Did stuff

.gitattributes

@@ -32,5 +32,3 @@ board-vision/cnn_model/data/* filter=lfs diff=lfs merge=lfs -text
 *.gto filter=lfs diff=lfs merge=lfs -text
 *.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

board-vision/.gitattributes

@@ -1 +0,0 @@
-test/data/images filter=lfs diff=lfs merge=lfs -text

board-vision/.vscode/settings.json

@@ -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
-}

board-vision/requirements.txt

@@ -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

can-interface/.devcontainer/Dockerfile

@@ -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"]

can-interface/.devcontainer/devcontainer.json

@@ -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"]
+}

can-interface/.vscode/c_cpp_properties.json

@@ -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
+}

can-interface/.vscode/launch.json

@@ -0,0 +1,15 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "type": "gdbtarget",
+      "request": "attach",
+      "name": "Eclipse CDT GDB Adapter"
+    },
+    {
+      "type": "espidf",
+      "name": "Launch",
+      "request": "launch"
+    }
+  ]
+}

can-interface/.vscode/settings.json

@@ -0,0 +1,32 @@
+{
+    "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/ttyUSB0",
+    "idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
+    "idf.toolsPath": "/home/alexander/.espressif",
+    "idf.flashType": "UART",
+    "idf.openOcdLaunchArgs": ["-c", "adapter_khz 1000"],
+    "idf.openOcdDebugLevel": 2,
+    "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"
+    }
+}

can-interface/.vscode/tasks.json

@@ -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"
+          }
+        }
+      }
+    }
+  ]
+}

can-interface/CMakeLists.txt

@@ -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)

can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm

@@ -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>

can-interface/circuit/gobot-can-interface/sym-lib-table

@@ -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 ""))
+)

can-interface/components/gobot_rpc

@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/gobot_rpc

can-interface/components/mcp2521

@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/mcp2521

can-interface/components/mcp2521_hardware_interface

@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/mcp2521_hardware_interface

can-interface/main/CMakeLists.txt

@@ -0,0 +1,7 @@
+idf_component_register(SRCS "hello_world_main.cpp"
+                    REQUIRES driver
+                    REQUIRES mcp2521
+                    REQUIRES mcp2521_hardware_interface
+                    REQUIRES gobot_rpc
+                    REQUIRES spi_flash
+                    INCLUDE_DIRS "")

can-interface/main/can-interface.code-workspace

@@ -0,0 +1,7 @@
+{
+    "folders": [
+        {
+            "path": ".."
+        }
+    ]
+}

can-interface/main/hello_world_main.cpp

@@ -0,0 +1,134 @@
+/*
+ * 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 = (MCP2521 *)arg;
+
+    rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
+    uint8_t data[8];
+
+    //mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
+
+    printf("RX0: (%x) ", info.id);
+    //for (int i = 0; i < 8; i++) {
+    //    printf("%x ", data[i]);
+    //}
+    printf("\n");
+}
+
+void onRX1(void *arg) {
+    MCP2521 *mcp2521 = (MCP2521 *)arg;
+
+    rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
+    uint8_t data[8];
+
+    //mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
+    printf("RX1: (%x) ", info.id);
+    //for (int i = 0; i < 8; 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[8] = {0x1, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
+
+    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::LOOPBACK, true);
+    mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, 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_1.prepare_tx(
+        MCP2521_TX_BUFFER::TXB0, 0x042, data, 8, false, false);
+    //mcp2521_1.prepare_tx(
+    //    MCP2521_TX_BUFFER::TXB0, 0x041, data, 4, false, false);
+
+
+    vTaskDelay(20 / portTICK_PERIOD_MS);
+    mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
+    //vTaskDelay(10 / portTICK_PERIOD_MS);
+    //mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
+
+    //vTaskDelay(20 / portTICK_PERIOD_MS);
+
+    //mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x042, 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);
+    }
+}