Merge branch 'motor-ctrl-firmware' of gitea.mintcalc.com:alexander/gobot into motor-ctrl-firmware

can-interface/.devcontainer/Dockerfile

@@ -1,47 +0,0 @@
-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

@@ -1,36 +0,0 @@
-{
-	"name": "ESP-IDF QEMU",
-	"build": {
-		"dockerfile": "Dockerfile"
-	},
-	"customizations": {
-		"vscode": {
-			"settings": {
-				"terminal.integrated.defaultProfile.linux": "bash",
-				"idf.espIdfPath": "/opt/esp/idf",
-				"idf.customExtraPaths": "",
-				"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
-				"idf.toolsPath": "/opt/esp",
-				"idf.gitPath": "/usr/bin/git"
-			},
-			"extensions": [
-				"espressif.esp-idf-extension"
-			]
-		},
-		"codespaces": {
-			"settings": {
-				"terminal.integrated.defaultProfile.linux": "bash",
-				"idf.espIdfPath": "/opt/esp/idf",
-				"idf.customExtraPaths": "",
-				"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
-				"idf.toolsPath": "/opt/esp",
-				"idf.gitPath": "/usr/bin/git"
-			},
-			"extensions": [
-				"espressif.esp-idf-extension",
-				"espressif.esp-idf-web"
-			]
-		}
-	},
-	"runArgs": ["--privileged"]
-}

can-interface/.vscode/c_cpp_properties.json

@@ -1,23 +0,0 @@
-{
-    "configurations": [
-        {
-            "name": "ESP-IDF",
-            "compilerPath": "${config:idf.toolsPath}/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/xtensa-esp32-elf-gcc",
-            "compileCommands": "${config:idf.buildPath}/compile_commands.json",
-            "includePath": [
-                "${config:idf.espIdfPath}/components/**",
-                "${config:idf.espIdfPathWin}/components/**",
-                "${workspaceFolder}/**"
-            ],
-            "browse": {
-                "path": [
-                    "${config:idf.espIdfPath}/components",
-                    "${config:idf.espIdfPathWin}/components",
-                    "${workspaceFolder}"
-                ],
-                "limitSymbolsToIncludedHeaders": true
-            }
-        }
-    ],
-    "version": 4
-}

can-interface/.vscode/launch.json

@@ -1,15 +0,0 @@
-{
-  "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

@@ -1,32 +0,0 @@
-{
-    "C_Cpp.intelliSenseEngine": "default",
-    "idf.adapterTargetName": "esp32",
-    "idf.customExtraPaths": "/home/alexander/.espressif/tools/xtensa-esp-elf-gdb/14.2_20240403/xtensa-esp-elf-gdb/bin:/home/alexander/.espressif/tools/riscv32-esp-elf-gdb/14.2_20240403/riscv32-esp-elf-gdb/bin:/home/alexander/.espressif/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin:/home/alexander/.espressif/tools/riscv32-esp-elf/esp-13.2.0_20240530/riscv32-esp-elf/bin:/home/alexander/.espressif/tools/esp32ulp-elf/2.38_20240113/esp32ulp-elf/bin:/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/bin:/home/alexander/.espressif/tools/ninja/1.11.1:/home/alexander/.espressif/tools/esp-rom-elfs/20240305",
-    "idf.customExtraVars": {
-        "OPENOCD_SCRIPTS": "/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/share/openocd/scripts",
-        "ESP_ROM_ELF_DIR": "/home/alexander/.espressif/tools/esp-rom-elfs/20240305/"
-    },
-    "idf.espIdfPath": "/opt/esp/v5.3.1/esp-idf",
-    "idf.openOcdConfigs": [
-        "board/esp32-wrover-kit-3.3v.cfg"
-    ],
-    "idf.port": "/dev/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

@@ -1,259 +0,0 @@
-{
-  "version": "2.0.0",
-  "tasks": [
-    {
-      "label": "Build - Build project",
-      "type": "shell",
-      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py build",
-      "windows": {
-        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py build",
-        "options": {
-          "env": {
-            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
-          }
-        }
-      },
-      "options": {
-        "env": {
-          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
-        }
-      },
-      "problemMatcher": [
-        {
-          "owner": "cpp",
-          "fileLocation": [
-            "autoDetect",
-            "${workspaceFolder}"
-          ],
-          "pattern": {
-            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
-            "file": 1,
-            "line": 2,
-            "column": 3,
-            "severity": 4,
-            "message": 5
-          }
-        }
-      ],
-      "group": {
-        "kind": "build",
-        "isDefault": true
-      }
-    },
-    {
-      "label": "Set ESP-IDF Target",
-      "type": "shell",
-      "command": "${command:espIdf.setTarget}",
-      "problemMatcher": {
-        "owner": "cpp",
-        "fileLocation": [
-          "autoDetect",
-          "${workspaceFolder}"
-        ],
-        "pattern": {
-          "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
-          "file": 1,
-          "line": 2,
-          "column": 3,
-          "severity": 4,
-          "message": 5
-        }
-      }
-    },
-    {
-      "label": "Clean - Clean the project",
-      "type": "shell",
-      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py fullclean",
-      "windows": {
-        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py fullclean",
-        "options": {
-          "env": {
-            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
-          }
-        }
-      },
-      "options": {
-        "env": {
-          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
-        }
-      },
-      "problemMatcher": [
-        {
-          "owner": "cpp",
-          "fileLocation": [
-            "autoDetect",
-            "${workspaceFolder}"
-          ],
-          "pattern": {
-            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
-            "file": 1,
-            "line": 2,
-            "column": 3,
-            "severity": 4,
-            "message": 5
-          }
-        }
-      ]
-    },
-    {
-      "label": "Flash - Flash the device",
-      "type": "shell",
-      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} -b ${config:idf.flashBaudRate} flash",
-      "windows": {
-        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py flash -p ${config:idf.portWin} -b ${config:idf.flashBaudRate}",
-        "options": {
-          "env": {
-            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
-          }
-        }
-      },
-      "options": {
-        "env": {
-          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
-        }
-      },
-      "problemMatcher": [
-        {
-          "owner": "cpp",
-          "fileLocation": [
-            "autoDetect",
-            "${workspaceFolder}"
-          ],
-          "pattern": {
-            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
-            "file": 1,
-            "line": 2,
-            "column": 3,
-            "severity": 4,
-            "message": 5
-          }
-        }
-      ]
-    },
-    {
-      "label": "Monitor: Start the monitor",
-      "type": "shell",
-      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} monitor",
-      "windows": {
-        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py -p ${config:idf.portWin} monitor",
-        "options": {
-          "env": {
-            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
-          }
-        }
-      },
-      "options": {
-        "env": {
-          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
-        }
-      },
-      "problemMatcher": [
-        {
-          "owner": "cpp",
-          "fileLocation": [
-            "autoDetect",
-            "${workspaceFolder}"
-          ],
-          "pattern": {
-            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
-            "file": 1,
-            "line": 2,
-            "column": 3,
-            "severity": 4,
-            "message": 5
-          }
-        }
-      ],
-      "dependsOn": "Flash - Flash the device"
-    },
-    {
-      "label": "OpenOCD: Start openOCD",
-      "type": "shell",
-      "presentation": {
-        "echo": true,
-        "reveal": "never",
-        "focus": false,
-        "panel": "new"
-      },
-      "command": "openocd -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
-      "windows": {
-        "command": "openocd.exe -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
-        "options": {
-          "env": {
-            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
-          }
-        }
-      },
-      "options": {
-        "env": {
-          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
-        }
-      },
-      "problemMatcher": {
-        "owner": "cpp",
-        "fileLocation": [
-          "autoDetect",
-          "${workspaceFolder}"
-        ],
-        "pattern": {
-          "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
-          "file": 1,
-          "line": 2,
-          "column": 3,
-          "severity": 4,
-          "message": 5
-        }
-      }
-    },
-    {
-      "label": "adapter",
-      "type": "shell",
-      "command": "${config:idf.pythonBinPath}",
-      "isBackground": true,
-      "options": {
-        "env": {
-          "PATH": "${env:PATH}:${config:idf.customExtraPaths}",
-          "PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
-        }
-      },
-      "problemMatcher": {
-        "background": {
-          "beginsPattern": "\bDEBUG_ADAPTER_STARTED\b",
-          "endsPattern": "DEBUG_ADAPTER_READY2CONNECT",
-          "activeOnStart": true
-        },
-        "pattern": {
-          "regexp": "(\\d+)-(\\d+)-(\\d+)\\s(\\d+):(\\d+):(\\d+),(\\d+)\\s-(.+)\\s(ERROR)",
-          "file": 8,
-          "line": 2,
-          "column": 3,
-          "severity": 4,
-          "message": 9
-        }
-      },
-      "args": [
-        "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter_main.py",
-        "-e",
-        "${workspaceFolder}/build/${command:espIdf.getProjectName}.elf",
-        "-s",
-        "$OPENOCD_SCRIPTS",
-        "-dn",
-        "esp32",
-        "-om",
-        "connect_to_instance",
-        "-t",
-        "xtensa-esp32-elf-"
-
-      ],
-      "windows": {
-        "command": "${config:idf.pythonBinPathWin}",
-        "options": {
-          "env": {
-            "PATH": "${env:PATH};${config:idf.customExtraPaths}",
-            "PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
-          }
-        }
-      }
-    }
-  ]
-}

can-interface/CMakeLists.txt

@@ -1,6 +0,0 @@
-# The following lines of boilerplate have to be in your project's
-# CMakeLists in this exact order for cmake to work correctly
-cmake_minimum_required(VERSION 3.16)
-
-include($ENV{IDF_PATH}/tools/cmake/project.cmake)
-project(can-interface)

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

@@ -1 +0,0 @@
-<!DOCTYPE HTML><html lang="en-US"> <head> <meta charset="UTF-8"> <meta http-equiv="refresh" content="0; url=https://www.snapeda.com/about/import/#"> <script type="text/javascript">window.location.href="https://www.snapeda.com/about/import/#" </script> <title>Page Redirection</title> </head> <body> If you are not redirected automatically, follow this <a href="https://www.snapeda.com/about/import/#">link to the import guide</a>. </body></html>

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

@@ -1,4 +0,0 @@
-(sym_lib_table
-  (version 7)
-  (lib (name "ESP32-DEVKIT-V1")(type "KiCad")(uri "${KIPRJMOD}/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym")(options "")(descr ""))
-)

can-interface/components/gobot_rpc

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

can-interface/components/mcp2521

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

can-interface/components/mcp2521_hardware_interface

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

can-interface/main/CMakeLists.txt

@@ -1,7 +0,0 @@
-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

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

can-interface/main/hello_world_main.cpp

@@ -1,134 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: CC0-1.0
- */
-
-#include <stdio.h>
-#include <string.h>
-#include <inttypes.h>
-#include "sdkconfig.h"
-
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "freertos/semphr.h"
-#include "freertos/queue.h"
-
-#include "esp_chip_info.h"
-#include "esp_flash.h"
-#include "esp_system.h"
-
-#include "driver/gpio.h"
-#include "driver/spi_master.h"
-
-#include "mcp2521.hpp"
-
-#define SPI_PIN_SCLK GPIO_NUM_18
-#define SPI_PIN_MISO GPIO_NUM_19
-#define SPI_PIN_MOSI GPIO_NUM_23
-
-#define SPI_PIN_CS0 GPIO_NUM_25
-#define SPI_PIN_CS1 GPIO_NUM_27
-
-#define CAN_INT0_PIN GPIO_NUM_5
-#define CAN_INT1_PIN GPIO_NUM_26
-
-void onRX0(void *arg) {
-    MCP2521 *mcp2521 = (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);
-    }
-}

can-interface/session-setup

@@ -1,152 +0,0 @@
-[General]
-decode_signals=2
-meta_objs=0
-views=1
-
-[D0]
-color=4291714048
-conv_options=0
-conversion_type=0
-enabled=true
-name=INT0
-
-[D1]
-color=4281623972
-conv_options=0
-conversion_type=0
-enabled=true
-name=CLK
-
-[D2]
-color=4281623972
-conv_options=0
-conversion_type=0
-enabled=true
-name=MOSI
-
-[D3]
-color=4281623972
-conv_options=0
-conversion_type=0
-enabled=true
-name=MISO
-
-[D4]
-color=4294277376
-conv_options=0
-conversion_type=0
-enabled=true
-name=CE0
-
-[D5]
-color=4279638298
-conv_options=0
-conversion_type=0
-enabled=true
-name=INT1
-
-[D6]
-color=4279638298
-conv_options=0
-conversion_type=0
-enabled=true
-name=CE1
-
-[D7]
-color=4285878395
-conv_options=0
-conversion_type=0
-enabled=true
-name=D7
-
-[decode_signal0]
-channel0\assigned_signal_name=CLK
-channel0\initial_pin_state=2
-channel0\name=CLK
-channel1\assigned_signal_name=MISO
-channel1\initial_pin_state=2
-channel1\name=MISO
-channel2\assigned_signal_name=MOSI
-channel2\initial_pin_state=2
-channel2\name=MOSI
-channel3\assigned_signal_name=CE0
-channel3\initial_pin_state=2
-channel3\name=CS#
-channels=4
-color=4294277376
-conv_options=0
-conversion_type=0
-decoder0\ann_class0\visible=true
-decoder0\ann_class1\visible=true
-decoder0\ann_class2\visible=true
-decoder0\ann_class3\visible=true
-decoder0\ann_class4\visible=true
-decoder0\ann_class5\visible=true
-decoder0\ann_class6\visible=true
-decoder0\id=spi
-decoder0\options=0
-decoder0\row0\visible=true
-decoder0\row1\visible=true
-decoder0\row2\visible=true
-decoder0\row3\visible=true
-decoder0\row4\visible=true
-decoder0\row5\visible=true
-decoder0\row6\visible=true
-decoder0\visible=true
-decoders=1
-enabled=true
-name=SPI0
-
-[decode_signal1]
-channel0\assigned_signal_name=CLK
-channel0\initial_pin_state=2
-channel0\name=CLK
-channel1\assigned_signal_name=MISO
-channel1\initial_pin_state=2
-channel1\name=MISO
-channel2\assigned_signal_name=MOSI
-channel2\initial_pin_state=2
-channel2\name=MOSI
-channel3\assigned_signal_name=CE1
-channel3\initial_pin_state=2
-channel3\name=CS#
-channels=4
-color=4279638298
-conv_options=0
-conversion_type=0
-decoder0\ann_class0\visible=true
-decoder0\ann_class1\visible=true
-decoder0\ann_class2\visible=true
-decoder0\ann_class3\visible=true
-decoder0\ann_class4\visible=true
-decoder0\ann_class5\visible=true
-decoder0\ann_class6\visible=true
-decoder0\id=spi
-decoder0\options=0
-decoder0\row0\visible=true
-decoder0\row1\visible=true
-decoder0\row2\visible=true
-decoder0\row3\visible=true
-decoder0\row4\visible=true
-decoder0\row5\visible=true
-decoder0\row6\visible=true
-decoder0\visible=true
-decoders=1
-enabled=true
-name=SPI1
-
-[view0]
-D0\trace_height=38
-D1\trace_height=38
-D2\trace_height=38
-D3\trace_height=38
-D4\trace_height=38
-D5\trace_height=38
-D6\trace_height=38
-D7\trace_height=38
-offset=22 serialization::archive 19 0 0 0 0 52315583 48568089 25582163 47181659 91047901 0 -8 1 0 6
-scale=0.0021854614351496547
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-v_offset=-10
-zero_offset=22 serialization::archive 19 0 0 0 0 0 0 0 0 0 0 0 0 0 6

common-libaries/gobot_rpc/CMakeLists.txt

@@ -1,10 +0,0 @@
-idf_component_register(SRCS
-                        "gobot_rpc_sender.cpp"
-                        "gobot_rpc_receiver.cpp"
-                        "gobot_rpc_statemaschine.cpp"
-                        "gobot_rpc_numberMap.cpp"
-                        "gobot_rpc_transiver.cpp"
-                    REQUIRES mcp2521
-                    REQUIRES mcp2521_hardware_interface
-                    REQUIRES driver
-                    INCLUDE_DIRS "include")

common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp

@@ -1,19 +0,0 @@
-#include "gobot_rpc.hpp"
-#include "protocol_spec.hpp"
-#include <string.h>
-
-GobotRPCNumberMap::GobotRPCNumberMap() {
-    memset(rpc_number_map, 0xffffffff, 16);
-}
-
-GobotRPCNumberMap::~GobotRPCNumberMap() {
-
-}
-
-void GobotRPCNumberMap::set(RpcNum rpc_num, uint32_t id) {
-    rpc_number_map[(int)rpc_num] = id;
-}
-
-uint32_t GobotRPCNumberMap::get(RpcNum rpc_num) {
-    return rpc_number_map[(int)rpc_num];
-}

common-libaries/gobot_rpc/gobot_rpc_receiver.cpp

@@ -1,43 +0,0 @@
-#include <string.h>
-#include "gobot_rpc.hpp"
-#include "sm.hpp"
-#include "protocol_spec.hpp"
-
-#include "freertos/FreeRTOS.h"
-
-GobotRPCReciver::GobotRPCReciver(MCP2521 * can_interface) {
-    this->can_interface = can_interface;
-    this->state_mashine = GobotRPCStateMashine();
-
-    can_interface->register_rx0_handler(onRX0_GoboRPC, can_interface);
-}
-
-
-void onRX0_GoboRPC(void *arg) {
-    GobotRPCReciver *rpc_socket = (GobotRPCReciver *)arg;
-    rpc_socket->onRX();
-}
-
-void GobotRPCReciver::onRX() {
-    rx_info info = can_interface->get_rx_id(MCP2521_RX_BUFFER::RXB0);
-    uint8_t data[8];
-
-    can_interface->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
-
-    RPCFrame frame;
-    memcpy(((char *)data) + 1, (char *)frame.data, 7);
-    frame.header = (RPCHeader)(data[0]);
-
-    SMResult smResult;
-    state_mashine.submitFrame(&frame, &smResult);
-
-    if(smResult.done) {
-        
-    }
-}
-
-void GobotRPCReciver::registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg) {
-    onDoneFrameHandler = handler;
-    argOnDoneFrameHandler = arg;
-}
-

common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp

@@ -1,74 +0,0 @@
-#include "sm.hpp"
-#include "protocol_spec.hpp"
-#include <string.h>
-
-GobotRPCStateMashine::GobotRPCStateMashine() {
-    memset(requestDataBuffer, 0, REQUEST_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
-    memset(responseDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
-    memset(errorDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
-
-    memset(requestSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
-    memset(responseSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
-    memset(errorSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
-
-    slotCounter = 0;
-    rpc_number_map = GobotRPCNumberMap();
-}
-
-void GobotRPCStateMashine::registerRPC(RpcNum rpc_num) {
-    rpc_number_map.set(rpc_num, slotCounter);
-    slotCounter = (slotCounter + 1) % SLOTS;
-}
-
-void GobotRPCStateMashine::submitFrame(RPCFrame * frame, SMResult * result) {
-    RpcNum rpcNum = (RpcNum)(frame->header.rpc_num);
-
-    result->done = false;
-    result->rpc_num = rpcNum;
-
-    if(rpcNum == RpcNum::INVALID)
-        return;
-
-    size_t slot = rpc_number_map.get(rpcNum);
-    if (slot == 0xffffffff)
-        return;
-
-    uint8_t segNum = frame->header.rpc_segement;
-
-    if(frame->header.error) {
-        memcpy(result->data, frame->data, 7);
-        errorSegmentArrivedFlags[slot] |= (1 << segNum);
-
-        result->done = true;
-        result->type = RPCPackageType::ERROR;
-
-    } else if(frame->header.response) {
-        memcpy(responseDataBuffer[slot] + segNum, frame->data, 7);
-        responseSegmentArrivedFlags[slot] |= (1 << segNum);
-        
-        uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
-
-        if(((responseSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
-            responseSegmentArrivedFlags[slot] = 0;
-
-            result->done = true;
-            memcpy(result->data, responseDataBuffer[slot], 7*4);
-            result->type = RPCPackageType::RESPONSE;
-        }
-
-    } else {
-        memcpy(requestDataBuffer[slot] + segNum, frame->data, 7);
-        requestSegmentArrivedFlags[slot] |= (1 << segNum);
-        
-        uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
-        
-        if(((requestSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
-            requestSegmentArrivedFlags[slot] = 0;
-
-            result->done = true;
-            memcpy(result->data, requestDataBuffer[slot], 7*4);
-            result->type = RPCPackageType::REQUEST;
-        }
-    }
-
-}

common-libaries/gobot_rpc/include/gobot_rpc.hpp

@@ -1,56 +0,0 @@
-#pragma once
-#include "protocol_spec.hpp"
-#include "mcp2521.hpp"
-#include "sm.hpp"
-
-#include "freertos/FreeRTOS.h"
-
-
-
-typedef void (*GobotRPCHandler_t)(void *);
-typedef void (*GobotRPCFrameHandler)(void *, RPCFrame *);
-
-class GobotRPCReciver {
-protected:
-    MCP2521 * can_interface;
-    GobotRPCStateMashine state_mashine;
-
-    GobotRPCHandler_t onDoneFrameHandler;
-    void * argOnDoneFrameHandler;
-
-public:
-    GobotRPCReciver(MCP2521 * can_interface);
-    ~GobotRPCReciver();
-
-    void onRX();
-
-    void registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg);
-};
-
-void onRX0_GoboRPC(void *arg);
-
-class GoboRPCTransiver {
-private:
-    MCP2521 * can_interface;
-    GobotRPCReciver rx;
-
-    GobotRPCHandler_t onRequestHandler;
-    GobotRPCHandler_t onResponseHandler;
-    GobotRPCHandler_t onResponseErrorHandler;
-
-    void * argOnRequestHandler;
-    void * argOnResponseHandler;
-    void * argOnResponseErrorHandler;
-
-
-
-public:
-    GoboRPCTransiver(MCP2521 * can_interface);
-    ~GoboRPCTransiver();
-
-    void send(RPCFrame * frame);
-
-    void registerOnRequestHandler(GobotRPCHandler_t handler, void * arg);
-    void registerOnResponseHandler(GobotRPCHandler_t handler, void * arg);
-    void registerOnResponseErrorHandler(GobotRPCHandler_t handler, void * arg);
-};

common-libaries/gobot_rpc/include/protocol_spec.hpp

@@ -1,123 +0,0 @@
-#pragma once
-#include <stdint.h>
-
-enum RpcNum {
-    Get_Info            = 0x0,
-    Home                = 0x1,
-    Move_Step           = 0x2,
-    Move_XY             = 0x3,
-    Set_Padding         = 0x4,
-    Release_Motors      = 0x5,
-    Drop_Stones         = 0x6,
-    Get_Stone_Status    = 0x7,
-    Mov_Z_Axis          = 0x8,
-    Set_Vacum           = 0x9,
-    INVALID             = 0xF,
-};
-
-struct RPCHeader {
-    unsigned char rpc_num : 4;
-    unsigned char response : 1;
-    unsigned char error : 1;
-    unsigned char rpc_segement : 1;
-};
-
-struct RPCFrame {
-    RPCHeader header;
-    uint8_t data[7];
-};
-
-enum RPC_Node_Type {
-    NODE_ALL        = 0x0,
-    NODE_CORE_XY    = 0x1,
-    NODE_HEAD       = 0x2,
-    NODE_VACUM      = 0x3,
-};
-
-// RPC Request and Response structures
-struct RPC_RES_Get_Info {
-    uint32_t can_address;
-    RPC_Node_Type node_type;
-    uint32_t status;
-    uint32_t error;
-};
-
-enum RPC_Home_Corner {
-    HOME_CORNER_0 = 0b00,
-    HOME_CORNER_1 = 0b01,
-    HOME_CORNER_2 = 0b10,
-    HOME_CORNER_3 = 0b11,
-};
-
-struct RPC_REQ_Home {
-    RPC_Home_Corner corner;
-};
-
-struct RPC_RES_Home {
-    uint32_t x;
-    uint32_t y;
-};
-
-struct RPC_REQ_Move_Step {
-    int32_t x;
-    int32_t y;
-};
-
-struct RPC_RES_Move_Step {
-    uint32_t x;
-    uint32_t y;
-};
-
-struct RPC_REQ_Set_Padding {
-    uint32_t c_1x;
-    uint32_t c_1y;
-    uint32_t c_2x;
-    uint32_t c_2y;
-    uint8_t n_x;
-    uint8_t n_y;
-};
-
-struct RPC_REQ_Move_Z_Axis {
-    bool up;
-};
-
-struct RPC_REQ_Set_Vacum {
-    bool on;
-};
-
-// Segment3, Segment2, Segment1, Segment0
-const uint8_t SEGMENT_MASK_REQUEST[16] = {
-    0b0001, // Get_Info
-    0b0001, // Home
-    0b0001, // Move_Step
-    0b0001, // Move_XY
-    0b0111, // Set_Padding
-    0b0001, // Release_Motors
-    0b0001, // Drop_Stones
-    0b0001, // Get_Stone_Status
-    0b0001, // Mov_Z_Axis
-    0b0001, // Set_Vacum
-    0b0001, //
-    0b0001, //
-    0b0001, //
-    0b0001, //
-    0b0001, //
-};
-
-const uint8_t SEGMENT_MASK_RESPONSE[16] = {
-    0b0001, // Get_Info
-    0b0001, // Home
-    0b0001, // Move_Step
-    0b0001, // Move_XY
-    0b0001, // Set_Padding
-    0b0001, // Release_Motors
-    0b0001, // Drop_Stones
-    0b0001, // Get_Stone_Status
-    0b0001, // Mov_Z_Axis
-    0b0001, // Set_Vacum
-    0b0001, //
-    0b0001, //
-    0b0001, //
-    0b0001, //
-    0b0001, //
-};

common-libaries/gobot_rpc/include/sm.hpp

@@ -1,58 +0,0 @@
-#pragma once
-#include <stdint.h>
-#include "protocol_spec.hpp"
-#include <strings.h>
-
-class GobotRPCNumberMap {
-private:
-    int32_t rpc_number_map[16];
-public:
-    GobotRPCNumberMap();
-    ~GobotRPCNumberMap();
-
-    void set(RpcNum rpc_num, uint32_t id);
-    uint32_t get(RpcNum rpc_num);
-};
-
-
-enum RPCPackageType {
-    REQUEST,
-    RESPONSE,
-    ERROR
-};
-
-struct SMResult {
-    bool done;
-    uint8_t data[7*4];
-    RpcNum rpc_num;
-    RPCPackageType type;
-};
-
-class GobotRPCStateMashine {
-private:
-    static const size_t SLOTS = 6;
-    static const size_t REQUEST_DATA_BUFFER_SIZE = 7*4;
-    static const size_t RESPONSE_DATA_BUFFER_SIZE = 7*4;
-
-
-    GobotRPCNumberMap rpc_number_map;
-    size_t slotCounter;
-
-    uint8_t requestDataBuffer[REQUEST_DATA_BUFFER_SIZE][SLOTS];
-    bool requestSegmentArrivedFlags [SLOTS];
-    
-    uint8_t responseDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
-    uint8_t responseSegmentArrivedFlags [SLOTS];
-
-    uint8_t errorDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
-    uint8_t errorSegmentArrivedFlags [SLOTS];
-
-public:
-    GobotRPCStateMashine();
-    ~GobotRPCStateMashine();
-
-    void registerRPC(RpcNum rpc_num);
-
-    void submitFrame(RPCFrame * frame, SMResult * result);
-
-};

common-libaries/mcp2521/CMakeLists.txt

@@ -1,8 +0,0 @@
-idf_component_register(SRCS
-                         "interface_commands.cpp"
-                         "interface_interrupts.cpp"
-                         "toplevel_commands.cpp"
-                       INCLUDE_DIRS "include"
-                       REQUIRES driver
-                       REQUIRES mcp2521_hardware_interface
-                       )

common-libaries/mcp2521/docs/.$MCP2521_Libary_ClassDiagram.drawio.bkp

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common-libaries/mcp2521/include/bitfields.hpp

@@ -1,177 +0,0 @@
-#pragma once
-#include <cstdint>
-
-/**
- * @brief RXnBF PIN CONTROL AND STATUS REGISTER (ADDRESS: 0Ch)
- * 
- */
-struct BFPCTRL {
-    uint8_t B0BFM : 1;
-    uint8_t B1BFM : 1;
-    uint8_t B0BFE : 1;
-    uint8_t B1BFE : 1;
-    uint8_t B0BFS : 1;
-    uint8_t B1BFS : 1;
-    uint8_t : 2;
-};
-
-/**
- * @brief TXnRTS PIN CONTROL AND STATUS REGISTER
- * 
- */
-struct TXRTSCTRL {
-    uint8_t B0RTSM : 1;
-    uint8_t B1RTSM : 1;
-    uint8_t B2RTSM : 1;
-    uint8_t B0RTS : 1;
-    uint8_t B1RTS : 1;
-    uint8_t B2RTS : 1;
-    uint8_t : 2;
-};
-
-struct CANSTAT {
-    uint8_t ICOD0 : ;
-    uint8_t : 1;
-    uint8_t OPMOD0 : 1;
-    uint8_t OPMOD1 : 1;
-    uint8_t OPMOD2 : 1;
-    uint8_t : 1;
-};
-
-struct CANCTRL {
-    uint8_t CLKPRE0 : 1;
-    uint8_t CLKPRE1 : 1;
-    uint8_t CLKEN : 1;
-    uint8_t OSM : 1;
-    uint8_t ABAT : 1;
-    uint8_t REQOP0 : 1;
-    uint8_t REQOP1 : 1;
-    uint8_t REQOP2 : 1;
-};
-
-struct TEC {
-    uint8_t TEC;
-};
-
-struct REC {
-    uint8_t REC;
-};
-
-struct CNF3 {
-    uint8_t PHSEG20 : 1;
-    uint8_t PHSEG21 : 1;
-    uint8_t PHSEG22 : 1;
-    uint8_t : 3;
-    uint8_t WAKFIL : 1;
-    uint8_t SOF : 1;
-};
-
-struct CNF2 {
-    uint8_t PRSEG0 : 1;
-    uint8_t PRSEG1 : 1;
-    uint8_t PRSEG2 : 1;
-    uint8_t PHSEG10 : 1;
-    uint8_t PHSEG11 : 1;
-    uint8_t PHSEG12 : 1;
-    uint8_t SAM : 1;
-    uint8_t BTLMODE : 1;
-};
-
-struct CNF1 {
-    uint8_t BRP0 : 1;
-    uint8_t BRP1 : 1;
-    uint8_t BRP2 : 1;
-    uint8_t BRP3 : 1;
-    uint8_t BRP4 : 1;
-    uint8_t BRP5 : 1;
-    uint8_t SJW0 : 1;
-    uint8_t SJW1 : 1;
-};
-
-struct CANINTE {
-    uint8_t RX0IE : 1;
-    uint8_t RX1IE : 1;
-    uint8_t TX0IE : 1;
-    uint8_t TX1IE : 1;
-    uint8_t TX2IE : 1;
-    uint8_t ERRIE : 1;
-    uint8_t WAKIE : 1;
-    uint8_t MERRE : 1;
-};
-
-struct CANINTF {
-    uint8_t RX0IF : 1;
-    uint8_t RX1IF : 1;
-    uint8_t TX0IF : 1;
-    uint8_t TX1IF : 1;
-    uint8_t TX2IF : 1;
-    uint8_t ERRIF : 1;
-    uint8_t WAKIF : 1;
-    uint8_t MERRF : 1;
-};
-
-struct EFLG {
-    uint8_t EWARN : 1;
-    uint8_t RXWAR : 1;
-    uint8_t TXWAR : 1;
-    uint8_t RXEP : 1;
-    uint8_t TXEP : 1;
-    uint8_t TXBO : 1;
-    uint8_t RX0OVR : 1;
-    uint8_t RX1OVR : 1;
-};
-
-struct TXB0CTRL {
-    uint8_t TXP0 : 1;
-    uint8_t TXP1 : 1;
-    uint8_t : 1;
-    uint8_t TXREQ : 1;
-    uint8_t TXERR : 1;
-    uint8_t MLOA : 1;
-    uint8_t ABTF : 1;
-    uint8_t : 1;
-};
-
-struct TXB1CTRL {
-    uint8_t TXP0 : 1;
-    uint8_t TXP1 : 1;
-    uint8_t : 1;
-    uint8_t TXREQ : 1;
-    uint8_t TXERR : 1;
-    uint8_t MLOA : 1;
-    uint8_t ABTF : 1;
-    uint8_t : 1;
-};
-
-struct TXB2CTRL {
-    uint8_t TXP0 : 1;
-    uint8_t TXP1 : 1;
-    uint8_t : 1;
-    uint8_t TXREQ : 1;
-    uint8_t TXERR : 1;
-    uint8_t MLOA : 1;
-    uint8_t ABTF : 1;
-    uint8_t : 1;
-};
-
-struct RXB0CTRL {
-    uint8_t FILHIT0 : 1;
-    uint8_t BUKT1 : 1;
-    uint8_t BUKT : 1;
-    uint8_t RXRTR : 1;
-    uint8_t : 1;
-    uint8_t RXM0 : 1;
-    uint8_t RXM1 : 1;
-    uint8_t : 1;
-};
-
-struct RXB1CTRL {
-    uint8_t FILHIT0 : 1;
-    uint8_t FILHIT1 : 1;
-    uint8_t FILHIT2 : 1;
-    uint8_t RXRTR : 1;
-    uint8_t : 1;
-    uint8_t RXM0 : 1;
-    uint8_t RXM1 : 1;
-    uint8_t : 1;
-};

common-libaries/mcp2521/include/mcp2521.hpp

@@ -1,7 +0,0 @@
-#pragma once
-
-#include "mcp2521_toplevel.hpp"
-#include "mcp2521_command.hpp"
-#include "mcp2521_hardware_esp.hpp"
-#include "mcp2521_hardware_esp_bus_factory.hpp"
-#include "mcp2521_addresses.hpp"

common-libaries/mcp2521/include/mcp2521_addresses.hpp

@@ -1,192 +0,0 @@
-#pragma once
-#include <stdint.h> 
-
-#define MCP2521_BFPCTRL 0x0C
-#define MCP2521_BFPCTRL_B1BFS (1 << 5)
-#define MCP2521_BFPCTRL_B0BFS (1 << 4)
-#define MCP2521_BFPCTRL_B1BFE (1 << 3)
-#define MCP2521_BFPCTRL_B0BFE (1 << 2)
-#define MCP2521_BFPCTRL_B1BFM (1 << 1)
-#define MCP2521_BFPCTRL_B0BFM (1 << 0)
-
-#define MCP2521_TXRTSCTRL 0x0D
-#define MCP2521_TXRTSCTRL_B2RTS (1 << 5)
-#define MCP2521_TXRTSCTRL_B1RTS (1 << 4)
-#define MCP2521_TXRTSCTRL_B0RTS (1 << 3)
-#define MCP2521_TXRTSCTRL_B2RTSM (1 << 2)
-#define MCP2521_TXRTSCTRL_B1RTSM (1 << 1)
-#define MCP2521_TXRTSCTRL_B0RTSM (1 << 0)
-
-#define MCP2521_CANSTAT 0x0E
-#define MCP2521_CANSTAT_OPMOD2 (1 << 7)
-#define MCP2521_CANSTAT_OPMOD1 (1 << 6)
-#define MCP2521_CANSTAT_OPMOD0 (1 << 5)
-#define MCP2521_CANSTAT_ICOD2 (1 << 2)
-#define MCP2521_CANSTAT_ICOD1 (1 << 1)
-#define MCP2521_CANSTAT_ICOD0 (1 << 0)
-
-struct CANSTAT_Register {
-    uint8_t ICOD : 3;
-    uint8_t : 1; // Unused bit
-    uint8_t OPMOD : 3;
-    uint8_t : 1; // Unused bit
-};
-
-#define MCP2521_CANCTRL 0x0F
-#define MCP2521_CANCTRL_REQOP2 (1 << 7)
-#define MCP2521_CANCTRL_REQOP1 (1 << 6)
-#define MCP2521_CANCTRL_REQOP0 (1 << 5)
-#define MCP2521_CANCTRL_ABAT (1 << 4)
-#define MCP2521_CANCTRL_OSM (1 << 3)
-#define MCP2521_CANCTRL_CLKEN (1 << 2)
-#define MCP2521_CANCTRL_CLKPRE1 (1 << 1)
-#define MCP2521_CANCTRL_CLKPRE0 (1 << 0)
-
-#define MCP2521_TEC 0x1C
-
-#define MCP2521_REC 0x1D
-
-#define MCP2521_CNF3 0x28
-#define MCP2521_CNF3_SOF (1 << 7)
-#define MCP2521_CNF3_WAKFIL (1 << 6)
-#define MCP2521_CNF3_PHSEG22 (1 << 2)
-#define MCP2521_CNF3_PHSEG21 (1 << 1)
-#define MCP2521_CNF3_PHSEG20 (1 << 0)
-
-#define MCP2521_CNF2 0x29
-#define MCP2521_CNF2_BTLMODE (1 << 7)
-#define MCP2521_CNF2_SAM (1 << 6)
-#define MCP2521_CNF2_PHSEG12 (1 << 5)
-#define MCP2521_CNF2_PHSEG11 (1 << 4)
-#define MCP2521_CNF2_PHSEG10 (1 << 3)
-#define MCP2521_CNF2_PRSEG2 (1 << 2)
-#define MCP2521_CNF2_PRSEG1 (1 << 1)
-#define MCP2521_CNF2_PRSEG0 (1 << 0)
-
-#define MCP2521_CNF1 0x2A
-#define MCP2521_CNF1_SJW1 (1 << 7)
-#define MCP2521_CNF1_SJW0 (1 << 6)
-#define MCP2521_CNF1_BRP5 (1 << 5)
-#define MCP2521_CNF1_BRP4 (1 << 4)
-#define MCP2521_CNF1_BRP3 (1 << 3)
-#define MCP2521_CNF1_BRP2 (1 << 2)
-#define MCP2521_CNF1_BRP1 (1 << 1)
-#define MCP2521_CNF1_BRP0 (1 << 0)
-
-#define MCP2521_CANINTE 0x2B
-#define MCP2521_CANINTE_MERRE (1 << 7)
-#define MCP2521_CANINTE_WAKIE (1 << 6)
-#define MCP2521_CANINTE_ERRIE (1 << 5)
-#define MCP2521_CANINTE_TX2IE (1 << 4)
-#define MCP2521_CANINTE_TX1IE (1 << 3)
-#define MCP2521_CANINTE_TX0IE (1 << 2)
-#define MCP2521_CANINTE_RX1IE (1 << 1)
-#define MCP2521_CANINTE_RX0IE (1 << 0)
-
-#define MCP2521_CANINTF 0x2C
-#define MCP2521_CANINTF_MERRF (1 << 7)
-#define MCP2521_CANINTF_WAKIF (1 << 6)
-#define MCP2521_CANINTF_ERRIF (1 << 5)
-#define MCP2521_CANINTF_TX2IF (1 << 4)
-#define MCP2521_CANINTF_TX1IF (1 << 3)
-#define MCP2521_CANINTF_TX0IF (1 << 2)
-#define MCP2521_CANINTF_RX1IF (1 << 1)
-#define MCP2521_CANINTF_RX0IF (1 << 0)
-
-#define MCP2521_EFLG 0x2D
-#define MCP2521_EFLG_RX1OVR (1 << 7)
-#define MCP2521_EFLG_RX0OVR (1 << 6)
-#define MCP2521_EFLG_TXBO (1 << 5)
-#define MCP2521_EFLG_TXEP (1 << 4)
-#define MCP2521_EFLG_RXEP (1 << 3)
-#define MCP2521_EFLG_TXWAR (1 << 2)
-#define MCP2521_EFLG_RXWAR (1 << 1)
-#define MCP2521_EFLG_EWARN (1 << 0)
-
-#define MCP2521_TXB0CTRL 0x30
-#define MCP2521_TXB0CTRL_ABTF (1 << 6)
-#define MCP2521_TXB0CTRL_MLOA (1 << 5)
-#define MCP2521_TXB0CTRL_TXERR (1 << 4)
-#define MCP2521_TXB0CTRL_TXREQ (1 << 3)
-#define MCP2521_TXB0CTRL_TXP1 (1 << 1)
-#define MCP2521_TXB0CTRL_TXP0 (1 << 0)
-
-#define MCP2521_TXB0DLC 0x35
-#define MCP2521_TXB1DLC 0x45
-#define MCP2521_TXB2DLC 0x55
-
-#define MCP2521_TXB1CTRL 0x40
-#define MCP2521_TXB1CTRL_ABTF (1 << 6)
-#define MCP2521_TXB1CTRL_MLOA (1 << 5)
-#define MCP2521_TXB1CTRL_TXERR (1 << 4)
-#define MCP2521_TXB1CTRL_TXREQ (1 << 3)
-#define MCP2521_TXB1CTRL_TXP1 (1 << 1)
-#define MCP2521_TXB1CTRL_TXP0 (1 << 0)
-
-#define MCP2521_TXB2CTRL 0x50
-#define MCP2521_TXB2CTRL_ABTF (1 << 6)
-#define MCP2521_TXB2CTRL_MLOA (1 << 5)
-#define MCP2521_TXB2CTRL_TXERR (1 << 4)
-#define MCP2521_TXB2CTRL_TXREQ (1 << 3)
-#define MCP2521_TXB2CTRL_TXP1 (1 << 1)
-#define MCP2521_TXB2CTRL_TXP0 (1 << 0)
-
-struct TXBnCTRL_Register {
-    uint8_t TXP : 2;
-    uint8_t : 1; // Unused bit
-    uint8_t TXREQ : 1;
-    uint8_t TXERR : 1;
-    uint8_t MLOA : 1;
-    uint8_t ABTF : 1;
-    uint8_t : 1; // Unused bit
-};
-
-
-#define MCP2521_RXB0CTRL 0x60
-#define MCP2521_RXB0CTRL_RXM1 (1 << 6)
-#define MCP2521_RXB0CTRL_RXM0 (1 << 5)
-#define MCP2521_RXB0CTRL_RXRTR (1 << 3)
-#define MCP2521_RXB0CTRL_BUKT (1 << 2)
-#define MCP2521_RXB0CTRL_BUKT1 (1 << 1)
-#define MCP2521_RXB0CTRL_FILHIT0 (1 << 0)
-
-#define MCP2521_RXB1CTRL 0x70
-#define MCP2521_RXB1CTRL_RXM1 (1 << 6)
-#define MCP2521_RXB1CTRL_RXM0 (1 << 5)
-#define MCP2521_RXB1CTRL_RXRTR (1 << 3)
-#define MCP2521_RXB1CTRL_FILHIT2 (1 << 2)
-#define MCP2521_RXB1CTRL_FILHIT1 (1 << 1)
-#define MCP2521_RXB1CTRL_FILHIT0 (1 << 0)
-
-#define MCP2521_OP_RESET            0b11000000
-#define MCP2521_OP_READ             0b00000011
-#define MCP2521_OP_READ_RX_BUFFER   0b10010000
-#define MCP2521_OP_WRITE            0b00000010
-#define MCP2521_OP_LOAD_TX_BUFFER   0b01000000
-#define MCP2521_OP_RTS              0b10000000
-#define MCP2521_OP_READ_STATUS      0b10100000
-#define MCP2521_OP_RX_STATUS        0b10110000
-#define MCP2521_OP_BIT_MODIFY       0b00000101
-
-#define MCP2521_TXB0SIDH 0x31
-#define MCP2521_TXB1SIDH 0x41
-#define MCP2521_TXB2SIDH 0x51
-
-#define MCP2521_TXB0SIDL 0x32
-#define MCP2521_TXB1SIDL 0x42
-#define MCP2521_TXB2SIDL 0x52
-
-#define MCP2521_RXB0SIDH 0x61
-#define MCP2521_RXB1SIDH 0x71
-
-#define MCP2521_RXB0SIDL 0x62
-#define MCP2521_RXB1SIDL 0x72
-
-#define MCP2521_RXB0EID8 0x63
-#define MCP2521_RXB1EID8 0x73
-
-#define MCP2521_RXB0EID0 0x64
-#define MCP2521_RXB1EID0 0x74
-
-#define MCP2521_RXB0DLC 0x65
-#define MCP2521_RXB1DLC 0x75

common-libaries/mcp2521/include/mcp2521_command.hpp

@@ -1,102 +0,0 @@
-#pragma once
-#include "mcp2521_addresses.hpp"
-#include "mcp2521_hardware_handle.hpp"
-
-#include <stdint.h>
-
-enum MCP2521_RX_BUFFER {
-    RXB0 = 0,
-    RXB1 = 1
-};
-
-enum MCP2521_TX_BUFFER {
-    TXB0 = 0,
-    TXB1 = 1,
-    TXB2 = 2
-};
-
-enum MCP2521_BUFFER_TYPE {
-    ID = 0,
-    DATA = 1
-};
-
-enum MCP2521_OPERATION_MODE {
-    NORMAL      = 0b000,
-    SLEEP       = 0b001,
-    LOOPBACK    = 0b010,
-    LISTEN_ONLY = 0b011,
-    CONFIG      = 0b100
-};
-
-struct rx_info {
-    bool extended;
-
-    uint16_t id;
-    uint32_t extended_id;
-
-    bool rtr;
-    bool extended_rtr;
-
-    uint8_t length;
-};
-
-class MCP2521_CommandInterface {
-private:
-    I_MCP2521_HardwareHandle * hardware_handle;
-
-    intHandlerFunction_t rx0_handler;
-    intHandlerFunction_t rx1_handler;
-    intHandlerFunction_t tx0_handler;
-    intHandlerFunction_t tx1_handler;
-    intHandlerFunction_t tx2_handler;
-    intHandlerFunction_t error_handler;
-    intHandlerFunction_t wakeup_handler;
-    intHandlerFunction_t message_error_handler;
-
-    void * rx0_handler_arg;
-    void * rx1_handler_arg;
-    void * tx0_handler_arg;
-    void * tx1_handler_arg;
-    void * tx2_handler_arg;
-    void * error_handler_arg;
-    void * wakeup_handler_arg;
-    void * message_error_handler_arg;
-public:
-
-    MCP2521_CommandInterface(
-        I_MCP2521_HardwareHandle * hardware_handle
-    );
-
-    void handleInterrupt();
-    
-    void reset();
-    
-    void read_reg(uint8_t address, uint8_t *data, size_t length);
-    uint8_t read_reg(uint8_t address);
-
-    void read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
-    
-    void write_reg(uint8_t address, uint8_t *data, size_t length);
-    void write_reg(uint8_t address, uint8_t data);
-
-    void write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
-
-    void request_to_send(bool txb2, bool txb1, bool txb0);
-    void request_to_send(MCP2521_TX_BUFFER buffer);
-
-    uint8_t read_status();
-    uint8_t read_rx_status();
-
-    void bit_modify(uint8_t address, uint8_t mask, uint8_t data);
-
-    // Registering Handlers for Interrupts
-    void register_rx0_handler(intHandlerFunction_t handler, void * arg);
-    void register_rx1_handler(intHandlerFunction_t handler, void * arg);
-    void register_tx0_handler(intHandlerFunction_t handler, void * arg);
-    void register_tx1_handler(intHandlerFunction_t handler, void * arg);
-    void register_tx2_handler(intHandlerFunction_t handler, void * arg);
-    void register_error_handler(intHandlerFunction_t handler, void * arg);
-    void register_wakeup_handler(intHandlerFunction_t handler, void * arg);
-    void register_message_error_handler(intHandlerFunction_t handler, void * arg);
-};
-

common-libaries/mcp2521/include/mcp2521_toplevel.hpp

@@ -1,38 +0,0 @@
-#pragma once
-#include <stdint.h>
-
-#include "mcp2521.hpp"
-#include "mcp2521_command.hpp"
-#include "mcp2521_addresses.hpp"
-
-class MCP2521 : public MCP2521_CommandInterface {
-    private:
-    public:
-        void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);
-
-        /**
-         * @brief Loads the Data Length Code register for the specified buffer
-         * 
-         * @param buffer What Buffer to load the DLC register for
-         * @param length How many bytes are in the message (0-8)
-         * @param rtr: Remote Transmission Request
-         */
-        void set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr);
-
-        /**
-         * @brief Loads the data and id into the specified buffer
-         * 
-         * @param buffer 
-         * @param id 
-         * @param data 
-         * @param length 
-         */
-        void prepare_tx(MCP2521_TX_BUFFER buffer, uint32_t id, uint8_t *data, size_t length, bool rtr, bool extended);
-
-        void set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot);
-        void set_singleshot_mode(bool enable);
-        
-        void enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1);
-        rx_info get_rx_id(MCP2521_RX_BUFFER buffer);
-
-};

common-libaries/mcp2521/interface_commands.cpp

@@ -1,100 +0,0 @@
-#include <cstring>
-
-#include "mcp2521.hpp"
-#include "mcp2521_addresses.hpp"
-
-void runIntHandler(void *arg) {
-    MCP2521_CommandInterface *command_interface = (MCP2521_CommandInterface *)arg;
-    command_interface->handleInterrupt();
-}
-
-MCP2521_CommandInterface::MCP2521_CommandInterface(
-    I_MCP2521_HardwareHandle * hardware_handle
-) {
-    this->hardware_handle = hardware_handle;
-    this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
-
-    rx0_handler = NULL;
-    rx1_handler = NULL;
-    tx0_handler = NULL;
-    tx1_handler = NULL;
-    tx2_handler = NULL;
-    error_handler = NULL;
-    wakeup_handler = NULL;
-    message_error_handler = NULL;
-
-    rx0_handler_arg = NULL;
-    rx1_handler_arg = NULL;
-    tx0_handler_arg = NULL;
-    tx1_handler_arg = NULL;
-    tx2_handler_arg = NULL;
-    error_handler_arg = NULL;
-    wakeup_handler_arg = NULL;
-    message_error_handler_arg = NULL;
-}
-
-void MCP2521_CommandInterface::reset() {
-    hardware_handle->execute(MCP2521_OP_RESET);
-}
-
-void MCP2521_CommandInterface::read_reg(uint8_t address, uint8_t *data, size_t length) {
-    hardware_handle->read(MCP2521_OP_READ, data, length, address);
-}
-
-uint8_t MCP2521_CommandInterface::read_reg(uint8_t address) {
-    return hardware_handle->read(MCP2521_OP_READ, address);
-}
-
-void MCP2521_CommandInterface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
-    uint8_t address = (buffer << 1) | (type << 2);
-    hardware_handle->read(MCP2521_OP_READ_RX_BUFFER | address, data, length);
-}
-
-void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t *data, size_t length) {
-    hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
-}
-
-void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t data) {
-    hardware_handle->write(MCP2521_OP_WRITE, data, address);
-}
-
-void MCP2521_CommandInterface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
-    uint8_t address = (buffer << 1) | (type);
-    hardware_handle->write(MCP2521_OP_LOAD_TX_BUFFER | address, data, length);
-}
-
-void MCP2521_CommandInterface::request_to_send(bool txb2, bool txb1, bool txb0) {
-    uint8_t data = (txb2 << 2) | (txb1 << 1) | txb0;
-    hardware_handle->execute(MCP2521_OP_RTS | data);
-}
-
-void MCP2521_CommandInterface::request_to_send(MCP2521_TX_BUFFER buffer) {
-    uint8_t mask = 0;
-
-    switch (buffer) {
-        case MCP2521_TX_BUFFER::TXB0:
-            mask = 0b001;
-            break;
-        case MCP2521_TX_BUFFER::TXB1:
-            mask = 0b010;
-            break;
-        case MCP2521_TX_BUFFER::TXB2:
-            mask = 0b100;
-            break;
-    }
-
-    hardware_handle->execute(MCP2521_OP_RTS | mask);
-}
-
-uint8_t MCP2521_CommandInterface::read_status() {
-    return hardware_handle->read(MCP2521_OP_READ_STATUS);
-}
-
-uint8_t MCP2521_CommandInterface::read_rx_status() {
-    return hardware_handle->read(MCP2521_OP_RX_STATUS);
-}
-
-void MCP2521_CommandInterface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
-    uint8_t data_array[3] = {address, mask, data};
-    hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
-}

common-libaries/mcp2521/interface_interrupts.cpp

@@ -1,113 +0,0 @@
-#include "mcp2521.hpp"
-#include "mcp2521_addresses.hpp"
-
-void MCP2521_CommandInterface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
-    rx0_handler = handler;
-    rx0_handler_arg = args;
-}
-
-void MCP2521_CommandInterface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
-    rx1_handler = handler;
-    rx1_handler_arg = args;
-}
-
-void MCP2521_CommandInterface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
-    tx0_handler = handler;
-    tx0_handler_arg = args;
-}
-
-void MCP2521_CommandInterface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
-    tx1_handler = handler;
-    tx1_handler_arg = args;
-}
-
-void MCP2521_CommandInterface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
-    tx2_handler = handler;
-    tx2_handler_arg = args;
-}
-
-void MCP2521_CommandInterface::register_error_handler(intHandlerFunction_t handler, void* args) {
-    error_handler = handler;
-    error_handler_arg = args;
-}
-
-void MCP2521_CommandInterface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
-    wakeup_handler = handler;
-    wakeup_handler_arg = args;
-}
-
-void MCP2521_CommandInterface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
-    message_error_handler = handler;
-    message_error_handler_arg = args;
-}
-
-void MCP2521_CommandInterface::handleInterrupt() {
-    uint8_t flags = read_reg(MCP2521_CANINTF);
-    uint8_t clearBits = 0;
-
-    if (flags & MCP2521_CANINTF_RX0IF) {
-        if (rx0_handler) {
-            rx0_handler(rx0_handler_arg);
-        }
-        flags &= ~MCP2521_CANINTF_RX0IF;
-        clearBits |= MCP2521_CANINTF_RX0IF;
-    }
-
-    if (flags & MCP2521_CANINTF_RX1IF) {
-        if (rx1_handler) {
-            rx1_handler(rx1_handler_arg);
-        }
-        flags &= ~MCP2521_CANINTF_RX1IF;
-        clearBits |= MCP2521_CANINTF_RX1IF;
-    }
-
-    if (flags & MCP2521_CANINTF_TX0IF) {
-        if (tx0_handler) {
-            tx0_handler(tx0_handler_arg);
-        }
-        flags &= ~MCP2521_CANINTF_TX0IF;
-        clearBits |= MCP2521_CANINTF_TX0IF;
-    }
-
-    if (flags & MCP2521_CANINTF_TX1IF) {
-        if (tx1_handler) {
-            tx1_handler(tx1_handler_arg);
-        }
-        flags &= ~MCP2521_CANINTF_TX1IF;
-        clearBits |= MCP2521_CANINTF_TX1IF;
-    }
-
-    if (flags & MCP2521_CANINTF_TX2IF) {
-        if (tx2_handler) {
-            tx2_handler(tx2_handler_arg);
-        }
-        flags &= ~MCP2521_CANINTF_TX2IF;
-        clearBits |= MCP2521_CANINTF_TX2IF;
-    }
-
-    if (flags & MCP2521_CANINTF_ERRIF) {
-        if (error_handler) {
-            error_handler(error_handler_arg);
-        }
-        flags &= ~MCP2521_CANINTF_ERRIF;
-        clearBits |= MCP2521_CANINTF_ERRIF;
-    }
-
-    if (flags & MCP2521_CANINTF_WAKIF) {
-        if (wakeup_handler) {
-            wakeup_handler(wakeup_handler_arg);
-        }
-        flags &= ~MCP2521_CANINTF_WAKIF;
-        clearBits |= MCP2521_CANINTF_WAKIF;
-    }
-
-    if (flags & MCP2521_CANINTF_MERRF) {
-        if (message_error_handler) {
-            message_error_handler(message_error_handler_arg);
-        }
-        flags &= ~MCP2521_CANINTF_MERRF;
-        clearBits |= MCP2521_CANINTF_MERRF;
-    }
-
-    bit_modify(MCP2521_CANINTF, clearBits, 0);
-}

common-libaries/mcp2521/toplevel_commands.cpp

@@ -1,119 +0,0 @@
-#include <cstring>
-
-#include "mcp2521.hpp"
-#include "mcp2521_addresses.hpp"
-
-void MCP2521::set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended) {
-    uint8_t addr_offset = 0;
-    switch (buffer)
-    {
-    case MCP2521_TX_BUFFER::TXB0:
-        addr_offset = 0x00;
-        break;
-    case MCP2521_TX_BUFFER::TXB1:
-        addr_offset = 0x10;
-        break;
-    case MCP2521_TX_BUFFER::TXB2:
-        addr_offset = 0x20;
-        break;
-    }
-
-    uint8_t upper_id = (id >> 3) & 0xFF;
-    uint8_t lower_id = ((id & 0b111) << 5);
-
-    if(extended) {
-        lower_id |= 0b1000;
-        lower_id |= (id >> 8) & 0b11;
-    }
-
-    write_reg(MCP2521_TXB0SIDH | addr_offset, upper_id);
-    write_reg(MCP2521_TXB0SIDL | addr_offset, lower_id);
-}
-
-void MCP2521::set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr) {
-    uint8_t data = length;
-
-    if (rtr)
-        data |= 0b01000000;
-
-    uint8_t reg_address = 0;
-
-    switch (buffer) {
-        case MCP2521_TX_BUFFER::TXB0:
-            reg_address = MCP2521_TXB0DLC;
-            break;
-        case MCP2521_TX_BUFFER::TXB1:
-            reg_address = MCP2521_TXB1DLC;
-            break;
-        case MCP2521_TX_BUFFER::TXB2:
-            reg_address = MCP2521_TXB2DLC;
-            break;
-    }
-
-    write_reg(reg_address, data);
-}
-
-void MCP2521::set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot) {
-    
-    uint8_t single = singleshot ? 0b00001000 : 0x0;
-
-    bit_modify(MCP2521_CANCTRL, 0b11101000 , (mode << 5) | single);
-}
-
-void MCP2521::set_singleshot_mode(bool enable) {
-    uint8_t data = enable ? 0x08 : 0x00;
-    bit_modify(MCP2521_CANCTRL, 0x08, data);
-}
-
-void MCP2521::enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1) {
-    uint8_t interrupt_flags = 0;
-
-    if (MessageError) interrupt_flags   |= 0b10000000;
-    if (WakeUp) interrupt_flags         |= 0b01000000;
-    if (ErrorInterrupt) interrupt_flags |= 0b00100000;
-    if (TXB2) interrupt_flags           |= 0b00010000;
-    if (TXB1) interrupt_flags           |= 0b00001000;
-    if (TXB0) interrupt_flags           |= 0b00000100;
-    if (RXB1) interrupt_flags           |= 0b00000010;
-    if (RXB0) interrupt_flags           |= 0b00000001;
-
-    write_reg(MCP2521_CANINTE, interrupt_flags);
-}
-
-rx_info MCP2521::get_rx_id(MCP2521_RX_BUFFER buffer) {
-    uint8_t data[5];
-    uint8_t addr_offset = MCP2521_RXB0SIDH;
-
-    switch (buffer) {
-    case MCP2521_RX_BUFFER::RXB0:
-        addr_offset |= 0x00;
-        break;
-    case MCP2521_RX_BUFFER::RXB1:
-        addr_offset |= 0x10;
-        break;
-    }
-
-    read_reg(addr_offset, data, 5);
-
-    rx_info res;
-    res.extended = data[1] & 0b1000;
-    res.id = (data[0] << 3) | (data[1] >> 5);
-    res.extended_id = ((data[1] & 0b11) << 16) | (data[2] << 8) | data[3];
-    res.rtr = data[1] & 0b10000;
-    res.extended_rtr = (data[4] & 0b1000000);
-    res.length = (data[4] & 0b1111);
-
-    return res;
-}
-
-void MCP2521::prepare_tx(
-    MCP2521_TX_BUFFER buffer, 
-    uint32_t id, 
-    uint8_t *data, 
-    size_t length, 
-    bool rtr, bool extended) {
-
-    set_tx_id(buffer, id, extended);
-    set_DLC_reg(buffer, length, rtr);
-    write_tx_buf(buffer, MCP2521_BUFFER_TYPE::DATA, data, length);
-}

common-libaries/mcp2521_hardware_interface/CMakeLists.txt

@@ -1,7 +0,0 @@
-idf_component_register(SRCS "esp_implementation_init.cpp"
-                            "esp_implementation_cmd.cpp"
-                            "esp_implementation_int.cpp"
-                            "esp_implementation_bus.cpp"
-                            "esp_implementation_bus_factory.cpp"
-                       INCLUDE_DIRS "include"
-                       REQUIRES driver)

common-libaries/mcp2521_hardware_interface/esp_implementation_bus.cpp

@@ -1,58 +0,0 @@
-#ifdef ESP_PLATFORM
-#include "freertos/FreeRTOS.h"
-
-#include "mcp2521_hardware_esp_bus.hpp"
-#include "mcp2521_hardware_esp.hpp"
-
-MCP2521_HardwareHandle_ESPBus::MCP2521_HardwareHandle_ESPBus(
-        QueueHandle_t send_queue,
-        spi_host_device_t spi_host,
-        spi_bus_config_t * bus_config,
-        gpio_num_t cs, 
-        gpio_num_t int_pin
-) : MCP2521_HardwareHandle_ESP(spi_host, bus_config, cs, int_pin) {
-    this->send_queue = send_queue;
-    this->receive_queue = xQueueCreate(3, sizeof(spi_message_t));
-}
-
-void MCP2521_HardwareHandle_ESPBus::spi_transmit(spi_transaction_t *t) {
-    spi_message_t message = {
-        .transaction = t,
-        .queue = send_queue,
-        .spi_device_handle = spi_device_handle
-    };
-
-    xQueueSend(send_queue, &message, portMAX_DELAY);
-    xQueueReceive(receive_queue, &message, portMAX_DELAY);
-}
-
-void MCP2521_HardwareHandle_ESPBus::initPins(
-    gpio_num_t int_pin
-) {
-    canInterruptSemaphore = xSemaphoreCreateBinary();
-
-    gpio_config_t io_conf;
-    io_conf.intr_type = GPIO_INTR_NEGEDGE;
-    io_conf.mode = GPIO_MODE_INPUT;
-    io_conf.pin_bit_mask = 1 << int_pin;
-    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
-    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
-    gpio_config(&io_conf);
-
-    gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
-
-    char taskName[32];
-    sprintf(taskName, "canInterruptTask_%d", int_pin);
-
-    xTaskCreatePinnedToCore(
-        (TaskFunction_t)&handleInteruptTaskCallerFn,
-        taskName,
-        2048,
-        this,
-        5,
-        &canInterruptTaskHandle,
-        0
-    );
-}
-
-#endif

common-libaries/mcp2521_hardware_interface/esp_implementation_bus_factory.cpp

@@ -1,67 +0,0 @@
-#pragma once
-
-#ifdef ESP_PLATFORM
-#include "freertos/FreeRTOS.h"
-
-#include "mcp2521_hardware_esp_bus_factory.hpp"
-#include "mcp2521_hardware_esp_bus.hpp"
-#include "mcp2521_hardware_esp.hpp"
-
-void transactionTaskWrapperFn(void *pvParameters) {
-    MCP2521_HardwareHandleFactory_ESPBus *factory = (MCP2521_HardwareHandleFactory_ESPBus *)pvParameters;
-    factory->transactionTaskFn();
-
-}
-
-MCP2521_HardwareHandleFactory_ESPBus::MCP2521_HardwareHandleFactory_ESPBus(
-    spi_host_device_t spi_host,
-    gpio_num_t mosi, 
-    gpio_num_t miso, 
-    gpio_num_t sclk
-) {
-    this->spi_host = spi_host;
-    this->mosi = mosi;
-    this->miso = miso;
-    this->sclk = sclk;
-
-    
-    gpio_install_isr_service(0);
-
-    MCP2521_HardwareHandle_ESP::initSPIBus(spi_host, mosi, miso, sclk, &bus_config);
-    
-    spi_queue = xQueueCreate(12, sizeof(spi_message_t));
-    xTaskCreatePinnedToCore(
-        (TaskFunction_t)&transactionTaskWrapperFn,
-        "transactionTask",
-        2048,
-        this,
-        3,
-        &transactionTaskHandle,
-        0
-    );
-}
-
-void MCP2521_HardwareHandleFactory_ESPBus::transactionTaskFn() {
-    spi_message_t message;
-
-    while(true) {
-        xQueueReceive(spi_queue, &message, portMAX_DELAY);
-        spi_device_transmit(message.spi_device_handle, message.transaction);
-    }
-}
-
-MCP2521_HardwareHandle_ESPBus MCP2521_HardwareHandleFactory_ESPBus::create(
-    gpio_num_t int_pin,
-    gpio_num_t cs
-) {
-    return MCP2521_HardwareHandle_ESPBus(
-        spi_queue,
-        spi_host,
-        &bus_config,
-        cs,
-        int_pin
-    );
-}
-
-
-#endif