CANINTF_WAKIF;
|
|
||||||
clearBits |= MCP2521_CANINTF_WAKIF;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (flags & MCP2521_CANINTF_MERRF) {
|
|
||||||
if (message_error_handler) {
|
|
||||||
message_error_handler(message_error_handler_arg);
|
|
||||||
}
|
|
||||||
flags &= ~MCP2521_CANINTF_MERRF;
|
|
||||||
clearBits |= MCP2521_CANINTF_MERRF;
|
|
||||||
}
|
|
||||||
|
|
||||||
bit_modify(MCP2521_CANINTF, clearBits, 0);
|
|
||||||
}
|
|
||||||
@@ -1,119 +0,0 @@
|
|||||||
#include <cstring>
|
|
||||||
|
|
||||||
#include "mcp2521.hpp"
|
|
||||||
#include "mcp2521_addresses.hpp"
|
|
||||||
|
|
||||||
void MCP2521::set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended) {
|
|
||||||
uint8_t addr_offset = 0;
|
|
||||||
switch (buffer)
|
|
||||||
{
|
|
||||||
case MCP2521_TX_BUFFER::TXB0:
|
|
||||||
addr_offset = 0x00;
|
|
||||||
break;
|
|
||||||
case MCP2521_TX_BUFFER::TXB1:
|
|
||||||
addr_offset = 0x10;
|
|
||||||
break;
|
|
||||||
case MCP2521_TX_BUFFER::TXB2:
|
|
||||||
addr_offset = 0x20;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
uint8_t upper_id = (id >> 3) & 0xFF;
|
|
||||||
uint8_t lower_id = ((id & 0b111) << 5);
|
|
||||||
|
|
||||||
if(extended) {
|
|
||||||
lower_id |= 0b1000;
|
|
||||||
lower_id |= (id >> 8) & 0b11;
|
|
||||||
}
|
|
||||||
|
|
||||||
write_reg(MCP2521_TXB0SIDH | addr_offset, upper_id);
|
|
||||||
write_reg(MCP2521_TXB0SIDL | addr_offset, lower_id);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521::set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr) {
|
|
||||||
uint8_t data = length;
|
|
||||||
|
|
||||||
if (rtr)
|
|
||||||
data |= 0b01000000;
|
|
||||||
|
|
||||||
uint8_t reg_address = 0;
|
|
||||||
|
|
||||||
switch (buffer) {
|
|
||||||
case MCP2521_TX_BUFFER::TXB0:
|
|
||||||
reg_address = MCP2521_TXB0DLC;
|
|
||||||
break;
|
|
||||||
case MCP2521_TX_BUFFER::TXB1:
|
|
||||||
reg_address = MCP2521_TXB1DLC;
|
|
||||||
break;
|
|
||||||
case MCP2521_TX_BUFFER::TXB2:
|
|
||||||
reg_address = MCP2521_TXB2DLC;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
write_reg(reg_address, data);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521::set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot) {
|
|
||||||
|
|
||||||
uint8_t single = singleshot ? 0b00001000 : 0x0;
|
|
||||||
|
|
||||||
bit_modify(MCP2521_CANCTRL, 0b11101000 , (mode << 5) | single);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521::set_singleshot_mode(bool enable) {
|
|
||||||
uint8_t data = enable ? 0x08 : 0x00;
|
|
||||||
bit_modify(MCP2521_CANCTRL, 0x08, data);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521::enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1) {
|
|
||||||
uint8_t interrupt_flags = 0;
|
|
||||||
|
|
||||||
if (MessageError) interrupt_flags |= 0b10000000;
|
|
||||||
if (WakeUp) interrupt_flags |= 0b01000000;
|
|
||||||
if (ErrorInterrupt) interrupt_flags |= 0b00100000;
|
|
||||||
if (TXB2) interrupt_flags |= 0b00010000;
|
|
||||||
if (TXB1) interrupt_flags |= 0b00001000;
|
|
||||||
if (TXB0) interrupt_flags |= 0b00000100;
|
|
||||||
if (RXB1) interrupt_flags |= 0b00000010;
|
|
||||||
if (RXB0) interrupt_flags |= 0b00000001;
|
|
||||||
|
|
||||||
write_reg(MCP2521_CANINTE, interrupt_flags);
|
|
||||||
}
|
|
||||||
|
|
||||||
rx_info MCP2521::get_rx_id(MCP2521_RX_BUFFER buffer) {
|
|
||||||
uint8_t data[5];
|
|
||||||
uint8_t addr_offset = MCP2521_RXB0SIDH;
|
|
||||||
|
|
||||||
switch (buffer) {
|
|
||||||
case MCP2521_RX_BUFFER::RXB0:
|
|
||||||
addr_offset |= 0x00;
|
|
||||||
break;
|
|
||||||
case MCP2521_RX_BUFFER::RXB1:
|
|
||||||
addr_offset |= 0x10;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
read_reg(addr_offset, data, 5);
|
|
||||||
|
|
||||||
rx_info res;
|
|
||||||
res.extended = data[1] & 0b1000;
|
|
||||||
res.id = (data[0] << 3) | (data[1] >> 5);
|
|
||||||
res.extended_id = ((data[1] & 0b11) << 16) | (data[2] << 8) | data[3];
|
|
||||||
res.rtr = data[1] & 0b10000;
|
|
||||||
res.extended_rtr = (data[4] & 0b1000000);
|
|
||||||
res.length = (data[4] & 0b1111);
|
|
||||||
|
|
||||||
return res;
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521::prepare_tx(
|
|
||||||
MCP2521_TX_BUFFER buffer,
|
|
||||||
uint32_t id,
|
|
||||||
uint8_t *data,
|
|
||||||
size_t length,
|
|
||||||
bool rtr, bool extended) {
|
|
||||||
|
|
||||||
set_tx_id(buffer, id, extended);
|
|
||||||
set_DLC_reg(buffer, length, rtr);
|
|
||||||
write_tx_buf(buffer, MCP2521_BUFFER_TYPE::DATA, data, length);
|
|
||||||
}
|
|
||||||
@@ -1,7 +0,0 @@
|
|||||||
idf_component_register(SRCS "esp_implementation_init.cpp"
|
|
||||||
"esp_implementation_cmd.cpp"
|
|
||||||
"esp_implementation_int.cpp"
|
|
||||||
"esp_implementation_bus.cpp"
|
|
||||||
"esp_implementation_bus_factory.cpp"
|
|
||||||
INCLUDE_DIRS "include"
|
|
||||||
REQUIRES driver)
|
|
||||||
@@ -1,58 +0,0 @@
|
|||||||
#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
|
|
||||||
@@ -1,67 +0,0 @@
|
|||||||
#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
|
|
||||||
@@ -1,209 +0,0 @@
|
|||||||
#include "mcp2521_hardware_handle.hpp"
|
|
||||||
|
|
||||||
#ifdef ESP_PLATFORM
|
|
||||||
#include "mcp2521_hardware_esp.hpp"
|
|
||||||
|
|
||||||
const uint8_t null_buffer[32] = {0};
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::spi_transmit(spi_transaction_t *t) {
|
|
||||||
xSemaphoreTake(spiMutex, portMAX_DELAY);
|
|
||||||
spi_device_transmit(this->spi_device_handle, t);
|
|
||||||
xSemaphoreGive(spiMutex);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd) {
|
|
||||||
spi_transaction_ext_t t = {
|
|
||||||
.base = {
|
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
|
||||||
.cmd = cmd,
|
|
||||||
.addr = 0,
|
|
||||||
.length = 0,
|
|
||||||
.rxlength = 0,
|
|
||||||
.tx_buffer = NULL,
|
|
||||||
.rx_buffer = NULL
|
|
||||||
},
|
|
||||||
.command_bits = 8,
|
|
||||||
.address_bits = 0,
|
|
||||||
.dummy_bits = 0,
|
|
||||||
};
|
|
||||||
|
|
||||||
spi_transmit((spi_transaction_t*)(&t));
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd, uint8_t address) {
|
|
||||||
spi_transaction_ext_t t = {
|
|
||||||
.base = {
|
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
|
||||||
.cmd = cmd,
|
|
||||||
.addr = address,
|
|
||||||
.length = 0,
|
|
||||||
.rxlength = 0,
|
|
||||||
.tx_buffer = NULL,
|
|
||||||
.rx_buffer = NULL
|
|
||||||
},
|
|
||||||
.command_bits = 8,
|
|
||||||
.address_bits = 8,
|
|
||||||
.dummy_bits = 0,
|
|
||||||
};
|
|
||||||
|
|
||||||
spi_transmit((spi_transaction_t*)(&t));
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
|
|
||||||
spi_transaction_ext_t t = {
|
|
||||||
.base = {
|
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
|
||||||
.cmd = cmd,
|
|
||||||
.addr = address,
|
|
||||||
.length = 8*length,
|
|
||||||
.rxlength = 8*length,
|
|
||||||
.tx_buffer = null_buffer,
|
|
||||||
.rx_buffer = data
|
|
||||||
},
|
|
||||||
.command_bits = 8,
|
|
||||||
.address_bits = 8,
|
|
||||||
.dummy_bits = 0,
|
|
||||||
};
|
|
||||||
|
|
||||||
spi_transmit((spi_transaction_t*)(&t));
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length) {
|
|
||||||
spi_transaction_ext_t t = {
|
|
||||||
.base = {
|
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
|
||||||
.cmd = cmd,
|
|
||||||
.addr = 0,
|
|
||||||
.length = 8*length,
|
|
||||||
.rxlength = 8*length,
|
|
||||||
.tx_buffer = NULL,
|
|
||||||
.rx_buffer = data
|
|
||||||
},
|
|
||||||
.command_bits = 8,
|
|
||||||
.address_bits = 0,
|
|
||||||
.dummy_bits = 0,
|
|
||||||
};
|
|
||||||
|
|
||||||
spi_transmit((spi_transaction_t*)(&t));
|
|
||||||
}
|
|
||||||
|
|
||||||
uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t address) {
|
|
||||||
uint8_t result = 0;
|
|
||||||
spi_transaction_ext_t t = {
|
|
||||||
.base = {
|
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
|
||||||
.cmd = cmd,
|
|
||||||
.addr = address,
|
|
||||||
.length = 8,
|
|
||||||
.rxlength = 8,
|
|
||||||
.tx_buffer = null_buffer,
|
|
||||||
.rx_buffer = &result
|
|
||||||
},
|
|
||||||
.command_bits = 8,
|
|
||||||
.address_bits = 8,
|
|
||||||
.dummy_bits = 0,
|
|
||||||
};
|
|
||||||
|
|
||||||
spi_transmit((spi_transaction_t*)(&t));
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd) {
|
|
||||||
uint8_t result;
|
|
||||||
spi_transaction_ext_t t = {
|
|
||||||
.base = {
|
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
|
||||||
.cmd = cmd,
|
|
||||||
.addr = 0,
|
|
||||||
.length = 8,
|
|
||||||
.rxlength = 8,
|
|
||||||
.tx_buffer = null_buffer,
|
|
||||||
.rx_buffer = &result
|
|
||||||
},
|
|
||||||
.command_bits = 8,
|
|
||||||
.address_bits = 0,
|
|
||||||
.dummy_bits = 0,
|
|
||||||
};
|
|
||||||
|
|
||||||
spi_transmit((spi_transaction_t*)(&t));
|
|
||||||
return result;
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
|
|
||||||
uint8_t result;
|
|
||||||
spi_transaction_ext_t t = {
|
|
||||||
.base = {
|
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
|
||||||
.cmd = cmd,
|
|
||||||
.addr = address,
|
|
||||||
.length = 8*length,
|
|
||||||
.rxlength = 0,
|
|
||||||
.tx_buffer = data,
|
|
||||||
.rx_buffer = NULL
|
|
||||||
},
|
|
||||||
.command_bits = 8,
|
|
||||||
.address_bits = 8,
|
|
||||||
.dummy_bits = 0,
|
|
||||||
};
|
|
||||||
|
|
||||||
spi_transmit((spi_transaction_t*)(&t));
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length) {
|
|
||||||
spi_transaction_ext_t t = {
|
|
||||||
.base = {
|
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
|
||||||
.cmd = cmd,
|
|
||||||
.addr = 0,
|
|
||||||
.length = 8*length,
|
|
||||||
.rxlength = 0,
|
|
||||||
.tx_buffer = data,
|
|
||||||
.rx_buffer = NULL
|
|
||||||
},
|
|
||||||
.command_bits = 8,
|
|
||||||
.address_bits = 0,
|
|
||||||
.dummy_bits = 0,
|
|
||||||
};
|
|
||||||
|
|
||||||
spi_transmit((spi_transaction_t*)(&t));
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t data, uint8_t address) {
|
|
||||||
spi_transaction_ext_t t = {
|
|
||||||
.base = {
|
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
|
||||||
.cmd = cmd,
|
|
||||||
.addr = address,
|
|
||||||
.length = 8,
|
|
||||||
.rxlength = 0,
|
|
||||||
.tx_buffer = &data,
|
|
||||||
.rx_buffer = NULL
|
|
||||||
},
|
|
||||||
.command_bits = 8,
|
|
||||||
.address_bits = 8,
|
|
||||||
.dummy_bits = 0,
|
|
||||||
};
|
|
||||||
|
|
||||||
spi_transmit((spi_transaction_t*)(&t));
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t data) {
|
|
||||||
spi_transaction_ext_t t = {
|
|
||||||
.base = {
|
|
||||||
.flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
|
|
||||||
.cmd = cmd,
|
|
||||||
.addr = 0,
|
|
||||||
.length = 8,
|
|
||||||
.rxlength = 0,
|
|
||||||
.tx_buffer = &data,
|
|
||||||
.rx_buffer = NULL
|
|
||||||
},
|
|
||||||
.command_bits = 8,
|
|
||||||
.address_bits = 0,
|
|
||||||
.dummy_bits = 0,
|
|
||||||
};
|
|
||||||
|
|
||||||
spi_transmit((spi_transaction_t*)(&t));
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif
|
|
||||||
@@ -1,92 +0,0 @@
|
|||||||
#include "mcp2521_hardware_handle.hpp"
|
|
||||||
|
|
||||||
#ifdef ESP_PLATFORM
|
|
||||||
#include "mcp2521_hardware_esp.hpp"
|
|
||||||
#include "driver/gpio.h"
|
|
||||||
#include <string.h>
|
|
||||||
|
|
||||||
#include "freertos/FreeRTOS.h"
|
|
||||||
#include "freertos/task.h"
|
|
||||||
|
|
||||||
MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
|
|
||||||
spi_host_device_t spi_host,
|
|
||||||
spi_bus_config_t *bus_config,
|
|
||||||
gpio_num_t mosi,
|
|
||||||
gpio_num_t miso,
|
|
||||||
gpio_num_t sclk,
|
|
||||||
gpio_num_t cs,
|
|
||||||
gpio_num_t int_pin
|
|
||||||
) {
|
|
||||||
initPins(int_pin);
|
|
||||||
initSPIBus(spi_host, mosi, miso, sclk, bus_config);
|
|
||||||
this->spi_bus_config = bus_config;
|
|
||||||
initSPIDevice(spi_host, cs);
|
|
||||||
}
|
|
||||||
|
|
||||||
MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
|
|
||||||
spi_host_device_t spi_host,
|
|
||||||
spi_bus_config_t *bus_config,
|
|
||||||
gpio_num_t cs,
|
|
||||||
gpio_num_t int_pin
|
|
||||||
) {
|
|
||||||
initPins(int_pin);
|
|
||||||
this->spi_bus_config = bus_config;
|
|
||||||
initSPIDevice(spi_host, cs);
|
|
||||||
}
|
|
||||||
|
|
||||||
MCP2521_HardwareHandle_ESP::~MCP2521_HardwareHandle_ESP() {
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::initSPIBus(
|
|
||||||
spi_host_device_t spi_host,
|
|
||||||
gpio_num_t mosi,
|
|
||||||
gpio_num_t miso,
|
|
||||||
gpio_num_t sclk,
|
|
||||||
spi_bus_config_t *bus_config
|
|
||||||
) {
|
|
||||||
memset(bus_config, 0, sizeof(spi_bus_config_t));
|
|
||||||
bus_config->mosi_io_num = mosi;
|
|
||||||
bus_config->miso_io_num = miso;
|
|
||||||
bus_config->sclk_io_num = sclk;
|
|
||||||
|
|
||||||
bus_config->quadwp_io_num = -1;
|
|
||||||
bus_config->quadhd_io_num = -1;
|
|
||||||
|
|
||||||
bus_config->flags = SPICOMMON_BUSFLAG_MASTER;
|
|
||||||
spi_bus_initialize(spi_host, bus_config, SPI_DMA_CH_AUTO);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::initSPIDevice(
|
|
||||||
spi_host_device_t spi_host,
|
|
||||||
gpio_num_t cs
|
|
||||||
) {
|
|
||||||
memset(&this->spi_device_config, 0, sizeof(spi_device_interface_config_t));
|
|
||||||
this->spi_device_config = {
|
|
||||||
.command_bits = 8,
|
|
||||||
.address_bits = 0,
|
|
||||||
.dummy_bits = 0,
|
|
||||||
|
|
||||||
.mode = 0,
|
|
||||||
.duty_cycle_pos = 128,
|
|
||||||
// cs_ena_pretrans = 0 and cs_ena_posttrans = 0 need to be set to zero, if not its not compatible with full-duplex mode
|
|
||||||
// Learned this the hard way
|
|
||||||
.cs_ena_pretrans = 0,
|
|
||||||
.cs_ena_posttrans = 0,
|
|
||||||
.clock_speed_hz = 10000,
|
|
||||||
|
|
||||||
.spics_io_num = cs,
|
|
||||||
.flags = SPI_DEVICE_NO_DUMMY,
|
|
||||||
.queue_size = 5,
|
|
||||||
};
|
|
||||||
|
|
||||||
spi_bus_add_device(spi_host, &this->spi_device_config, &this->spi_device_handle);
|
|
||||||
|
|
||||||
spiMutex = xSemaphoreCreateMutex();
|
|
||||||
}
|
|
||||||
|
|
||||||
spi_bus_config_t * MCP2521_HardwareHandle_ESP::getSPI_bus_config() {
|
|
||||||
return this->spi_bus_config;
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif
|
|
||||||
@@ -1,66 +0,0 @@
|
|||||||
#include "mcp2521_hardware_handle.hpp"
|
|
||||||
|
|
||||||
#ifdef ESP_PLATFORM
|
|
||||||
#include "freertos/FreeRTOS.h"
|
|
||||||
#include "freertos/task.h"
|
|
||||||
#include "mcp2521_hardware_esp.hpp"
|
|
||||||
|
|
||||||
static void IRAM_ATTR gpio_isr_can_handler(void* arg) {
|
|
||||||
MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
|
|
||||||
handle->isr_can_interrupt();
|
|
||||||
}
|
|
||||||
|
|
||||||
static void handleInteruptTaskCallerFn(void *arg) {
|
|
||||||
MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
|
|
||||||
handle->handleIntteruptTaskFn();
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::initPins(
|
|
||||||
gpio_num_t int_pin
|
|
||||||
) {
|
|
||||||
canInterruptSemaphore = xSemaphoreCreateBinary();
|
|
||||||
|
|
||||||
gpio_config_t io_conf;
|
|
||||||
io_conf.intr_type = GPIO_INTR_NEGEDGE;
|
|
||||||
io_conf.mode = GPIO_MODE_INPUT;
|
|
||||||
io_conf.pin_bit_mask = 1 << int_pin;
|
|
||||||
io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
|
|
||||||
io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
|
|
||||||
gpio_config(&io_conf);
|
|
||||||
|
|
||||||
gpio_install_isr_service(0);
|
|
||||||
gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
|
|
||||||
|
|
||||||
xTaskCreatePinnedToCore(
|
|
||||||
(TaskFunction_t)&handleInteruptTaskCallerFn,
|
|
||||||
"canInterruptTask",
|
|
||||||
2048,
|
|
||||||
this,
|
|
||||||
5,
|
|
||||||
&canInterruptTaskHandle,
|
|
||||||
0
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::handleIntteruptTaskFn() {
|
|
||||||
while(true) {
|
|
||||||
xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
|
|
||||||
intHandler(intHandlerArg);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::isr_can_interrupt() {
|
|
||||||
BaseType_t wokenTask = pdFALSE;
|
|
||||||
xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);
|
|
||||||
|
|
||||||
if(wokenTask) {
|
|
||||||
portYIELD_FROM_ISR();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void MCP2521_HardwareHandle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
|
|
||||||
intHandlerArg = arg;
|
|
||||||
intHandler = handler;
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif
|
|
||||||
@@ -1,131 +0,0 @@
|
|||||||
/**
|
|
||||||
* @file mcp2521_hardware_esp.hpp
|
|
||||||
* @author AlexanderHD27
|
|
||||||
* @brief
|
|
||||||
* @version 0.1
|
|
||||||
* @date 2024-11-16
|
|
||||||
*
|
|
||||||
* @copyright Copyright (c) 2024
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
#pragma once
|
|
||||||
#include "mcp2521_hardware_handle.hpp"
|
|
||||||
|
|
||||||
#ifdef ESP_PLATFORM
|
|
||||||
|
|
||||||
#include "driver/gpio.h"
|
|
||||||
#include "driver/spi_master.h"
|
|
||||||
#include "freertos/FreeRTOS.h"
|
|
||||||
#include "freertos/task.h"
|
|
||||||
|
|
||||||
static void handleInteruptTaskCallerFn(void *arg);
|
|
||||||
static void IRAM_ATTR gpio_isr_can_handler(void* arg);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Hardware handle for MCP2521 over SPI on ESP32
|
|
||||||
* This is should not be used if multiple MCP2521 are on the same SPI bus
|
|
||||||
*/
|
|
||||||
class MCP2521_HardwareHandle_ESP : public I_MCP2521_HardwareHandle {
|
|
||||||
protected:
|
|
||||||
void spi_transmit(spi_transaction_t *t);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Sempahore, that is set every time the MCP2521 triggers an interrupt by the canInterruptTaskHandle
|
|
||||||
*/
|
|
||||||
SemaphoreHandle_t canInterruptSemaphore = NULL;
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Handle to task that handles the MCP2521 interrupt
|
|
||||||
* A Handle can be registered via the registerIntHandler method
|
|
||||||
*/
|
|
||||||
TaskHandle_t canInterruptTaskHandle = NULL;
|
|
||||||
|
|
||||||
spi_device_handle_t spi_device_handle;
|
|
||||||
|
|
||||||
private:
|
|
||||||
spi_bus_config_t * spi_bus_config;
|
|
||||||
char spi_tmp_buffer;
|
|
||||||
|
|
||||||
spi_device_interface_config_t spi_device_config;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Sempahore, that protects the SPI bus from being accessed by multiple tasks at the same time
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
SemaphoreHandle_t spiMutex = NULL;
|
|
||||||
|
|
||||||
void * intHandlerArg = NULL;
|
|
||||||
intHandlerFunction_t intHandler = NULL;
|
|
||||||
|
|
||||||
public:
|
|
||||||
MCP2521_HardwareHandle_ESP(
|
|
||||||
spi_host_device_t spi_host,
|
|
||||||
spi_bus_config_t *bus_config,
|
|
||||||
gpio_num_t mosi,
|
|
||||||
gpio_num_t miso,
|
|
||||||
gpio_num_t sclk,
|
|
||||||
gpio_num_t cs,
|
|
||||||
gpio_num_t int_pin
|
|
||||||
);
|
|
||||||
|
|
||||||
MCP2521_HardwareHandle_ESP(
|
|
||||||
spi_host_device_t spi_host,
|
|
||||||
spi_bus_config_t *bus_config,
|
|
||||||
gpio_num_t cs,
|
|
||||||
gpio_num_t int_pin
|
|
||||||
);
|
|
||||||
|
|
||||||
static void initSPIBus(
|
|
||||||
spi_host_device_t spi_host,
|
|
||||||
gpio_num_t mosi,
|
|
||||||
gpio_num_t miso,
|
|
||||||
gpio_num_t sclk,
|
|
||||||
spi_bus_config_t *bus_config
|
|
||||||
);
|
|
||||||
|
|
||||||
void initSPIDevice(
|
|
||||||
spi_host_device_t spi_host,
|
|
||||||
gpio_num_t cs
|
|
||||||
);
|
|
||||||
|
|
||||||
void initPins(
|
|
||||||
gpio_num_t int_pin
|
|
||||||
);
|
|
||||||
|
|
||||||
~MCP2521_HardwareHandle_ESP();
|
|
||||||
|
|
||||||
spi_bus_config_t * getSPI_bus_config();
|
|
||||||
|
|
||||||
// ISR Stuff
|
|
||||||
/**
|
|
||||||
* @brief This function is called by the ISR, that is triggered by the MCP2521
|
|
||||||
* This function just set the canInterruptSemaphore, that then unblocks the canInterruptTaskHandle.
|
|
||||||
* So this function should be as short as possible, let the reset of the work be done in the canInterruptTaskHandle
|
|
||||||
*/
|
|
||||||
void isr_can_interrupt();
|
|
||||||
|
|
||||||
/**
|
|
||||||
* This is the methode run as canInterruptTaskHandle.
|
|
||||||
* It should continously aquire the canInterruptSemaphore and then call the intHandler
|
|
||||||
*/
|
|
||||||
void handleIntteruptTaskFn();
|
|
||||||
|
|
||||||
// Inherited from MCP2521_Hardware_Handle
|
|
||||||
void execute(uint8_t cmd);
|
|
||||||
void execute(uint8_t cmd, uint8_t address);
|
|
||||||
|
|
||||||
void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
|
|
||||||
void read(uint8_t cmd, uint8_t *data, size_t length);
|
|
||||||
uint8_t read(uint8_t cmd, uint8_t address);
|
|
||||||
uint8_t read(uint8_t cmd);
|
|
||||||
|
|
||||||
void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
|
|
||||||
void write(uint8_t cmd, uint8_t *data, size_t length);
|
|
||||||
void write(uint8_t cmd, uint8_t data, uint8_t address);
|
|
||||||
void write(uint8_t cmd, uint8_t data);
|
|
||||||
|
|
||||||
void registerIntHandler(intHandlerFunction_t handler, void * arg);
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif
|
|
||||||
@@ -1,46 +0,0 @@
|
|||||||
#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
|
|
||||||
);
|
|
||||||
};
|
|
||||||
@@ -1,41 +0,0 @@
|
|||||||
#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
|
|
||||||
@@ -1,119 +0,0 @@
|
|||||||
#pragma once
|
|
||||||
#include <cstdint>
|
|
||||||
#include <strings.h>
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Handler function pointer type
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
typedef void (*intHandlerFunction_t)(void *);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Hardware handle for MCP2521
|
|
||||||
* @interface
|
|
||||||
* This is an abstraction over the sepific hardware setup, eg. SPI@ESP32 or RP2040
|
|
||||||
*
|
|
||||||
*/
|
|
||||||
class I_MCP2521_HardwareHandle {
|
|
||||||
public:
|
|
||||||
/**
|
|
||||||
* @brief Registeres a function that is called when the MCP2521 triggers an interrupt
|
|
||||||
*
|
|
||||||
* @param handler This function is called when the MCP2521 triggers an interrupt
|
|
||||||
* @param arg Arguments passed to the handler-function
|
|
||||||
*/
|
|
||||||
virtual void registerIntHandler(intHandlerFunction_t handler, void * arg) = 0;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @overload
|
|
||||||
* @brief justed sends a 8bit command to the MCP2521
|
|
||||||
*
|
|
||||||
* @param cmd command to send
|
|
||||||
*/
|
|
||||||
virtual void execute(uint8_t cmd) = 0;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @overload
|
|
||||||
* @brief executes a command (8 bit) with an address (8 bit)
|
|
||||||
*
|
|
||||||
* @param cmd 8 bit command
|
|
||||||
* @param address 8 bit address
|
|
||||||
*/
|
|
||||||
virtual void execute(uint8_t cmd, uint8_t address) = 0;
|
|
||||||
|
|
||||||
/**
|
|
||||||
*
|
|
||||||
* @brief Executes a read from the MCP2521 with command, data buffer, length and address
|
|
||||||
* @overload
|
|
||||||
*
|
|
||||||
* @param cmd Command to MCP2521
|
|
||||||
* @param data Data buffer to store the read data
|
|
||||||
* @param length How many bytes to read
|
|
||||||
* @param address Address to read from
|
|
||||||
*/
|
|
||||||
virtual void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Executes a read from the MCP2521 with command, data buffer and length
|
|
||||||
* @overload
|
|
||||||
*
|
|
||||||
* @param cmd Command to MCP2521
|
|
||||||
* @param data Data buffer to store the read data
|
|
||||||
* @param length How many bytes to read
|
|
||||||
*/
|
|
||||||
virtual void read(uint8_t cmd, uint8_t *data, size_t length) = 0;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Executes a read from the MCP2521 with command and address, returns just one byte
|
|
||||||
*
|
|
||||||
* @param cmd Command to MCP2521
|
|
||||||
* @param address Address to read from
|
|
||||||
* @return uint8_t
|
|
||||||
*/
|
|
||||||
virtual uint8_t read(uint8_t cmd, uint8_t address) = 0;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Executes a read from the MCP2521 with command, returns just one byte
|
|
||||||
*
|
|
||||||
* @param cmd Command to MCP2521
|
|
||||||
* @return uint8_t
|
|
||||||
*/
|
|
||||||
virtual uint8_t read(uint8_t cmd) = 0;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Writes data to the MCP2521 with command, data buffer, length and address
|
|
||||||
*
|
|
||||||
* @param cmd Command to MCP2521
|
|
||||||
* @param data Data buffer to write
|
|
||||||
* @param length Length of the data buffer
|
|
||||||
* @param address Where to write the data
|
|
||||||
*/
|
|
||||||
virtual void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Wirites data to the MCP2521 with command, data buffer and length
|
|
||||||
*
|
|
||||||
* @param cmd Command to MCP2521
|
|
||||||
* @param data Data buffer to write
|
|
||||||
* @param length Length of the data buffer
|
|
||||||
*/
|
|
||||||
virtual void write(uint8_t cmd, uint8_t *data, size_t length) = 0;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Writes data to the MCP2521 with command, data (on byte) and address
|
|
||||||
*
|
|
||||||
* @param cmd Command to MCP2521
|
|
||||||
* @param data Data byte to write
|
|
||||||
* @param address Where to write the data
|
|
||||||
*/
|
|
||||||
virtual void write(uint8_t cmd, uint8_t data, uint8_t address) = 0;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Writes to the MCP2521 with command and data (one byte)
|
|
||||||
*
|
|
||||||
* @param cmd Command to MCP2521
|
|
||||||
* @param data Data byte to write
|
|
||||||
*/
|
|
||||||
virtual void write(uint8_t cmd, uint8_t data) = 0;
|
|
||||||
};
|
|
||||||
|
|
||||||
BIN
motor-control/.gitignore
(Stored with Git LFS)
vendored
BIN
motor-control/.gitignore
(Stored with Git LFS)
vendored
Binary file not shown.
BIN
motor-control/firmware/.gitignore
(Stored with Git LFS)
vendored
Normal file
BIN
motor-control/firmware/.gitignore
(Stored with Git LFS)
vendored
Normal file
Binary file not shown.
18
motor-control/firmware/.vscode/c_cpp_properties.json
vendored
Normal file
18
motor-control/firmware/.vscode/c_cpp_properties.json
vendored
Normal file
@@ -0,0 +1,18 @@
|
|||||||
|
{
|
||||||
|
"configurations": [
|
||||||
|
{
|
||||||
|
"name": "Linux",
|
||||||
|
"includePath": [
|
||||||
|
"${workspaceFolder}/include/**",
|
||||||
|
"${workspaceFolder}/lib/pico-sdk/lib/tinyusb/src"
|
||||||
|
],
|
||||||
|
"defines": [],
|
||||||
|
"compilerPath": "/usr/bin/gcc",
|
||||||
|
"cStandard": "c17",
|
||||||
|
"cppStandard": "c++14",
|
||||||
|
"intelliSenseMode": "linux-gcc-arm",
|
||||||
|
"configurationProvider": "ms-vscode.cmake-tools"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"version": 4
|
||||||
|
}
|
||||||
31
motor-control/firmware/.vscode/launch.json
vendored
Executable file
31
motor-control/firmware/.vscode/launch.json
vendored
Executable file
@@ -0,0 +1,31 @@
|
|||||||
|
{
|
||||||
|
// Use IntelliSense to learn about possible attributes.
|
||||||
|
// Hover to view descriptions of existing attributes.
|
||||||
|
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
|
||||||
|
"version": "0.2.0",
|
||||||
|
"configurations": [
|
||||||
|
{
|
||||||
|
"name": "Pico: Debug External OpenOCD",
|
||||||
|
"cwd": "${workspaceRoot}",
|
||||||
|
"executable": "${command:cmake.launchTargetPath}",
|
||||||
|
"request": "launch",
|
||||||
|
"preLaunchTask": "Pico: flash main",
|
||||||
|
"type": "cortex-debug",
|
||||||
|
"servertype": "external",
|
||||||
|
"gdbPath" : "gdb-multiarch",
|
||||||
|
"gdbTarget": "localhost:3333",
|
||||||
|
"device": "RP2040",
|
||||||
|
"configFiles": [
|
||||||
|
"interface/cmsis-dap.cfg",
|
||||||
|
"target/rp2040.cfg"
|
||||||
|
],
|
||||||
|
|
||||||
|
"svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
|
||||||
|
"runToEntryPoint": "main",
|
||||||
|
|
||||||
|
"postRestartCommands": [
|
||||||
|
"continue"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
79
motor-control/firmware/.vscode/settings.json
vendored
Normal file
79
motor-control/firmware/.vscode/settings.json
vendored
Normal file
@@ -0,0 +1,79 @@
|
|||||||
|
{
|
||||||
|
"cSpell.words": [
|
||||||
|
"apcsw",
|
||||||
|
"apreg",
|
||||||
|
"apsel",
|
||||||
|
"arrayname",
|
||||||
|
"baseaddr",
|
||||||
|
"Bhaskra",
|
||||||
|
"bitwidth",
|
||||||
|
"BOOTSEL",
|
||||||
|
"cget",
|
||||||
|
"channellist",
|
||||||
|
"charmsg",
|
||||||
|
"clkdiv",
|
||||||
|
"cpnum",
|
||||||
|
"deassert",
|
||||||
|
"deasserted",
|
||||||
|
"deasserting",
|
||||||
|
"doxygen",
|
||||||
|
"dpreg",
|
||||||
|
"drawio",
|
||||||
|
"dreq",
|
||||||
|
"eabi",
|
||||||
|
"eventlist",
|
||||||
|
"gpio",
|
||||||
|
"helptext",
|
||||||
|
"jtag",
|
||||||
|
"lindex",
|
||||||
|
"memaccess",
|
||||||
|
"microcontroller",
|
||||||
|
"multiarch",
|
||||||
|
"multicore",
|
||||||
|
"Pico",
|
||||||
|
"picoprobe",
|
||||||
|
"pindirs",
|
||||||
|
"pinout",
|
||||||
|
"pregen",
|
||||||
|
"resexit",
|
||||||
|
"semihosting",
|
||||||
|
"srst",
|
||||||
|
"struct",
|
||||||
|
"targetname",
|
||||||
|
"TPIU",
|
||||||
|
"trst",
|
||||||
|
"UART",
|
||||||
|
"virt",
|
||||||
|
"waitstate",
|
||||||
|
"watchpoint",
|
||||||
|
"watchpoints",
|
||||||
|
"wready"
|
||||||
|
],
|
||||||
|
"cmake.sourceDirectory": "/home/alexander/Projects/gobot/motor-control/firmware",
|
||||||
|
"cmake.buildDirectory": "${workspaceFolder}/build",
|
||||||
|
"cmake.configureOnOpen": true,
|
||||||
|
"files.associations": {
|
||||||
|
"timer.h": "c",
|
||||||
|
"stdlib.h": "c",
|
||||||
|
"stdio.h": "c",
|
||||||
|
"string.h": "c",
|
||||||
|
"assert.h": "c",
|
||||||
|
"gen.h": "c",
|
||||||
|
"multicore.h": "c",
|
||||||
|
"pio.h": "c",
|
||||||
|
"freertos.h": "c",
|
||||||
|
"random": "c",
|
||||||
|
"queue.h": "c",
|
||||||
|
"string_view": "c",
|
||||||
|
"instructionformat.h": "c",
|
||||||
|
"includeglobals.h": "c",
|
||||||
|
"dacconfig.h": "c",
|
||||||
|
"freertosconfig.h": "c",
|
||||||
|
"*.tcc": "cpp"
|
||||||
|
},
|
||||||
|
"cortex-debug.variableUseNaturalFormat": false,
|
||||||
|
"todo-tree.filtering.ignoreGitSubmodules": true,
|
||||||
|
"todo-tree.tree.showBadges": true,
|
||||||
|
"terminal.integrated.scrollback": 10000,
|
||||||
|
"C_Cpp.refactoring.includeHeader": "always",
|
||||||
|
}
|
||||||
107
motor-control/firmware/.vscode/tasks.json
vendored
Normal file
107
motor-control/firmware/.vscode/tasks.json
vendored
Normal file
@@ -0,0 +1,107 @@
|
|||||||
|
{
|
||||||
|
"version": "2.0.0",
|
||||||
|
"tasks": [
|
||||||
|
{
|
||||||
|
"type": "cmake",
|
||||||
|
"label": "CMake: build main",
|
||||||
|
"command": "build",
|
||||||
|
"targets": [
|
||||||
|
"main"
|
||||||
|
],
|
||||||
|
"options": {
|
||||||
|
"cwd": "${workspaceRoot}"
|
||||||
|
},
|
||||||
|
"group": "build",
|
||||||
|
"presentation": {
|
||||||
|
"echo": true,
|
||||||
|
"reveal": "always",
|
||||||
|
"focus": true,
|
||||||
|
"panel": "dedicated",
|
||||||
|
"showReuseMessage": true,
|
||||||
|
"clear": true
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"type": "shell",
|
||||||
|
"label": "Pico: flash main",
|
||||||
|
"command": [
|
||||||
|
"scripts/flash.exp",
|
||||||
|
"${workspaceRoot}/build/bin/main.elf"
|
||||||
|
],
|
||||||
|
"options": {
|
||||||
|
"cwd": "${workspaceRoot}"
|
||||||
|
},
|
||||||
|
"group": "test",
|
||||||
|
"dependsOn": [
|
||||||
|
"CMake: build main"
|
||||||
|
],
|
||||||
|
"presentation": {
|
||||||
|
"echo": true,
|
||||||
|
"reveal": "always",
|
||||||
|
"focus": true,
|
||||||
|
"panel": "dedicated",
|
||||||
|
"showReuseMessage": true,
|
||||||
|
"clear": true
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"type": "shell",
|
||||||
|
"label": "Pico: launch openocd",
|
||||||
|
"command": [
|
||||||
|
"scripts/launch_openocd.sh"
|
||||||
|
],
|
||||||
|
"options": {
|
||||||
|
"cwd": "${workspaceRoot}"
|
||||||
|
},
|
||||||
|
"isBackground": true
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"type": "shell",
|
||||||
|
"label": "Pico: Reset Device",
|
||||||
|
"command": [
|
||||||
|
"scripts/reset.exp"
|
||||||
|
],
|
||||||
|
"options": {
|
||||||
|
"cwd": "${workspaceRoot}"
|
||||||
|
},
|
||||||
|
"isBackground": true,
|
||||||
|
"problemMatcher": []
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"type": "cmake",
|
||||||
|
"label": "CMake: Clean",
|
||||||
|
"command": "clean"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"type": "cmake",
|
||||||
|
"label": "CMake: Clean Rebuild",
|
||||||
|
"command": "cleanRebuild"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"type": "cmake",
|
||||||
|
"label": "CMake: Configure",
|
||||||
|
"command": "configure"
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"type": "shell",
|
||||||
|
"label": "Doxygen: Generate Docs",
|
||||||
|
"command": [
|
||||||
|
"doxygen ./docs/Doxyfile"
|
||||||
|
],
|
||||||
|
"options": {
|
||||||
|
"cwd": "${workspaceRoot}"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"type": "shell",
|
||||||
|
"label": "Nuke Build Directory",
|
||||||
|
"command": [
|
||||||
|
"rm -rf build"
|
||||||
|
],
|
||||||
|
"options": {
|
||||||
|
"cwd": "${workspaceRoot}"
|
||||||
|
},
|
||||||
|
"problemMatcher": []
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
70
motor-control/firmware/CMakeLists.txt
Executable file
70
motor-control/firmware/CMakeLists.txt
Executable file
@@ -0,0 +1,70 @@
|
|||||||
|
cmake_minimum_required(VERSION 3.12)
|
||||||
|
|
||||||
|
# Including the SDK (must be before project)
|
||||||
|
|
||||||
|
if (NOT "$ENV{PICO_SDK_PATH_OVERRIDE}" STREQUAL "")
|
||||||
|
SET(PICO_SDK_PATH "$ENV{PICO_SDK_PATH_OVERRIDE}")
|
||||||
|
else()
|
||||||
|
SET(PICO_SDK_PATH "${CMAKE_SOURCE_DIR}/lib/pico-sdk")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
#SET(PICO_TOOLCHAIN_PATH "${PICO_SDK_PATH}/cmake/preload/toolchains/")
|
||||||
|
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
|
||||||
|
|
||||||
|
include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
|
||||||
|
|
||||||
|
#include(pico_extras_import_optional.cmake)
|
||||||
|
|
||||||
|
project(pico_examples C CXX ASM)
|
||||||
|
set(CMAKE_C_STANDARD 23)
|
||||||
|
set(CMAKE_CXX_STANDARD 23)
|
||||||
|
|
||||||
|
if (PICO_SDK_VERSION_STRING VERSION_LESS "1.3.0")
|
||||||
|
message(FATAL_ERROR "Raspberry Pi Pico SDK version 1.3.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
set(PICO_EXAMPLES_PATH ${PROJECT_SOURCE_DIR})
|
||||||
|
|
||||||
|
# Initialize the SDK
|
||||||
|
pico_sdk_init()
|
||||||
|
|
||||||
|
include(example_auto_set_url.cmake)
|
||||||
|
|
||||||
|
add_compile_options(-Wall
|
||||||
|
-Wno-format # int != int32_t as far as the compiler is concerned because gcc has int32_t as long int
|
||||||
|
-Wno-unused-function # we have some for the docs that aren't called
|
||||||
|
)
|
||||||
|
if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
|
||||||
|
add_compile_options(-Wno-maybe-uninitialized)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# adding sources files & includes
|
||||||
|
add_executable(main
|
||||||
|
src/main.cpp
|
||||||
|
)
|
||||||
|
|
||||||
|
target_include_directories(main PUBLIC
|
||||||
|
include/
|
||||||
|
build/
|
||||||
|
)
|
||||||
|
|
||||||
|
include(${PROJECT_SOURCE_DIR}/cmake/tmc2209.cmake)
|
||||||
|
|
||||||
|
# Adding PIO
|
||||||
|
pico_generate_pio_header(main ${CMAKE_CURRENT_LIST_DIR}/src/tmc2209/pulser.pio)
|
||||||
|
|
||||||
|
# pull in common dependencies
|
||||||
|
target_link_libraries(main
|
||||||
|
pico_stdlib
|
||||||
|
pico_multicore
|
||||||
|
hardware_pio
|
||||||
|
|
||||||
|
tmc2209_driver
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
# create map/bin/hex file etc.
|
||||||
|
pico_add_extra_outputs(main)
|
||||||
|
|
||||||
|
# add url via pico_set_program_url
|
||||||
|
example_auto_set_url(main)
|
||||||
106
motor-control/firmware/Jenkinsfile
vendored
Normal file
106
motor-control/firmware/Jenkinsfile
vendored
Normal file
@@ -0,0 +1,106 @@
|
|||||||
|
pipeline {
|
||||||
|
agent none
|
||||||
|
|
||||||
|
stages {
|
||||||
|
stage('git checkout') {
|
||||||
|
agent {
|
||||||
|
label 'docker'
|
||||||
|
}
|
||||||
|
|
||||||
|
steps {
|
||||||
|
git branch: 'firmware-dev',
|
||||||
|
credentialsId: 'osci-rendering_github',
|
||||||
|
url: 'git@github.com:AlexanderHD27/oscilloscope-drawing.git'
|
||||||
|
|
||||||
|
sh 'git submodule update --init --recursive'
|
||||||
|
sh "ls -laF"
|
||||||
|
stash includes: "firmware/lib/doxygen-awesome-css/**", name: 'libs-doxygen'
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
stage('build build-container') {
|
||||||
|
agent {
|
||||||
|
label 'docker'
|
||||||
|
}
|
||||||
|
|
||||||
|
steps {
|
||||||
|
sh 'docker build -t rpi_pico_build_container firmware/docker/'
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
stage('build') {
|
||||||
|
parallel {
|
||||||
|
stage('build firmware') {
|
||||||
|
agent {
|
||||||
|
docker {
|
||||||
|
image 'rpi_pico_build_container'
|
||||||
|
label 'docker'
|
||||||
|
reuseNode true
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
steps {
|
||||||
|
script {
|
||||||
|
env.PICO_SDK_PATH_OVERRIDE = sh(script: 'echo $PWD/firmware/lib/pico-sdk', returnStdout: true).trim()
|
||||||
|
}
|
||||||
|
|
||||||
|
dir('firmware/build') {
|
||||||
|
sh 'echo building in $PWD'
|
||||||
|
sh 'rm -rf *'
|
||||||
|
sh 'echo PicoSDK path: $PICO_SDK_PATH_OVERRIDE'
|
||||||
|
sh 'cmake ..'
|
||||||
|
sh 'cmake --build . --config Debug'
|
||||||
|
sh 'make -j4 all'
|
||||||
|
}
|
||||||
|
|
||||||
|
stash includes: "firmware/build/bin/*", name: 'binary'
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
stage('build docs') {
|
||||||
|
agent {
|
||||||
|
docker {
|
||||||
|
image 'rpi_pico_build_container'
|
||||||
|
label 'docker'
|
||||||
|
reuseNode true
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
steps {
|
||||||
|
unstash 'libs-doxygen'
|
||||||
|
sh "doxygen firmware/docs/Doxyfile"
|
||||||
|
stash includes: "firmware/docs/html/*", name: 'html-docs'
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
stage('publish') {
|
||||||
|
parallel {
|
||||||
|
stage('publish docs') {
|
||||||
|
agent {
|
||||||
|
label 'cdc-deploy'
|
||||||
|
}
|
||||||
|
|
||||||
|
steps {
|
||||||
|
sh 'rm -rf /www/projects/osci-rendering/docs/*'
|
||||||
|
unstash 'html-docs'
|
||||||
|
sh 'cp -r firmware/docs/html/* /www/projects/osci-rendering/docs'
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
stage('publish binary') {
|
||||||
|
agent {
|
||||||
|
label 'cdc-deploy'
|
||||||
|
}
|
||||||
|
|
||||||
|
steps {
|
||||||
|
sh 'rm -rf /www/projects/osci-rendering/bin/*'
|
||||||
|
unstash 'binary'
|
||||||
|
sh 'cp -r bin/* /www/projects/osci-rendering/bin'
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
BIN
motor-control/firmware/README.md
(Stored with Git LFS)
Normal file
BIN
motor-control/firmware/README.md
(Stored with Git LFS)
Normal file
Binary file not shown.
@@ -1,13 +1,16 @@
|
|||||||
add_library(tmc2209_driver STATIC
|
add_library(tmc2209_driver STATIC
|
||||||
src/tmc2209/uart_interface.cpp
|
src/tmc2209/uart_interface.cpp
|
||||||
|
src/tmc2209/uart_registers.cpp
|
||||||
|
src/tmc2209/step.cpp
|
||||||
)
|
)
|
||||||
|
|
||||||
target_include_directories(tmc2209_driver PRIVATE
|
target_include_directories(tmc2209_driver PRIVATE
|
||||||
include/tmc2209/
|
include/tmc2209/
|
||||||
|
build/
|
||||||
)
|
)
|
||||||
|
|
||||||
target_link_libraries(tmc2209_driver
|
target_link_libraries(tmc2209_driver
|
||||||
pico_stdlib
|
pico_stdlib
|
||||||
hardware_uart
|
hardware_uart
|
||||||
|
hardware_pio
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|||||||
8
motor-control/firmware/docker/Dockerfile
Normal file
8
motor-control/firmware/docker/Dockerfile
Normal file
@@ -0,0 +1,8 @@
|
|||||||
|
FROM ubuntu:22.04
|
||||||
|
|
||||||
|
RUN apt -y update
|
||||||
|
RUN apt -y install build-essential gcc-arm-none-eabi doxygen cmake python3
|
||||||
|
RUN mkdir /data
|
||||||
|
|
||||||
|
WORKDIR /data
|
||||||
|
|
||||||
3
motor-control/firmware/docker/build_docs.sh
Executable file
3
motor-control/firmware/docker/build_docs.sh
Executable file
@@ -0,0 +1,3 @@
|
|||||||
|
#!/usr/bin/bash
|
||||||
|
|
||||||
|
doxygen ./firmware/docs/Doxyfile
|
||||||
11
motor-control/firmware/docker/build_firmware.sh
Executable file
11
motor-control/firmware/docker/build_firmware.sh
Executable file
@@ -0,0 +1,11 @@
|
|||||||
|
#!/usr/bin/bash
|
||||||
|
|
||||||
|
cd ./firmware/build
|
||||||
|
rm -rf *
|
||||||
|
|
||||||
|
export PICO_SDK_PATH_OVERRIDE="/data/firmware/lib/pico-sdk"
|
||||||
|
echo $PICO_SDK_PATH_OVERRIDE
|
||||||
|
|
||||||
|
cmake ..
|
||||||
|
cmake --build . --config Debug
|
||||||
|
make -j4 all
|
||||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user