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2
.gitattributes
vendored
2
.gitattributes
vendored
@@ -32,5 +32,3 @@ board-vision/cnn_model/data/* filter=lfs diff=lfs merge=lfs -text
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||||
*.gto filter=lfs diff=lfs merge=lfs -text
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||||
*.drl filter=lfs diff=lfs merge=lfs -text
|
||||
/motor-control/motor-driver-breakout/sym-lib-table filter=lfs diff=lfs merge=lfs -text
|
||||
*.stl filter=lfs diff=lfs merge=lfs -text
|
||||
*.3mf filter=lfs diff=lfs merge=lfs -text
|
||||
|
||||
BIN
.gitignore
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vendored
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.gitignore
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vendored
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.gitmodules
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vendored
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.gitmodules
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vendored
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3d-print/models/BoardPositionMarker/big/Vison Marker Clip - Marker.stl
(Stored with Git LFS)
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3d-print/models/BoardPositionMarker/big/Vison Marker Clip - Marker.stl
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3d-print/models/BoardPositionMarker/big/Vison Marker Clip - WhiteRing1.stl
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3d-print/models/BoardPositionMarker/big/Vison Marker Clip - WhiteRing1.stl
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3d-print/models/BoardPositionMarker/big/Vison Marker Clip - WhiteRing2.stl
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3d-print/models/BoardPositionMarker/big/Vison Marker Clip - WhiteRing2.stl
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3d-print/models/BoardPositionMarker/big/Vison Marker Clip - WhiteRing3.stl
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3d-print/models/BoardPositionMarker/big/Vison Marker Clip - WhiteRing3.stl
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3d-print/models/HeadPipeMount/HeadPipeMount - DownPart.stl
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3d-print/models/HeadPipeMount/HeadPipeMount - DownPart.stl
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3d-print/models/HeadPipeMount/HeadPipeMount - HoseAdapter.stl
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3d-print/models/HeadPipeMount/HeadPipeMount - HoseAdapter.stl
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3d-print/models/HeadPipeMount/HeadPipeMount - RightPart.stl
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3d-print/models/HeadPipeMount/HeadPipeMount - RightPart.stl
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3d-print/models/YGantryMount/GantryMount - GantryPlate (1).stl
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3d-print/models/YGantryMount/GantryMount - GantryPlate (1).stl
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3d-print/models/YGantryMount/GantryMount - GantryPlate.stl
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3d-print/models/YGantryMount/GantryMount - GantryPlate.stl
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3d-print/models/YGantryMount/GantryMount - Mount (1).stl
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3d-print/models/YGantryMount/GantryMount - Mount (1).stl
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3d-print/models/YGantryMount/GantryMount - Mount.stl
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3d-print/models/YGantryMount/GantryMount - Mount.stl
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3d-print/slicers/BoardPositionMarker.3mf
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3d-print/slicers/BoardPositionMarker.3mf
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3d-print/slicers/HeadPipeMount.3mf
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3d-print/slicers/HeadPipeMount.3mf
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3d-print/slicers/YGantryMount.3mf
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3d-print/slicers/YGantryMount.3mf
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1
board-vision/.gitattributes
vendored
1
board-vision/.gitattributes
vendored
@@ -1 +0,0 @@
|
||||
test/data/images filter=lfs diff=lfs merge=lfs -text
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||||
BIN
board-vision/.gitignore
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board-vision/.gitignore
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15
board-vision/.vscode/settings.json
vendored
15
board-vision/.vscode/settings.json
vendored
@@ -1,15 +0,0 @@
|
||||
{
|
||||
"python.testing.pytestArgs": [
|
||||
"--cov-report", "xml:cov.xml",
|
||||
"--cov-report", "term",
|
||||
"--cov=src",
|
||||
"test",
|
||||
],
|
||||
"python.testing.unittestEnabled": false,
|
||||
"python.testing.pytestEnabled": true,
|
||||
"coverage-gutters.coverageFileNames": [
|
||||
"cov.xml",
|
||||
],
|
||||
"coverage-gutters.coverageBaseDir": "**",
|
||||
"testing.coverageToolbarEnabled": true
|
||||
}
|
||||
BIN
board-vision/main.py
(Stored with Git LFS)
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board-vision/main.py
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@@ -1,157 +0,0 @@
|
||||
aioice==0.9.0
|
||||
aiortc==1.9.0
|
||||
anyio==4.4.0
|
||||
argon2-cffi==23.1.0
|
||||
argon2-cffi-bindings==21.2.0
|
||||
arrow==1.3.0
|
||||
asgiref==3.8.1
|
||||
asttokens==2.4.1
|
||||
async-lru==2.0.4
|
||||
attrs==23.2.0
|
||||
av==12.3.0
|
||||
Babel==2.15.0
|
||||
beautifulsoup4==4.12.3
|
||||
bleach==6.1.0
|
||||
blinker==1.8.2
|
||||
certifi==2024.7.4
|
||||
cffi==1.16.0
|
||||
charset-normalizer==3.3.2
|
||||
click==8.1.7
|
||||
comm==0.2.2
|
||||
contourpy==1.2.1
|
||||
coverage==7.6.1
|
||||
cramjam==2.8.3
|
||||
cryptography==43.0.3
|
||||
cycler==0.12.1
|
||||
debugpy==1.8.2
|
||||
decorator==5.1.1
|
||||
defusedxml==0.7.1
|
||||
dnspython==2.7.0
|
||||
executing==2.0.1
|
||||
fastjsonschema==2.20.0
|
||||
fastparquet==2024.5.0
|
||||
filelock==3.15.4
|
||||
Flask==3.0.3
|
||||
fonttools==4.53.1
|
||||
fqdn==1.5.1
|
||||
fsspec==2024.6.1
|
||||
google-crc32c==1.6.0
|
||||
h11==0.14.0
|
||||
httpcore==1.0.5
|
||||
httpx==0.27.0
|
||||
idna==3.7
|
||||
ifaddr==0.2.0
|
||||
imageio==2.34.2
|
||||
iniconfig==2.0.0
|
||||
ipykernel==6.29.5
|
||||
ipython==8.26.0
|
||||
isoduration==20.11.0
|
||||
itsdangerous==2.2.0
|
||||
janus==1.0.0
|
||||
jedi==0.19.1
|
||||
Jinja2==3.1.4
|
||||
joblib==1.4.2
|
||||
json5==0.9.25
|
||||
jsonpointer==3.0.0
|
||||
jsonschema==4.23.0
|
||||
jsonschema-specifications==2023.12.1
|
||||
jupyter-events==0.10.0
|
||||
jupyter-lsp==2.2.5
|
||||
jupyter_client==8.6.2
|
||||
jupyter_core==5.7.2
|
||||
jupyter_server==2.14.2
|
||||
jupyter_server_terminals==0.5.3
|
||||
jupyterlab==4.2.4
|
||||
jupyterlab_pygments==0.3.0
|
||||
jupyterlab_server==2.27.3
|
||||
kiwisolver==1.4.5
|
||||
lazy_loader==0.4
|
||||
MarkupSafe==2.1.5
|
||||
matplotlib==3.9.1
|
||||
matplotlib-inline==0.1.7
|
||||
mistune==3.0.2
|
||||
mpmath==1.3.0
|
||||
nbclient==0.10.0
|
||||
nbconvert==7.16.4
|
||||
nbformat==5.10.4
|
||||
nest-asyncio==1.6.0
|
||||
networkx==3.3
|
||||
notebook_shim==0.2.4
|
||||
numpy==2.0.1
|
||||
nvidia-cublas-cu12==12.1.3.1
|
||||
nvidia-cuda-cupti-cu12==12.1.105
|
||||
nvidia-cuda-nvrtc-cu12==12.1.105
|
||||
nvidia-cuda-runtime-cu12==12.1.105
|
||||
nvidia-cudnn-cu12==9.1.0.70
|
||||
nvidia-cufft-cu12==11.0.2.54
|
||||
nvidia-curand-cu12==10.3.2.106
|
||||
nvidia-cusolver-cu12==11.4.5.107
|
||||
nvidia-cusparse-cu12==12.1.0.106
|
||||
nvidia-nccl-cu12==2.20.5
|
||||
nvidia-nvjitlink-cu12==12.6.20
|
||||
nvidia-nvtx-cu12==12.1.105
|
||||
opencv-python==4.10.0.84
|
||||
overrides==7.7.0
|
||||
packaging==24.1
|
||||
pandas==2.2.2
|
||||
pandocfilters==1.5.1
|
||||
parso==0.8.4
|
||||
pexpect==4.9.0
|
||||
pillow==10.4.0
|
||||
platformdirs==4.2.2
|
||||
pluggy==1.5.0
|
||||
prometheus_client==0.20.0
|
||||
prompt_toolkit==3.0.47
|
||||
psutil==6.0.0
|
||||
ptyprocess==0.7.0
|
||||
pure_eval==0.2.3
|
||||
pycparser==2.22
|
||||
pyee==12.0.0
|
||||
Pygments==2.18.0
|
||||
pylibsrtp==0.10.0
|
||||
pyOpenSSL==24.2.1
|
||||
pyparsing==3.1.2
|
||||
pytest==8.3.3
|
||||
pytest-asyncio==0.24.0
|
||||
pytest-cov==5.0.0
|
||||
pytest-timeout==2.3.1
|
||||
python-dateutil==2.9.0.post0
|
||||
python-json-logger==2.0.7
|
||||
pytz==2024.1
|
||||
PyYAML==6.0.1
|
||||
pyzmq==26.0.3
|
||||
referencing==0.35.1
|
||||
requests==2.32.3
|
||||
rfc3339-validator==0.1.4
|
||||
rfc3986-validator==0.1.1
|
||||
rpds-py==0.19.1
|
||||
scikit-image==0.24.0
|
||||
scikit-learn==1.5.1
|
||||
scipy==1.14.0
|
||||
Send2Trash==1.8.3
|
||||
setuptools==72.1.0
|
||||
six==1.16.0
|
||||
sniffio==1.3.1
|
||||
soupsieve==2.5
|
||||
stack-data==0.6.3
|
||||
sympy==1.13.1
|
||||
terminado==0.18.1
|
||||
threadpoolctl==3.5.0
|
||||
tifffile==2024.7.24
|
||||
tinycss2==1.3.0
|
||||
torch==2.4.0
|
||||
torchaudio==2.4.0
|
||||
torchvision==0.19.0
|
||||
tornado==6.4.1
|
||||
traitlets==5.14.3
|
||||
triton==3.0.0
|
||||
types-python-dateutil==2.9.0.20240316
|
||||
typing_extensions==4.12.2
|
||||
tzdata==2024.1
|
||||
uri-template==1.3.0
|
||||
urllib3==2.2.2
|
||||
wcwidth==0.2.13
|
||||
webcolors==24.6.0
|
||||
webencodings==0.5.1
|
||||
websocket-client==1.8.0
|
||||
Werkzeug==3.0.4
|
||||
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board-vision/src/api/streaming/encoder.py
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board-vision/src/vision/board_sizes.py
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board-vision/src/vision/goboard_dectection.py
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board-vision/test/streaming/test_streamingEncoder.py
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board-vision/test/streaming/test_streamingEncoder.py
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board-vision/test/vision/api/streaming/test_StreamTrackOpencv.py
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board-vision/test/vision/api/streaming/test_StreamTrackOpencv.py
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board-vision/test/vision/api/streaming/test_async_video_source.py
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board-vision/test/vision/api/streaming/test_async_video_source.py
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board-vision/test/vision/test_edge_dection.py
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board-vision/test/vision/test_edge_dection.py
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47
can-interface/.devcontainer/Dockerfile
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can-interface/.devcontainer/Dockerfile
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|
||||
FROM espressif/idf
|
||||
|
||||
ARG DEBIAN_FRONTEND=nointeractive
|
||||
ARG CONTAINER_USER=esp
|
||||
ARG USER_UID=1050
|
||||
ARG USER_GID=$USER_UID
|
||||
|
||||
RUN apt-get update \
|
||||
&& apt install -y -q \
|
||||
cmake \
|
||||
git \
|
||||
libglib2.0-0 \
|
||||
libnuma1 \
|
||||
libpixman-1-0 \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
# QEMU
|
||||
ENV QEMU_REL=esp_develop_8.2.0_20240122
|
||||
ENV QEMU_SHA256=e7c72ef5705ad1444d391711088c8717fc89f42e9bf6d1487f9c2a326b8cfa83
|
||||
ENV QEMU_DIST=qemu-xtensa-softmmu-${QEMU_REL}-x86_64-linux-gnu.tar.xz
|
||||
ENV QEMU_URL=https://github.com/espressif/qemu/releases/download/esp-develop-8.2.0-20240122/${QEMU_DIST}
|
||||
|
||||
ENV LC_ALL=C.UTF-8
|
||||
ENV LANG=C.UTF-8
|
||||
|
||||
RUN wget --no-verbose ${QEMU_URL} \
|
||||
&& echo "${QEMU_SHA256} *${QEMU_DIST}" | sha256sum --check --strict - \
|
||||
&& tar -xf $QEMU_DIST -C /opt \
|
||||
&& rm ${QEMU_DIST}
|
||||
|
||||
ENV PATH=/opt/qemu/bin:${PATH}
|
||||
|
||||
RUN groupadd --gid $USER_GID $CONTAINER_USER \
|
||||
&& adduser --uid $USER_UID --gid $USER_GID --disabled-password --gecos "" ${CONTAINER_USER} \
|
||||
&& usermod -a -G root $CONTAINER_USER && usermod -a -G dialout $CONTAINER_USER
|
||||
|
||||
RUN chmod -R 775 /opt/esp/python_env/
|
||||
|
||||
USER ${CONTAINER_USER}
|
||||
ENV USER=${CONTAINER_USER}
|
||||
WORKDIR /home/${CONTAINER_USER}
|
||||
|
||||
RUN echo "source /opt/esp/idf/export.sh > /dev/null 2>&1" >> ~/.bashrc
|
||||
|
||||
ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
|
||||
|
||||
CMD ["/bin/bash", "-c"]
|
||||
36
can-interface/.devcontainer/devcontainer.json
Normal file
36
can-interface/.devcontainer/devcontainer.json
Normal file
@@ -0,0 +1,36 @@
|
||||
{
|
||||
"name": "ESP-IDF QEMU",
|
||||
"build": {
|
||||
"dockerfile": "Dockerfile"
|
||||
},
|
||||
"customizations": {
|
||||
"vscode": {
|
||||
"settings": {
|
||||
"terminal.integrated.defaultProfile.linux": "bash",
|
||||
"idf.espIdfPath": "/opt/esp/idf",
|
||||
"idf.customExtraPaths": "",
|
||||
"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
|
||||
"idf.toolsPath": "/opt/esp",
|
||||
"idf.gitPath": "/usr/bin/git"
|
||||
},
|
||||
"extensions": [
|
||||
"espressif.esp-idf-extension"
|
||||
]
|
||||
},
|
||||
"codespaces": {
|
||||
"settings": {
|
||||
"terminal.integrated.defaultProfile.linux": "bash",
|
||||
"idf.espIdfPath": "/opt/esp/idf",
|
||||
"idf.customExtraPaths": "",
|
||||
"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
|
||||
"idf.toolsPath": "/opt/esp",
|
||||
"idf.gitPath": "/usr/bin/git"
|
||||
},
|
||||
"extensions": [
|
||||
"espressif.esp-idf-extension",
|
||||
"espressif.esp-idf-web"
|
||||
]
|
||||
}
|
||||
},
|
||||
"runArgs": ["--privileged"]
|
||||
}
|
||||
BIN
can-interface/.gitignore
(Stored with Git LFS)
vendored
Normal file
BIN
can-interface/.gitignore
(Stored with Git LFS)
vendored
Normal file
Binary file not shown.
23
can-interface/.vscode/c_cpp_properties.json
vendored
Normal file
23
can-interface/.vscode/c_cpp_properties.json
vendored
Normal file
@@ -0,0 +1,23 @@
|
||||
{
|
||||
"configurations": [
|
||||
{
|
||||
"name": "ESP-IDF",
|
||||
"compilerPath": "${config:idf.toolsPath}/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/xtensa-esp32-elf-gcc",
|
||||
"compileCommands": "${config:idf.buildPath}/compile_commands.json",
|
||||
"includePath": [
|
||||
"${config:idf.espIdfPath}/components/**",
|
||||
"${config:idf.espIdfPathWin}/components/**",
|
||||
"${workspaceFolder}/**"
|
||||
],
|
||||
"browse": {
|
||||
"path": [
|
||||
"${config:idf.espIdfPath}/components",
|
||||
"${config:idf.espIdfPathWin}/components",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"limitSymbolsToIncludedHeaders": true
|
||||
}
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
|
||||
15
can-interface/.vscode/launch.json
vendored
Normal file
15
can-interface/.vscode/launch.json
vendored
Normal file
@@ -0,0 +1,15 @@
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"type": "gdbtarget",
|
||||
"request": "attach",
|
||||
"name": "Eclipse CDT GDB Adapter"
|
||||
},
|
||||
{
|
||||
"type": "espidf",
|
||||
"name": "Launch",
|
||||
"request": "launch"
|
||||
}
|
||||
]
|
||||
}
|
||||
31
can-interface/.vscode/settings.json
vendored
Normal file
31
can-interface/.vscode/settings.json
vendored
Normal file
@@ -0,0 +1,31 @@
|
||||
{
|
||||
"C_Cpp.intelliSenseEngine": "default",
|
||||
"idf.adapterTargetName": "esp32",
|
||||
"idf.customExtraPaths": "/home/alexander/.espressif/tools/xtensa-esp-elf-gdb/14.2_20240403/xtensa-esp-elf-gdb/bin:/home/alexander/.espressif/tools/riscv32-esp-elf-gdb/14.2_20240403/riscv32-esp-elf-gdb/bin:/home/alexander/.espressif/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin:/home/alexander/.espressif/tools/riscv32-esp-elf/esp-13.2.0_20240530/riscv32-esp-elf/bin:/home/alexander/.espressif/tools/esp32ulp-elf/2.38_20240113/esp32ulp-elf/bin:/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/bin:/home/alexander/.espressif/tools/ninja/1.11.1:/home/alexander/.espressif/tools/esp-rom-elfs/20240305",
|
||||
"idf.customExtraVars": {
|
||||
"OPENOCD_SCRIPTS": "/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/share/openocd/scripts",
|
||||
"ESP_ROM_ELF_DIR": "/home/alexander/.espressif/tools/esp-rom-elfs/20240305/"
|
||||
},
|
||||
"idf.espIdfPath": "/opt/esp/v5.3.1/esp-idf",
|
||||
"idf.openOcdConfigs": [
|
||||
"board/esp32-wrover-kit-3.3v.cfg"
|
||||
],
|
||||
"idf.port": "/dev/ttyUSB1",
|
||||
"idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
|
||||
"idf.toolsPath": "/home/alexander/.espressif",
|
||||
"idf.flashType": "JTAG",
|
||||
"idf.openOcdLaunchArgs": ["-c", "adapter_khz 10000"],
|
||||
"files.associations": {
|
||||
"*.tcc": "cpp",
|
||||
"cstdint": "cpp",
|
||||
"random": "cpp",
|
||||
"future": "cpp",
|
||||
"bitset": "cpp",
|
||||
"string_view": "cpp",
|
||||
"regex": "cpp",
|
||||
"array": "cpp",
|
||||
"string": "cpp",
|
||||
"span": "cpp",
|
||||
"cstring": "cpp"
|
||||
}
|
||||
}
|
||||
259
can-interface/.vscode/tasks.json
vendored
Normal file
259
can-interface/.vscode/tasks.json
vendored
Normal file
@@ -0,0 +1,259 @@
|
||||
{
|
||||
"version": "2.0.0",
|
||||
"tasks": [
|
||||
{
|
||||
"label": "Build - Build project",
|
||||
"type": "shell",
|
||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py build",
|
||||
"windows": {
|
||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py build",
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||
}
|
||||
}
|
||||
},
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||
}
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
"owner": "cpp",
|
||||
"fileLocation": [
|
||||
"autoDetect",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"pattern": {
|
||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||
"file": 1,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 5
|
||||
}
|
||||
}
|
||||
],
|
||||
"group": {
|
||||
"kind": "build",
|
||||
"isDefault": true
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "Set ESP-IDF Target",
|
||||
"type": "shell",
|
||||
"command": "${command:espIdf.setTarget}",
|
||||
"problemMatcher": {
|
||||
"owner": "cpp",
|
||||
"fileLocation": [
|
||||
"autoDetect",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"pattern": {
|
||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||
"file": 1,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 5
|
||||
}
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "Clean - Clean the project",
|
||||
"type": "shell",
|
||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py fullclean",
|
||||
"windows": {
|
||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py fullclean",
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||
}
|
||||
}
|
||||
},
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||
}
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
"owner": "cpp",
|
||||
"fileLocation": [
|
||||
"autoDetect",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"pattern": {
|
||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||
"file": 1,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 5
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "Flash - Flash the device",
|
||||
"type": "shell",
|
||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} -b ${config:idf.flashBaudRate} flash",
|
||||
"windows": {
|
||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py flash -p ${config:idf.portWin} -b ${config:idf.flashBaudRate}",
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||
}
|
||||
}
|
||||
},
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||
}
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
"owner": "cpp",
|
||||
"fileLocation": [
|
||||
"autoDetect",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"pattern": {
|
||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||
"file": 1,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 5
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "Monitor: Start the monitor",
|
||||
"type": "shell",
|
||||
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} monitor",
|
||||
"windows": {
|
||||
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py -p ${config:idf.portWin} monitor",
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||
}
|
||||
}
|
||||
},
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||
}
|
||||
},
|
||||
"problemMatcher": [
|
||||
{
|
||||
"owner": "cpp",
|
||||
"fileLocation": [
|
||||
"autoDetect",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"pattern": {
|
||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||
"file": 1,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 5
|
||||
}
|
||||
}
|
||||
],
|
||||
"dependsOn": "Flash - Flash the device"
|
||||
},
|
||||
{
|
||||
"label": "OpenOCD: Start openOCD",
|
||||
"type": "shell",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
"focus": false,
|
||||
"panel": "new"
|
||||
},
|
||||
"command": "openocd -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
|
||||
"windows": {
|
||||
"command": "openocd.exe -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
|
||||
}
|
||||
}
|
||||
},
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
|
||||
}
|
||||
},
|
||||
"problemMatcher": {
|
||||
"owner": "cpp",
|
||||
"fileLocation": [
|
||||
"autoDetect",
|
||||
"${workspaceFolder}"
|
||||
],
|
||||
"pattern": {
|
||||
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
|
||||
"file": 1,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 5
|
||||
}
|
||||
}
|
||||
},
|
||||
{
|
||||
"label": "adapter",
|
||||
"type": "shell",
|
||||
"command": "${config:idf.pythonBinPath}",
|
||||
"isBackground": true,
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH}:${config:idf.customExtraPaths}",
|
||||
"PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
|
||||
}
|
||||
},
|
||||
"problemMatcher": {
|
||||
"background": {
|
||||
"beginsPattern": "\bDEBUG_ADAPTER_STARTED\b",
|
||||
"endsPattern": "DEBUG_ADAPTER_READY2CONNECT",
|
||||
"activeOnStart": true
|
||||
},
|
||||
"pattern": {
|
||||
"regexp": "(\\d+)-(\\d+)-(\\d+)\\s(\\d+):(\\d+):(\\d+),(\\d+)\\s-(.+)\\s(ERROR)",
|
||||
"file": 8,
|
||||
"line": 2,
|
||||
"column": 3,
|
||||
"severity": 4,
|
||||
"message": 9
|
||||
}
|
||||
},
|
||||
"args": [
|
||||
"${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter_main.py",
|
||||
"-e",
|
||||
"${workspaceFolder}/build/${command:espIdf.getProjectName}.elf",
|
||||
"-s",
|
||||
"$OPENOCD_SCRIPTS",
|
||||
"-dn",
|
||||
"esp32",
|
||||
"-om",
|
||||
"connect_to_instance",
|
||||
"-t",
|
||||
"xtensa-esp32-elf-"
|
||||
|
||||
],
|
||||
"windows": {
|
||||
"command": "${config:idf.pythonBinPathWin}",
|
||||
"options": {
|
||||
"env": {
|
||||
"PATH": "${env:PATH};${config:idf.customExtraPaths}",
|
||||
"PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
6
can-interface/CMakeLists.txt
Executable file
6
can-interface/CMakeLists.txt
Executable file
@@ -0,0 +1,6 @@
|
||||
# The following lines of boilerplate have to be in your project's
|
||||
# CMakeLists in this exact order for cmake to work correctly
|
||||
cmake_minimum_required(VERSION 3.16)
|
||||
|
||||
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||
project(can-interface)
|
||||
1
can-interface/ESP-IDF.code-profile
Normal file
1
can-interface/ESP-IDF.code-profile
Normal file
File diff suppressed because one or more lines are too long
BIN
can-interface/README.md
(Stored with Git LFS)
Executable file
BIN
can-interface/README.md
(Stored with Git LFS)
Executable file
Binary file not shown.
BIN
can-interface/circuit/CanIntefacePerfboard.fzz
Normal file
BIN
can-interface/circuit/CanIntefacePerfboard.fzz
Normal file
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
Normal file
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
(Stored with Git LFS)
vendored
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
(Stored with Git LFS)
vendored
Normal file
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
(Stored with Git LFS)
vendored
Normal file
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
Normal file
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
(Stored with Git LFS)
vendored
Normal file
Binary file not shown.
1
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
vendored
Normal file
1
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
vendored
Normal file
@@ -0,0 +1 @@
|
||||
<!DOCTYPE HTML><html lang="en-US"> <head> <meta charset="UTF-8"> <meta http-equiv="refresh" content="0; url=https://www.snapeda.com/about/import/#"> <script type="text/javascript">window.location.href="https://www.snapeda.com/about/import/#" </script> <title>Page Redirection</title> </head> <body> If you are not redirected automatically, follow this <a href="https://www.snapeda.com/about/import/#">link to the import guide</a>. </body></html>
|
||||
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-08_133537.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-08_133537.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_000642.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_000642.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_001228.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_001228.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_010429.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_010429.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_011347.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_011347.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-14_202426.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-14_202426.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_170909.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_170909.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_204011.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_204011.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-21_223757.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-21_223757.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
(Stored with Git LFS)
Normal file
Binary file not shown.
File diff suppressed because it is too large
Load Diff
4
can-interface/circuit/gobot-can-interface/sym-lib-table
Normal file
4
can-interface/circuit/gobot-can-interface/sym-lib-table
Normal file
@@ -0,0 +1,4 @@
|
||||
(sym_lib_table
|
||||
(version 7)
|
||||
(lib (name "ESP32-DEVKIT-V1")(type "KiCad")(uri "${KIPRJMOD}/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym")(options "")(descr ""))
|
||||
)
|
||||
@@ -0,0 +1 @@
|
||||
{"hostname":"hal","username":"alexander"}
|
||||
@@ -0,0 +1,8 @@
|
||||
idf_component_register(SRCS
|
||||
"canTP.cpp"
|
||||
"gobotRPC.cpp"
|
||||
INCLUDE_DIRS "include"
|
||||
REQUIRES driver
|
||||
REQUIRES mcp2521
|
||||
REQUIRES mcp2521_hardware_interface
|
||||
)
|
||||
75
can-interface/components/CAN-Protocol-Stack/canTP.cpp
Normal file
75
can-interface/components/CAN-Protocol-Stack/canTP.cpp
Normal file
@@ -0,0 +1,75 @@
|
||||
#include "canTP.hpp"
|
||||
#include <math.h>
|
||||
#include <cstring>
|
||||
|
||||
void onRxHandlerWrapper(void *arg) {
|
||||
SocketCANTP *socket = (SocketCANTP *)arg;
|
||||
socket->onRxHandler();
|
||||
}
|
||||
|
||||
void SocketCANTP::onRxHandler() {
|
||||
uint8_t tmpBuffer[8];
|
||||
rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
||||
mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, tmpBuffer, info.length);
|
||||
|
||||
CANTP_FRAME_TYPE ft = static_cast<CANTP_FRAME_TYPE>((tmpBuffer[0] & 0xF0) >> 4);
|
||||
|
||||
switch (ft) {
|
||||
case CANTP_FRAME_TYPE::SINGLE_FRAME:
|
||||
if (userHandler) {
|
||||
userHandler(tmpBuffer + 1, info.length - 1, userArg);
|
||||
}
|
||||
break;
|
||||
|
||||
case CANTP_FRAME_TYPE::FIRST_FRAME:
|
||||
int sizeTotal = ((tmpBuffer[0] & 0x0F) << 8 | tmpBuffer[1]) - 6;
|
||||
consecitonFrameCounter = ceil(((float)(sizeTotal)) / 7.0);
|
||||
memcpy(rxBuffer, tmpBuffer + 1, 6);
|
||||
|
||||
sendFlowControl(CANTP_FLOW_STATUS::CLEAR_TO_SEND, blockSizes, 0);
|
||||
|
||||
break;
|
||||
|
||||
case CANTP_FRAME_TYPE::CONSECUTIVE_FRAME:
|
||||
|
||||
|
||||
consecitonFrameCounter--;
|
||||
if(consecitonFrameCounter == 0) {
|
||||
if (userHandler) {
|
||||
userHandler(rxBuffer, rxLength, userArg);
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case CANTP_FRAME_TYPE::FLOW_CONTROL:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
SocketCANTP::SocketCANTP(
|
||||
MCP2521 *mcp2521,
|
||||
uint32_t address,
|
||||
bool is_extended,
|
||||
uint8_t blockSizes
|
||||
) {
|
||||
this->mcp2521 = mcp2521;
|
||||
this->address = address;
|
||||
this->is_extended = is_extended;
|
||||
this->rxLength = 0;
|
||||
this->consecitonFrameCounter = 0;
|
||||
this->blockSizes = 0;
|
||||
|
||||
mcp2521->register_rx0_handler(onRxHandlerWrapper, this);
|
||||
}
|
||||
|
||||
void SocketCANTP::send(uint8_t *data, uint8_t length) {
|
||||
mcp2521->prepare_tx(
|
||||
MCP2521_TX_BUFFER::TXB0, address, data, length, is_extended, false);
|
||||
mcp2521->request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||
}
|
||||
|
||||
void SocketCANTP::register_rx_handler(rx_handler handler, void *arg) {
|
||||
userHandler = handler;
|
||||
userArg = arg;
|
||||
}
|
||||
@@ -0,0 +1,556 @@
|
||||
<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/24.7.17 Chrome/128.0.6613.36 Electron/32.0.1 Safari/537.36" version="24.7.17">
|
||||
<diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
|
||||
<mxGraphModel dx="1024" dy="599" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
|
||||
<root>
|
||||
<mxCell id="0" />
|
||||
<mxCell id="1" parent="0" />
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-1" value="GoBot RPC Protocol" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="120" y="60" width="120" height="120" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-2" value="CAN" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="120" y="180" width="120" height="40" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-3" value="CAN" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="120" y="220" width="120" height="40" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-4" value="Physical" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||
<mxGeometry x="40" y="220" width="80" height="40" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-6" value="Data Link" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||
<mxGeometry x="40" y="180" width="80" height="40" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-7" value="Network" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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||||
<mxGeometry x="40" y="140" width="80" height="40" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-8" value="Transport" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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||||
<mxGeometry x="40" y="100" width="80" height="40" as="geometry" />
|
||||
</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">
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||||
<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">
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||||
<mxGeometry x="680" y="220" width="80" height="20" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-16" value="5" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="760" y="220" width="80" height="20" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-17" value="6" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="840" y="220" width="80" height="20" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-19" value="7" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="920" y="220" width="80" height="20" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-20" value="0" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="360" y="220" width="80" height="20" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-22" value="Bit" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||
<mxGeometry x="320" y="220" width="40" height="20" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-23" value="RPC Number" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="360" y="240" width="320" height="40" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-25" value="RPC Segment Number" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="760" y="240" width="240" height="40" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-27" value="0" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="360" y="60" width="40" height="20" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-28" value="1" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="400" y="60" width="40" height="20" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-29" value="2" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="440" y="60" width="40" height="20" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-30" value="3" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="480" y="60" width="40" height="20" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-35" value="4" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="520" y="60" width="40" height="20" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-36" value="5" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="560" y="60" width="40" height="20" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-37" value="6" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="600" y="60" width="40" height="20" as="geometry" />
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||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-38" value="7" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="640" y="60" width="40" height="20" as="geometry" />
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</mxCell>
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||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-39" value="Parameter Data" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||
<mxGeometry x="400" y="80" width="280" height="40" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-40" value="Header" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
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||||
<mxGeometry x="360" y="80" width="40" height="40" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-41" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;exitX=1;exitY=0;exitDx=0;exitDy=0;dashed=1;dashPattern=8 8;" edge="1" parent="1" source="VN9_mGhUesFHwJ--pmr3-22" target="VN9_mGhUesFHwJ--pmr3-40">
|
||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
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||||
<mxPoint x="320" y="190" as="sourcePoint" />
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||||
<mxPoint x="370" y="140" as="targetPoint" />
|
||||
</mxGeometry>
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-42" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;exitX=1;exitY=0;exitDx=0;exitDy=0;dashed=1;dashPattern=8 8;" edge="1" parent="1" source="VN9_mGhUesFHwJ--pmr3-19" target="VN9_mGhUesFHwJ--pmr3-39">
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<mxGeometry width="50" height="50" relative="1" as="geometry">
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<mxPoint x="370" y="190" as="sourcePoint" />
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<mxCell id="VN9_mGhUesFHwJ--pmr3-43" value="Byte" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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<mxGeometry x="320" y="60" width="40" height="20" as="geometry" />
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</mxCell>
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||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-44" value="CAN Package" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-46" value="Response/<div>Request</div>" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
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||||
<mxGeometry x="78.57" y="900" width="80" height="20" as="geometry" />
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||||
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||||
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||||
<mxGeometry x="158.57" y="900" width="120" height="20" as="geometry" />
|
||||
</mxCell>
|
||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-65" value="Request Segments" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
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||||
<mxGeometry x="278.57" y="880" width="640" height="20" as="geometry" />
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</mxCell>
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||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-67" value="0" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
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||||
<mxGeometry x="278.57" y="900" width="80" height="20" as="geometry" />
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||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-68" value="1" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
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@@ -0,0 +1,51 @@
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#pragma once
|
||||
#include "mcp2521_toplevel.hpp"
|
||||
|
||||
typedef void (*rx_handler)(uint8_t *data, uint8_t length, void *arg);
|
||||
|
||||
enum CANTP_FRAME_TYPE {
|
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SINGLE_FRAME = 0b00,
|
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FIRST_FRAME = 0b01,
|
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CONSECUTIVE_FRAME = 0b10,
|
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FLOW_CONTROL = 0b11
|
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};
|
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|
||||
enum CANTP_FLOW_STATUS {
|
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CLEAR_TO_SEND = 0b0000,
|
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WAIT = 0b0001,
|
||||
OVERLOAD = 0b0010
|
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};
|
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|
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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
can-interface/components/mcp2521
Symbolic link
1
can-interface/components/mcp2521
Symbolic link
@@ -0,0 +1 @@
|
||||
/home/alexander/Projects/gobot/common-libaries/mcp2521
|
||||
1
can-interface/components/mcp2521_hardware_interface
Symbolic link
1
can-interface/components/mcp2521_hardware_interface
Symbolic link
@@ -0,0 +1 @@
|
||||
/home/alexander/Projects/gobot/common-libaries/mcp2521_hardware_interface
|
||||
2866
can-interface/docs/Doxyfile
Normal file
2866
can-interface/docs/Doxyfile
Normal file
File diff suppressed because it is too large
Load Diff
1
can-interface/docs/doxygen-awesome-css
Submodule
1
can-interface/docs/doxygen-awesome-css
Submodule
Submodule can-interface/docs/doxygen-awesome-css added at 568f56cde6
7
can-interface/main/CMakeLists.txt
Executable file
7
can-interface/main/CMakeLists.txt
Executable file
@@ -0,0 +1,7 @@
|
||||
idf_component_register(SRCS "hello_world_main.cpp"
|
||||
REQUIRES driver
|
||||
REQUIRES mcp2521
|
||||
REQUIRES mcp2521_hardware_interface
|
||||
REQUIRES CAN-Protocol-Stack
|
||||
REQUIRES spi_flash
|
||||
INCLUDE_DIRS "")
|
||||
7
can-interface/main/can-interface.code-workspace
Normal file
7
can-interface/main/can-interface.code-workspace
Normal file
@@ -0,0 +1,7 @@
|
||||
{
|
||||
"folders": [
|
||||
{
|
||||
"path": ".."
|
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}
|
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]
|
||||
}
|
||||
129
can-interface/main/hello_world_main.cpp
Executable file
129
can-interface/main/hello_world_main.cpp
Executable file
@@ -0,0 +1,129 @@
|
||||
/*
|
||||
* SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
|
||||
*
|
||||
* SPDX-License-Identifier: CC0-1.0
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <inttypes.h>
|
||||
#include "sdkconfig.h"
|
||||
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "freertos/semphr.h"
|
||||
#include "freertos/queue.h"
|
||||
|
||||
#include "esp_chip_info.h"
|
||||
#include "esp_flash.h"
|
||||
#include "esp_system.h"
|
||||
|
||||
#include "driver/gpio.h"
|
||||
#include "driver/spi_master.h"
|
||||
|
||||
#include "mcp2521.hpp"
|
||||
|
||||
#define SPI_PIN_SCLK GPIO_NUM_18
|
||||
#define SPI_PIN_MISO GPIO_NUM_19
|
||||
#define SPI_PIN_MOSI GPIO_NUM_23
|
||||
|
||||
#define SPI_PIN_CS0 GPIO_NUM_25
|
||||
#define SPI_PIN_CS1 GPIO_NUM_27
|
||||
|
||||
#define CAN_INT0_PIN GPIO_NUM_5
|
||||
#define CAN_INT1_PIN GPIO_NUM_26
|
||||
|
||||
void onRX0(void *arg) {
|
||||
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
|
||||
|
||||
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
||||
uint8_t data[8];
|
||||
|
||||
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
||||
|
||||
printf("RX0: (%x) ", info.id);
|
||||
for (int i = 0; i < info.length; i++) {
|
||||
printf("%x ", data[i]);
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
void onRX1(void *arg) {
|
||||
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
|
||||
|
||||
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
||||
uint8_t data[8];
|
||||
|
||||
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
||||
|
||||
printf("RX1: (%x) ", info.id);
|
||||
for (int i = 0; i < info.length; i++) {
|
||||
printf("%x ", data[i]);
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
extern "C" void app_main() {
|
||||
printf("Hello world!\n");
|
||||
|
||||
const gpio_num_t LED_PIN = GPIO_NUM_2;
|
||||
gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);
|
||||
|
||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||
|
||||
MCP2521_HardwareHandleFactory_ESPBus mcp2521_hardware_factory(
|
||||
VSPI_HOST,
|
||||
SPI_PIN_MOSI,
|
||||
SPI_PIN_MISO,
|
||||
SPI_PIN_SCLK
|
||||
);
|
||||
|
||||
MCP2521_HardwareHandle_ESPBus hardware_mcp2521_0 = mcp2521_hardware_factory.create(CAN_INT0_PIN, SPI_PIN_CS0);
|
||||
MCP2521_HardwareHandle_ESPBus hardware_mcp2521_1 = mcp2521_hardware_factory.create(CAN_INT1_PIN, SPI_PIN_CS1);
|
||||
|
||||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||
|
||||
MCP2521 mcp2521_0(&hardware_mcp2521_0);
|
||||
MCP2521 mcp2521_1(&hardware_mcp2521_1);
|
||||
|
||||
uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
|
||||
|
||||
mcp2521_0.reset();
|
||||
mcp2521_1.reset();
|
||||
mcp2521_0.enable_interrupts(true, true, true, true, true, true, true, true);
|
||||
mcp2521_1.enable_interrupts(true, true, true, true, true, true, true, true);
|
||||
|
||||
mcp2521_0.register_rx0_handler(onRX0, &mcp2521_0);
|
||||
mcp2521_1.register_rx0_handler(onRX1, &mcp2521_1);
|
||||
mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
|
||||
mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
|
||||
|
||||
mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
|
||||
mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
|
||||
|
||||
printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
|
||||
printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
|
||||
|
||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
|
||||
mcp2521_0.prepare_tx(
|
||||
MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
|
||||
|
||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||
//vTaskDelay(10 / portTICK_PERIOD_MS);
|
||||
//mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||
|
||||
//mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
|
||||
//mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||
|
||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
|
||||
bool flag = true;
|
||||
while (true) {
|
||||
gpio_set_level(LED_PIN, flag);
|
||||
flag = !flag;
|
||||
|
||||
vTaskDelay(500 / portTICK_PERIOD_MS);
|
||||
}
|
||||
}
|
||||
BIN
can-interface/pulseView-debug-session
Normal file
BIN
can-interface/pulseView-debug-session
Normal file
Binary file not shown.
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user