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14 Commits
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can-interf
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2
.gitattributes
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2
.gitattributes
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@@ -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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.gitignore
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.gitmodules
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.gitmodules
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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/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 @@
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||||
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
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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/main.py
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47
can-interface/.devcontainer/Dockerfile
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47
can-interface/.devcontainer/Dockerfile
Normal file
@@ -0,0 +1,47 @@
|
||||
FROM espressif/idf
|
||||
|
||||
ARG DEBIAN_FRONTEND=nointeractive
|
||||
ARG CONTAINER_USER=esp
|
||||
ARG USER_UID=1050
|
||||
ARG USER_GID=$USER_UID
|
||||
|
||||
RUN apt-get update \
|
||||
&& apt install -y -q \
|
||||
cmake \
|
||||
git \
|
||||
libglib2.0-0 \
|
||||
libnuma1 \
|
||||
libpixman-1-0 \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
# QEMU
|
||||
ENV QEMU_REL=esp_develop_8.2.0_20240122
|
||||
ENV QEMU_SHA256=e7c72ef5705ad1444d391711088c8717fc89f42e9bf6d1487f9c2a326b8cfa83
|
||||
ENV QEMU_DIST=qemu-xtensa-softmmu-${QEMU_REL}-x86_64-linux-gnu.tar.xz
|
||||
ENV QEMU_URL=https://github.com/espressif/qemu/releases/download/esp-develop-8.2.0-20240122/${QEMU_DIST}
|
||||
|
||||
ENV LC_ALL=C.UTF-8
|
||||
ENV LANG=C.UTF-8
|
||||
|
||||
RUN wget --no-verbose ${QEMU_URL} \
|
||||
&& echo "${QEMU_SHA256} *${QEMU_DIST}" | sha256sum --check --strict - \
|
||||
&& tar -xf $QEMU_DIST -C /opt \
|
||||
&& rm ${QEMU_DIST}
|
||||
|
||||
ENV PATH=/opt/qemu/bin:${PATH}
|
||||
|
||||
RUN groupadd --gid $USER_GID $CONTAINER_USER \
|
||||
&& adduser --uid $USER_UID --gid $USER_GID --disabled-password --gecos "" ${CONTAINER_USER} \
|
||||
&& usermod -a -G root $CONTAINER_USER && usermod -a -G dialout $CONTAINER_USER
|
||||
|
||||
RUN chmod -R 775 /opt/esp/python_env/
|
||||
|
||||
USER ${CONTAINER_USER}
|
||||
ENV USER=${CONTAINER_USER}
|
||||
WORKDIR /home/${CONTAINER_USER}
|
||||
|
||||
RUN echo "source /opt/esp/idf/export.sh > /dev/null 2>&1" >> ~/.bashrc
|
||||
|
||||
ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
|
||||
|
||||
CMD ["/bin/bash", "-c"]
|
||||
36
can-interface/.devcontainer/devcontainer.json
Normal file
36
can-interface/.devcontainer/devcontainer.json
Normal file
@@ -0,0 +1,36 @@
|
||||
{
|
||||
"name": "ESP-IDF QEMU",
|
||||
"build": {
|
||||
"dockerfile": "Dockerfile"
|
||||
},
|
||||
"customizations": {
|
||||
"vscode": {
|
||||
"settings": {
|
||||
"terminal.integrated.defaultProfile.linux": "bash",
|
||||
"idf.espIdfPath": "/opt/esp/idf",
|
||||
"idf.customExtraPaths": "",
|
||||
"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
|
||||
"idf.toolsPath": "/opt/esp",
|
||||
"idf.gitPath": "/usr/bin/git"
|
||||
},
|
||||
"extensions": [
|
||||
"espressif.esp-idf-extension"
|
||||
]
|
||||
},
|
||||
"codespaces": {
|
||||
"settings": {
|
||||
"terminal.integrated.defaultProfile.linux": "bash",
|
||||
"idf.espIdfPath": "/opt/esp/idf",
|
||||
"idf.customExtraPaths": "",
|
||||
"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
|
||||
"idf.toolsPath": "/opt/esp",
|
||||
"idf.gitPath": "/usr/bin/git"
|
||||
},
|
||||
"extensions": [
|
||||
"espressif.esp-idf-extension",
|
||||
"espressif.esp-idf-web"
|
||||
]
|
||||
}
|
||||
},
|
||||
"runArgs": ["--privileged"]
|
||||
}
|
||||
BIN
can-interface/.gitignore
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vendored
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can-interface/.gitignore
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vendored
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23
can-interface/.vscode/c_cpp_properties.json
vendored
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23
can-interface/.vscode/c_cpp_properties.json
vendored
Normal file
@@ -0,0 +1,23 @@
|
||||
{
|
||||
"configurations": [
|
||||
{
|
||||
"name": "ESP-IDF",
|
||||
"compilerPath": "${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
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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
LFS
Executable file
BIN
can-interface/README.md
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
LFS
vendored
Normal file
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
LFS
vendored
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
LFS
vendored
Normal file
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
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
LFS
vendored
Normal file
BIN
can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
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>
|
||||
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
LFS
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
LFS
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
LFS
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
LFS
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
LFS
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
LFS
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
LFS
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
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">
|
||||
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<mxCell id="VN9_mGhUesFHwJ--pmr3-288" value="Get Info" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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<mxGeometry x="158.57" y="920" width="120" height="40" as="geometry" />
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</mxCell>
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<mxCell id="VN9_mGhUesFHwJ--pmr3-289" value="CAN-Address" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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</mxCell>
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<mxCell id="VN9_mGhUesFHwJ--pmr3-292" value="Status Bits" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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<mxGeometry x="520" y="940" width="120" height="20" as="geometry" />
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</mxCell>
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<mxCell id="VN9_mGhUesFHwJ--pmr3-293" value="Error Code" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
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<mxGeometry x="640" y="940" width="120" height="20" as="geometry" />
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</mxCell>
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<mxCell id="VN9_mGhUesFHwJ--pmr3-294" value="Head" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;rotation=-90;" vertex="1" parent="1">
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<mxGeometry x="-0.71" y="1200.29" width="118.57" height="40" as="geometry" />
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</mxCell>
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<mxCell id="VN9_mGhUesFHwJ--pmr3-295" value="Vacum" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;rotation=-90;" vertex="1" parent="1">
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<mxGeometry x="40.5" y="1280.5" width="41" height="40" as="geometry" />
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<mxCell id="VN9_mGhUesFHwJ--pmr3-296" value="ALL" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;rotation=0;" vertex="1" parent="1">
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<mxGeometry x="40" y="920" width="36.36" height="40" as="geometry" />
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</mxCell>
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</root>
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</mxGraphModel>
|
||||
</diagram>
|
||||
</mxfile>
|
||||
@@ -0,0 +1,51 @@
|
||||
#pragma once
|
||||
#include "mcp2521_toplevel.hpp"
|
||||
|
||||
typedef void (*rx_handler)(uint8_t *data, uint8_t length, void *arg);
|
||||
|
||||
enum CANTP_FRAME_TYPE {
|
||||
SINGLE_FRAME = 0b00,
|
||||
FIRST_FRAME = 0b01,
|
||||
CONSECUTIVE_FRAME = 0b10,
|
||||
FLOW_CONTROL = 0b11
|
||||
};
|
||||
|
||||
enum CANTP_FLOW_STATUS {
|
||||
CLEAR_TO_SEND = 0b0000,
|
||||
WAIT = 0b0001,
|
||||
OVERLOAD = 0b0010
|
||||
};
|
||||
|
||||
enum CAN_MULTI_FRAME_STATES {
|
||||
WAITING_FOR_FIRST_FRAME,
|
||||
WAITING_FOR_CONSECUTIVE_FRAME,
|
||||
}
|
||||
|
||||
class SocketCANTP {
|
||||
private:
|
||||
rx_handler userHandler;
|
||||
void *userArg;
|
||||
|
||||
MCP2521 *mcp2521;
|
||||
uint32_t address;
|
||||
bool is_extended;
|
||||
|
||||
uint8_t rxBuffer[4096];
|
||||
uint8_t txBuffer[4096];
|
||||
|
||||
size_t rxLength;
|
||||
|
||||
int consecitonFrameCounter;
|
||||
uint8_t blockSizes;
|
||||
|
||||
protected:
|
||||
void sendFlowControl(CANTP_FLOW_STATUS status, uint8_t blockSize, uint8_t separationTime);
|
||||
|
||||
public:
|
||||
SocketCANTP(MCP2521 *mcp2521, uint32_t address, bool is_extended, uint8_t blockSizes);
|
||||
|
||||
void send(uint8_t *data, uint8_t length);
|
||||
void register_rx_handler(rx_handler handler, void *arg);
|
||||
|
||||
void onRxHandler();
|
||||
}
|
||||
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": ".."
|
||||
}
|
||||
]
|
||||
}
|
||||
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