Added MCP2541 to Rpi Pico

commit c6fd825e39
Author: AlexanderHD27 <alexander@hal>
Date:   Wed Nov 6 23:14:14 2024 +0100

    Moved CAN Interface code to comment libary folder with symlink

commit e7a0035041
Author: AlexanderHD27 <alexander@hal>
Date:   Wed Nov 6 22:01:28 2024 +0100

    Got MCP2521 to work

commit 4bfb1f533e
Author: AlexanderHD27 <alexander@hal>
Date:   Wed Oct 16 21:29:35 2024 +0200

    Did something to YGantryMount. It works. trust me

commit 5683168a47
Author: AlexanderHD27 <alexander@hal>
Date:   Wed Oct 16 21:28:36 2024 +0200

    Implemented Command-Level Interaction with CAN Interface

commit 9c0c676be8
Author: AlexanderHD27 <alexander@hal>
Date:   Mon Oct 14 09:20:37 2024 +0200

    Added Vscode Profile file

commit b150a905a3
Author: AlexanderHD27 <alexander@hal>
Date:   Mon Oct 14 09:19:00 2024 +0200

    Implemented Low Level Compunications

commit 7eebf619ae
Author: AlexanderHD27 <alexander@hal>
Date:   Mon Oct 7 14:46:15 2024 +0200

    Created Head Pipe Mount

commit 93c40e1805
Author: AlexanderHD27 <alexander@hal>
Date:   Mon Oct 7 14:44:11 2024 +0200

    First Revision of YGantryMount

commit 91c2125458
Author: AlexanderHD27 <alexander@hal>
Date:   Thu Oct 3 19:52:37 2024 +0200

    Added Kicad Backups 2 gitignore

commit 096a6c18d6
Author: AlexanderHD27 <alexander@hal>
Date:   Thu Oct 3 19:49:21 2024 +0200

    Created ESP-IDF for can-interface

commit 48fded7981
Author: AlexanderHD27 <alexander@hal>
Date:   Sat Sep 28 19:54:29 2024 +0200

    Added files from Pico sdk to gitignore

commit ec5e5cbf13
Author: AlexanderHD27 <alexander@hal>
Date:   Sat Sep 14 21:09:50 2024 +0200

    Create Marker for position Calibration

commit 58d31964b2
Author: AlexanderHD27 <alexander@hal>
Date:   Wed Sep 11 23:32:55 2024 +0200

    Upgrade to pico SDK 2.0.0

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 +1,29 @@
+{
+    "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",
+    "files.associations": {
+        "*.tcc": "cpp",
+        "cstdint": "cpp",
+        "random": "cpp",
+        "future": "cpp",
+        "bitset": "cpp",
+        "string_view": "cpp",
+        "regex": "cpp",
+        "array": "cpp",
+        "string": "cpp",
+        "span": "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/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 +1,6 @@
+idf_component_register(SRCS "hello_world_main.cpp"
+                    REQUIRES driver
+                    REQUIRES mcp2521
+                    REQUIRES mcp2521_hardware_interface
+                    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 +1,105 @@
+/*
+ * 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_CS0 GPIO_NUM_5
+#define SPI_PIN_SCLK GPIO_NUM_18
+#define SPI_PIN_MISO GPIO_NUM_19
+#define SPI_PIN_MOSI GPIO_NUM_23
+#define CAN_INT_PIN GPIO_NUM_21
+
+#define EXTERNAL_TRIGGER GPIO_NUM_26
+
+void onRX(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("RX: (%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);
+
+    gpio_set_direction(EXTERNAL_TRIGGER, GPIO_MODE_OUTPUT);
+    gpio_set_level(EXTERNAL_TRIGGER, true);
+
+    vTaskDelay(100 / portTICK_PERIOD_MS);
+    
+
+    spi_bus_config_t spi_bus;
+
+    MCP2521_Hardware_Handle_ESP hardware_mcp2521(
+        VSPI_HOST,
+        &spi_bus,
+        SPI_PIN_MOSI,
+        SPI_PIN_MISO,
+        SPI_PIN_SCLK,
+        SPI_PIN_CS0,
+        CAN_INT_PIN
+    );
+
+    MCP2521 mcp2521(&hardware_mcp2521);
+
+    uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
+
+    gpio_set_level(EXTERNAL_TRIGGER, false);
+    mcp2521.reset();
+    mcp2521.enable_interrupts(true, true, true, true, true, true, true, true);
+
+    mcp2521.register_rx0_handler(onRX, &mcp2521);
+    mcp2521.register_rx1_handler(onRX, &mcp2521);
+    mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
+
+    vTaskDelay(3 / portTICK_PERIOD_MS);
+
+    mcp2521.prepare_tx(
+        MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
+
+    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
+
+    mcp2521.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
+    mcp2521.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(100 / portTICK_PERIOD_MS);
+    }
+}

common-libaries/mcp2521/CMakeLists.txt

@@ -0,0 +1,8 @@
+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/include/bitfields.hpp

@@ -0,0 +1,177 @@
+#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

@@ -0,0 +1,6 @@
+#pragma once
+
+#include "mcp2521_toplevel.hpp"
+#include "mcp2521_command.hpp"
+#include "mcp2521_hardware_esp.hpp"
+#include "mcp2521_addresses.hpp"

common-libaries/mcp2521/include/mcp2521_addresses.hpp

@@ -0,0 +1,192 @@
+#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

@@ -0,0 +1,102 @@
+#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_Command_Interface {
+private:
+    MCP2521_Hardware_Handle * 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_Command_Interface(
+        MCP2521_Hardware_Handle * 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

@@ -0,0 +1,38 @@
+#pragma once
+#include <stdint.h>
+
+#include "mcp2521.hpp"
+#include "mcp2521_command.hpp"
+#include "mcp2521_addresses.hpp"
+
+class MCP2521 : public MCP2521_Command_Interface {
+    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

@@ -0,0 +1,100 @@
+#include <cstring>
+
+#include "mcp2521.hpp"
+#include "mcp2521_addresses.hpp"
+
+void runIntHandler(void *arg) {
+    MCP2521_Command_Interface *command_interface = (MCP2521_Command_Interface *)arg;
+    command_interface->handleInterrupt();
+}
+
+MCP2521_Command_Interface::MCP2521_Command_Interface(
+    MCP2521_Hardware_Handle * 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_Command_Interface::reset() {
+    hardware_handle->execute(MCP2521_OP_RESET);
+}
+
+void MCP2521_Command_Interface::read_reg(uint8_t address, uint8_t *data, size_t length) {
+    hardware_handle->read(MCP2521_OP_READ, data, length, address);
+}
+
+uint8_t MCP2521_Command_Interface::read_reg(uint8_t address) {
+    return hardware_handle->read(MCP2521_OP_READ, address);
+}
+
+void MCP2521_Command_Interface::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_Command_Interface::write_reg(uint8_t address, uint8_t *data, size_t length) {
+    hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
+}
+
+void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t data) {
+    hardware_handle->write(MCP2521_OP_WRITE, data, address);
+}
+
+void MCP2521_Command_Interface::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_Command_Interface::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_Command_Interface::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_Command_Interface::read_status() {
+    return hardware_handle->read(MCP2521_OP_READ_STATUS);
+}
+
+uint8_t MCP2521_Command_Interface::read_rx_status() {
+    return hardware_handle->read(MCP2521_OP_RX_STATUS);
+}
+
+void MCP2521_Command_Interface::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

@@ -0,0 +1,113 @@
+#include "mcp2521.hpp"
+#include "mcp2521_addresses.hpp"
+
+void MCP2521_Command_Interface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
+    rx0_handler = handler;
+    rx0_handler_arg = args;
+}
+
+void MCP2521_Command_Interface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
+    rx1_handler = handler;
+    rx1_handler_arg = args;
+}
+
+void MCP2521_Command_Interface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
+    tx0_handler = handler;
+    tx0_handler_arg = args;
+}
+
+void MCP2521_Command_Interface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
+    tx1_handler = handler;
+    tx1_handler_arg = args;
+}
+
+void MCP2521_Command_Interface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
+    tx2_handler = handler;
+    tx2_handler_arg = args;
+}
+
+void MCP2521_Command_Interface::register_error_handler(intHandlerFunction_t handler, void* args) {
+    error_handler = handler;
+    error_handler_arg = args;
+}
+
+void MCP2521_Command_Interface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
+    wakeup_handler = handler;
+    wakeup_handler_arg = args;
+}
+
+void MCP2521_Command_Interface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
+    message_error_handler = handler;
+    message_error_handler_arg = args;
+}
+
+void MCP2521_Command_Interface::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

@@ -0,0 +1,119 @@
+#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

@@ -0,0 +1,5 @@
+idf_component_register(SRCS "esp_implementation_init.cpp"
+                            "esp_implementation_cmd.cpp"
+                            "esp_implementation_int.cpp"
+                       INCLUDE_DIRS "include"
+                       REQUIRES driver)

common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp

@@ -0,0 +1,209 @@
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+#include "mcp2521_hardware_esp.hpp"
+
+const uint8_t null_buffer[32] = {0};
+
+void MCP2521_Hardware_Handle_ESP::spi_transmit(spi_transaction_t *t) {
+    xSemaphoreTake(spiMutex, portMAX_DELAY);
+    spi_device_transmit(this->spi_device_handle, t);
+    xSemaphoreGive(spiMutex);
+}
+
+void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 0,
+            .rxlength = 0,
+            .tx_buffer = NULL,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd, uint8_t address) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = address,
+            .length = 0,
+            .rxlength = 0,
+            .tx_buffer = NULL,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = address,
+            .length = 8*length,
+            .rxlength = 8*length,
+            .tx_buffer = null_buffer,
+            .rx_buffer = data
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 8*length,
+            .rxlength = 8*length,
+            .tx_buffer = NULL,
+            .rx_buffer = data
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
+    uint8_t result = 0;
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = address,
+            .length = 8,
+            .rxlength = 8,
+            .tx_buffer = null_buffer,
+            .rx_buffer = &result
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+    return result;
+}
+
+uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
+    uint8_t result;
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 8,
+            .rxlength = 8,
+            .tx_buffer = null_buffer,
+            .rx_buffer = &result
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+    return result;
+}
+
+void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
+    uint8_t result;
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = address,
+            .length = 8*length,
+            .rxlength = 0,
+            .tx_buffer = data,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 8*length,
+            .rxlength = 0,
+            .tx_buffer = data,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data, uint8_t address) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = address,
+            .length = 8,
+            .rxlength = 0,
+            .tx_buffer = &data,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 8,
+            .rxlength = 0,
+            .tx_buffer = &data,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+#endif

common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp

@@ -0,0 +1,92 @@
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+#include "mcp2521_hardware_esp.hpp"
+#include "driver/gpio.h"
+#include <string.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
+    spi_host_device_t spi_host,
+    spi_bus_config_t *bus_config,
+    gpio_num_t mosi, 
+    gpio_num_t miso, 
+    gpio_num_t sclk, 
+    gpio_num_t cs, 
+    gpio_num_t int_pin
+) {
+    initPins(int_pin);
+    initSPIBus(spi_host, mosi, miso, sclk, bus_config);
+    this->spi_bus_config = bus_config;
+    initSPIDevice(spi_host, cs);
+}
+
+MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
+    spi_host_device_t spi_host,
+    spi_bus_config_t *bus_config,
+    gpio_num_t cs, 
+    gpio_num_t int_pin
+) {
+    initPins(int_pin);
+    this->spi_bus_config = bus_config;
+    initSPIDevice(spi_host, cs);
+}
+
+MCP2521_Hardware_Handle_ESP::~MCP2521_Hardware_Handle_ESP() {
+
+}
+
+void MCP2521_Hardware_Handle_ESP::initSPIBus(
+    spi_host_device_t spi_host,
+    gpio_num_t mosi, 
+    gpio_num_t miso, 
+    gpio_num_t sclk, 
+    spi_bus_config_t *bus_config
+) {
+    memset(bus_config, 0, sizeof(spi_bus_config_t));
+    bus_config->mosi_io_num = mosi;
+    bus_config->miso_io_num = miso;
+    bus_config->sclk_io_num = sclk;
+
+    bus_config->quadwp_io_num = -1;
+    bus_config->quadhd_io_num = -1;
+
+    bus_config->flags = SPICOMMON_BUSFLAG_MASTER;
+    spi_bus_initialize(spi_host, bus_config, SPI_DMA_CH_AUTO);
+}
+
+void MCP2521_Hardware_Handle_ESP::initSPIDevice(
+    spi_host_device_t spi_host,
+    gpio_num_t cs
+) {
+    memset(&this->spi_device_config, 0, sizeof(spi_device_interface_config_t));
+    this->spi_device_config = {
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+
+        .mode = 0,
+        .duty_cycle_pos = 128,
+        // cs_ena_pretrans = 0 and cs_ena_posttrans = 0 need to be set to zero, if not its not compatible with full-duplex mode
+        // Learned this the hard way
+        .cs_ena_pretrans = 0,
+        .cs_ena_posttrans = 0,
+        .clock_speed_hz = 10000,
+
+        .spics_io_num = cs,
+        .flags = SPI_DEVICE_NO_DUMMY,
+        .queue_size = 5,
+    };
+
+    spi_bus_add_device(spi_host, &this->spi_device_config, &this->spi_device_handle);
+
+    spiMutex = xSemaphoreCreateMutex();
+}
+
+spi_bus_config_t * MCP2521_Hardware_Handle_ESP::getSPI_bus_config() {
+    return this->spi_bus_config;
+}
+
+#endif

common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp

@@ -0,0 +1,65 @@
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "mcp2521_hardware_esp.hpp"
+
+static void IRAM_ATTR gpio_isr_can_handler(void* arg) {
+    MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
+    handle->isr_can_interrupt();
+}
+
+static void handleInteruptTaskCallerFn(void *arg) {
+    MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
+    handle->handleIntteruptTaskFn();
+}
+
+void MCP2521_Hardware_Handle_ESP::initPins(
+    gpio_num_t int_pin
+) {
+    canInterruptSemaphore = xSemaphoreCreateBinary();
+
+    gpio_config_t io_conf;
+    io_conf.intr_type = GPIO_INTR_NEGEDGE;
+    io_conf.mode = GPIO_MODE_INPUT;
+    io_conf.pin_bit_mask = 1 << int_pin;
+    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
+    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
+    gpio_config(&io_conf);
+
+    gpio_install_isr_service(0);
+    gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
+
+    xTaskCreate(
+        (TaskFunction_t)&handleInteruptTaskCallerFn,
+        "canInterruptTask",
+        2048,
+        this,
+        5,
+        &canInterruptTaskHandle
+    );
+}
+
+void MCP2521_Hardware_Handle_ESP::handleIntteruptTaskFn() {
+    while(true) {
+        xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
+        intHandler(intHandlerArg);
+    }
+}
+
+void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
+    BaseType_t wokenTask = pdFALSE;
+    xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);
+
+    if(wokenTask) {
+        portYIELD_FROM_ISR();
+    }
+}
+
+void MCP2521_Hardware_Handle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
+    intHandlerArg = arg;
+    intHandler = handler;
+}
+
+#endif

common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp

@@ -0,0 +1,87 @@
+#pragma once
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+class MCP2521_Hardware_Handle_ESP : public MCP2521_Hardware_Handle {
+    char spi_tmp_buffer;
+    
+    spi_bus_config_t * spi_bus_config;
+    spi_device_interface_config_t spi_device_config;
+    spi_device_handle_t spi_device_handle;
+
+    SemaphoreHandle_t canInterruptSemaphore = NULL;
+    SemaphoreHandle_t spiMutex = NULL;
+    TaskHandle_t canInterruptTaskHandle = NULL;
+
+    void spi_transmit(spi_transaction_t *t);
+
+    void * intHandlerArg = NULL;
+    intHandlerFunction_t intHandler = NULL;
+
+public:
+    MCP2521_Hardware_Handle_ESP(
+        spi_host_device_t spi_host,
+        spi_bus_config_t *bus_config,
+        gpio_num_t mosi, 
+        gpio_num_t miso, 
+        gpio_num_t sclk, 
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+    );
+
+    MCP2521_Hardware_Handle_ESP(
+        spi_host_device_t spi_host,
+        spi_bus_config_t *bus_config,
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+    );
+
+    static void initSPIBus(
+        spi_host_device_t spi_host,
+        gpio_num_t mosi, 
+        gpio_num_t miso, 
+        gpio_num_t sclk, 
+        spi_bus_config_t *bus_config
+    );
+
+    void initSPIDevice(
+        spi_host_device_t spi_host,
+        gpio_num_t cs
+    );
+
+    void initPins(
+        gpio_num_t int_pin
+    );
+
+    ~MCP2521_Hardware_Handle_ESP();
+
+    spi_bus_config_t * getSPI_bus_config();
+
+    // ISR Stuff
+    void isr_can_interrupt();
+    void handleIntteruptTaskFn();
+
+    // Inherited from MCP2521_Hardware_Handle
+    void execute(uint8_t cmd);
+    void execute(uint8_t cmd, uint8_t address);
+
+    void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
+    void read(uint8_t cmd, uint8_t *data, size_t length);
+    uint8_t read(uint8_t cmd, uint8_t address);
+    uint8_t read(uint8_t cmd);
+    
+    void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
+    void write(uint8_t cmd, uint8_t *data, size_t length);
+    void write(uint8_t cmd, uint8_t data, uint8_t address);
+    void write(uint8_t cmd, uint8_t data);
+
+    void registerIntHandler(intHandlerFunction_t handler, void * arg);
+};
+
+#endif

common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp

@@ -0,0 +1,24 @@
+#pragma once
+#include <cstdint>
+#include <strings.h>
+
+typedef void (*intHandlerFunction_t)(void *); 
+
+class MCP2521_Hardware_Handle {
+public:
+    virtual void registerIntHandler(intHandlerFunction_t handler, void * arg) = 0;
+
+    virtual void execute(uint8_t cmd) = 0;
+    virtual void execute(uint8_t cmd, uint8_t address) = 0;
+
+    virtual void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
+    virtual void read(uint8_t cmd, uint8_t *data, size_t length) = 0;
+    virtual uint8_t read(uint8_t cmd, uint8_t address) = 0;
+    virtual uint8_t read(uint8_t cmd) = 0;
+    
+    virtual void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
+    virtual void write(uint8_t cmd, uint8_t *data, size_t length) = 0;
+    virtual void write(uint8_t cmd, uint8_t data, uint8_t address) = 0;
+    virtual void write(uint8_t cmd, uint8_t data) = 0;
+};
+

motor-control/firmware/.vscode/launch.json

@@ -13,7 +13,7 @@
             "type": "cortex-debug",
             "servertype": "external",
             "gdbPath" : "gdb-multiarch",
-            "gdbTarget": "localhost:3333",
+            "gdbTarget": "gobot-rpi:3333",
             "device": "RP2040",
             "configFiles": [
                 "interface/cmsis-dap.cfg",

motor-control/firmware/.vscode/tasks.json

@@ -102,6 +102,64 @@
                 "cwd": "${workspaceRoot}"
             },
             "problemMatcher": []
+        },
+
+        {
+            "type": "shell",
+            "label": "Pico Remote: Launch OpenOCD",
+            "command": [
+                "scripts/remote/run_openocd.exp",
+                "gobot-rpi",
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "dedicated",
+                "showReuseMessage": true,
+                "clear": true
+            },
+            "isBackground": true
+        },
+        {
+            "type": "shell",
+            "label": "Pico Remote: flash main",
+            "command": [
+                "scripts/remote/flash.sh",
+                "${workspaceRoot}/build/bin/main.elf",
+                "gobot-rpi",
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "group": "test",
+            "dependsOn": [
+                "CMake: build main"
+            ],
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "dedicated",
+                "showReuseMessage": true,
+                "clear": true
             }
+        },
+        {
+            "type": "shell",
+            "label": "Pico Remote: Reset Device",
+            "command": [
+                "scripts/remote/reset.exp",
+                "gobot-rpi"
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "isBackground": true,
+            "problemMatcher": []
+        },
     ]
 }

motor-control/firmware/CMakeLists.txt

@@ -9,9 +9,10 @@ else()
 endif()
 
 #SET(PICO_TOOLCHAIN_PATH "${PICO_SDK_PATH}/cmake/preload/toolchains/")
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
 
 include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
+include(cmake/freeRTOS.cmake)
 
 #include(pico_extras_import_optional.cmake)
 
@@ -45,6 +46,7 @@ add_executable(main
 
 target_include_directories(main PUBLIC 
     include/
+    include/freeRTOS
     build/
 )
 
@@ -56,12 +58,17 @@ pico_generate_pio_header(main ${CMAKE_CURRENT_LIST_DIR}/src/tmc2209/pulser.pio)
 # pull in common dependencies
 target_link_libraries(main 
     pico_stdlib
+    pico_time
     pico_multicore
+    pico_stdio_usb
     hardware_pio
 
     tmc2209_driver
+    FreeRTOS
 )
 
+pico_enable_stdio_usb(main 1)
+pico_enable_stdio_uart(main 0)
 
 # create map/bin/hex file etc.
 pico_add_extra_outputs(main)

motor-control/firmware/cmake/freeRTOS.cmake

@@ -0,0 +1,14 @@
+SET(FreeRTOS_DIR ${CMAKE_CURRENT_LIST_DIR}/../lib/FreeRTOS-Kernel)
+FILE(GLOB FreeRTOS_src ${FreeRTOS_DIR}/*.c)
+
+add_library(FreeRTOS STATIC
+    ${FreeRTOS_src}
+    ${FreeRTOS_DIR}/portable/GCC/ARM_CM0/port.c
+    ${FreeRTOS_DIR}/portable/MemMang/heap_4.c
+)
+
+target_include_directories(FreeRTOS PUBLIC 
+    ${FreeRTOS_DIR}/portable/GCC/ARM_CM0/
+    ${FreeRTOS_DIR}/include/
+    ${CMAKE_CURRENT_LIST_DIR}/../include/freeRTOS
+)

motor-control/firmware/include/freeRTOS/FreeRTOSConfig.h

@@ -0,0 +1,101 @@
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#define configENABLE_MPU 1
+
+#define configUSE_PREEMPTION                    1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configUSE_TICKLESS_IDLE                 0
+#define configCPU_CLOCK_HZ                      133000000
+#define configSYSTICK_CLOCK_HZ                  1000000  
+#define configTICK_RATE_HZ                      1000      
+#define configMAX_PRIORITIES                    4
+#define configMINIMAL_STACK_SIZE                256     
+#define configMAX_TASK_NAME_LEN                 16
+#define configUSE_16_BIT_TICKS                  0
+#define configIDLE_SHOULD_YIELD                 1
+#define configUSE_TASK_NOTIFICATIONS            1
+#define configTASK_NOTIFICATION_ARRAY_ENTRIES   3
+#define configUSE_MUTEXES                       0
+#define configUSE_RECURSIVE_MUTEXES             0
+#define configUSE_COUNTING_SEMAPHORES           1
+#define configUSE_ALTERNATIVE_API               0 /* Deprecated! */
+#define configQUEUE_REGISTRY_SIZE               10
+#define configUSE_QUEUE_SETS                    0
+#define configUSE_TIME_SLICING                  1
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     0
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+#define configSTACK_DEPTH_TYPE                  uint16_t
+#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t
+
+/* Memory allocation related definitions. */
+#define configSUPPORT_STATIC_ALLOCATION         0
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
+#define configTOTAL_HEAP_SIZE                   50000
+#define configAPPLICATION_ALLOCATED_HEAP        0
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     0
+#define configCHECK_FOR_STACK_OVERFLOW          0
+#define configUSE_MALLOC_FAILED_HOOK            0
+#define configUSE_DAEMON_TASK_STARTUP_HOOK      0
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS           0
+#define configUSE_TRACE_FACILITY                0
+#define configUSE_STATS_FORMATTING_FUNCTIONS    0
+
+/* Co-routine related definitions. */
+#define configUSE_CO_ROUTINES                   0
+#define configMAX_CO_ROUTINE_PRIORITIES         1
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                        1
+#define configTIMER_TASK_PRIORITY               3
+#define configTIMER_QUEUE_LENGTH                10
+#define configTIMER_TASK_STACK_DEPTH            configMINIMAL_STACK_SIZE
+
+/* Interrupt nesting behaviour configuration. */
+#define configKERNEL_INTERRUPT_PRIORITY         [dependent of processor]
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    [dependent on processor and application]
+#define configMAX_API_CALL_INTERRUPT_PRIORITY   [dependent on processor and application]
+
+/* Define to trap errors during development. */
+//#define configASSERT( ( x ) ) assert()
+
+/* FreeRTOS MPU specific definitions. */
+#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
+#define configTOTAL_MPU_REGIONS                                8 /* Default value. */
+#define configTEX_S_C_B_FLASH                                  0x07UL /* Default value. */
+#define configTEX_S_C_B_SRAM                                   0x07UL /* Default value. */
+#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY            1
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#define INCLUDE_vTaskPrioritySet                1
+#define INCLUDE_uxTaskPriorityGet               1
+#define INCLUDE_vTaskDelete                     1
+#define INCLUDE_vTaskSuspend                    1
+#define INCLUDE_xResumeFromISR                  1
+#define INCLUDE_vTaskDelayUntil                 1
+#define INCLUDE_vTaskDelay                      1
+#define INCLUDE_xTaskGetSchedulerState          1
+#define INCLUDE_xTaskGetCurrentTaskHandle       1
+#define INCLUDE_uxTaskGetStackHighWaterMark     0
+#define INCLUDE_xTaskGetIdleTaskHandle          0
+#define INCLUDE_eTaskGetState                   0
+#define INCLUDE_xEventGroupSetBitFromISR        1
+#define INCLUDE_xTimerPendFunctionCall          0
+#define INCLUDE_xTaskAbortDelay                 0
+#define INCLUDE_xTaskGetHandle                  0
+#define INCLUDE_xTaskResumeFromISR              1
+
+#define vPortSVCHandler isr_svcall
+#define xPortPendSVHandler isr_pendsv
+#define xPortSysTickHandler isr_systick
+
+
+/* A header file that defines trace macro can be included here. */
+
+#endif /* FREERTOS_CONFIG_H */

motor-control/firmware/scripts/remote/flash.exp

@@ -17,6 +17,4 @@ send "rp2040.core1 arp_reset assert 0\n"
 expect "> "
 send "rp2040.core0 arp_reset assert 0\n"
 expect "> "
-
-send "exit\n"
 exit

motor-control/firmware/scripts/remote/run_openocd.exp

@@ -4,17 +4,18 @@ set timeout 30
 
 spawn ssh [lindex $argv 0]
 
-expect "# "
+expect "$ "
-send "cd ~/gobot/"
+send "cd ~/gobot/\n"
-expect "# "
+expect "$ "
 
-send "git fetch"
+send "git fetch\n"
-expect "# "
+expect "$ "
 
-send "git checkout motor-ctrl-firmware"
+send "git checkout motor-ctrl-firmware\n"
-expect "# "
+expect "$ "
 
-send "cd motor-control/firmware/scripts/remote"
+send "cd motor-control/firmware/scripts/remote\n"
-expect "# "
+expect "$ "
 
-send "./run_openocd.sh"
+send "./run_openocd.sh\n"
+expect "Kill Me Please, this is should not be triggered!"

motor-control/firmware/scripts/remote/run_openocd.sh

@@ -1,3 +1,3 @@
 #!/usr/bin/bash
 
-src/openocd -f interface/cmsis-dap.cfg -c "bindto 0.0.0.0" -c "adapter speed 5000" -f target/rp2040.cfg -s tcl
+openocd -f interface/cmsis-dap.cfg -c "bindto 0.0.0.0" -c "adapter speed 100" -f target/rp2040.cfg -s tclErt645$

motor-control/firmware/src/main.cpp

@@ -9,27 +9,149 @@
  * 
  */
 
-#include "tmc2209/tmc2209.hpp"
 #include "pico/stdio.h"
+#include "pico/stdlib.h"
+#include "pico/time.h"
 #include "hardware/uart.h"
+#include <stdio.h>
 
 #include "pulser.pio.h"
+#include "tmc2209/tmc2209.hpp"
 #include "tmc2209/step.hpp"
 
+#include "FreeRTOSConfig.h"
+#include "FreeRTOS.h"
+#include "task.h"
+
 #define LED_PIN 25
 
+#define RGB1_B_PIN 21
+#define RGB1_G_PIN 22
+
+#define RGB2_R_PIN 26
+#define RGB2_G_PIN 27
+#define RGB2_B_PIN 28
+
+#define BOARD_LED1_PIN 14
+#define BOARD_LED2_PIN 15
+
 #define ENABLE0_PIN 2
 #define ENABLE1_PIN 3
 
 #define LIMIT0_PIN 10
 #define LIMIT1_PIN 11
+#define LIMIT2_PIN 12
+#define LIMIT3_PIN 13
 
 #define STEP0_PIN 6
 #define STEP1_PIN 7
 #define DIR0_PIN 8
 #define DIR1_PIN 9
 
+enum SYSTEM_STATE {
+    STARTUP,
+    HOMEING_FIRST_RUN,
+    HOMEING_BACKOFF,
+    HOMEING_SECOND_RUN,
+    IDLE
+};
+
+SYSTEM_STATE system_state = STARTUP;
+
+
+absolute_time_t debounce_cooldown_ticks= 5000;
+absolute_time_t limit_debounce_tick = 0;
+
+
+void isr_LimitSwitch(uint gpio, uint32_t event_mask) {
+    absolute_time_t current_tick = get_absolute_time();
+    if((current_tick - limit_debounce_tick) < debounce_cooldown_ticks) {
+        return;
+    } else {
+        limit_debounce_tick = current_tick;
+    }
+    
+    switch (gpio) {
+    case LIMIT0_PIN:
+        break;
+
+    default:
+        break;
+    }
+
+}
+
+void homeMotors0(TMC2209_step_dual * driver) {
+
+    driver->set_conf0(10000, 1);
+    driver->pulse0(10000);
+    driver->wait0(0);
+
+    driver->set_conf0(10000, 0);
+    driver->pulse0(100000);
+    while(!gpio_get(LIMIT2_PIN)) {
+        sleep_ms(1);
+    }
+    driver->pulse0(0);
+    sleep_ms(500);
+
+    // Second Run
+    driver->set_conf0(5000, 1);
+    driver->pulse0(200);
+    driver->wait0(0);
+
+    driver->set_conf0(500, 0);
+    driver->pulse0(5000);
+    while(!gpio_get(LIMIT2_PIN)) {
+        sleep_ms(1);
+    }
+    driver->pulse0(0);
+    sleep_ms(1);
+}
+
+void homeMotors1(TMC2209_step_dual * driver) {
+
+    driver->set_conf1(10000, 1);
+    driver->pulse1(5000);
+    driver->wait1(0);
+
+    driver->set_conf1(10000, 0);
+    driver->pulse1(100000);
+    while(!gpio_get(LIMIT3_PIN)) {
+        sleep_ms(1);
+    }
+    driver->pulse1(0);
+    sleep_ms(500);
+
+    // Second Run
+    driver->set_conf1(5000, 1);
+    driver->pulse1(200);
+    driver->wait1(0);
+
+    driver->set_conf1(500, 0);
+    driver->pulse1(5000);
+    while(!gpio_get(LIMIT3_PIN)) {
+        sleep_ms(1);
+    }
+    driver->pulse1(0);
+    sleep_ms(1);
+}
+
+void task_home0(void *pvParameters) {
+    TMC2209_step_dual * driver = (TMC2209_step_dual *)pvParameters;
+    vTaskDelay(500);
+    homeMotors0(driver);
+}
+
+void task_home1(void *pvParameters) {
+    TMC2209_step_dual * driver = (TMC2209_step_dual *)pvParameters;
+    homeMotors1(driver);
+}
+
 int main() {
+    sleep_ms(100);
+    stdio_usb_init();
+
     gpio_init(DIR0_PIN);
     gpio_set_dir(DIR0_PIN, GPIO_OUT);   
     gpio_put(DIR0_PIN, 0);
@@ -61,52 +183,125 @@ int main() {
 
     sleep_ms(5);
 
-    
+    //step_driver.set_conf1(10000, 0);
-    step_driver.set_conf1(10000, 0);
+    //step_driver.set_conf0(10000, 0);
-
+    //step_driver.pulse1(1000);
+    //step_driver.pulse0(1000);
+    //step_driver.wait1(0);
+    //step_driver.wait0(0);
 
     gpio_init(LIMIT0_PIN);
     gpio_set_dir(LIMIT0_PIN, GPIO_IN);
     gpio_pull_up(LIMIT0_PIN);
+    gpio_set_input_hysteresis_enabled(LIMIT0_PIN, true);
 
     gpio_init(LIMIT1_PIN);
     gpio_set_dir(LIMIT1_PIN, GPIO_IN);
     gpio_pull_up(LIMIT1_PIN);
+    gpio_set_input_hysteresis_enabled(LIMIT1_PIN, true);
 
-    step_driver.set_conf0(10000, 1);
+    gpio_init(LIMIT2_PIN);
-    step_driver.pulse0(10000);
+    gpio_set_dir(LIMIT2_PIN, GPIO_IN);
-    step_driver.wait0(0);
+    gpio_pull_up(LIMIT2_PIN);
+    gpio_set_input_hysteresis_enabled(LIMIT2_PIN, true);
 
-    step_driver.set_conf0(10000, 0);
+    gpio_init(LIMIT3_PIN);
-    step_driver.pulse0(100000);
+    gpio_set_dir(LIMIT3_PIN, GPIO_IN);
-    while(!gpio_get(LIMIT1_PIN)) {
+    gpio_pull_up(LIMIT3_PIN);
-        sleep_ms(1);
+    gpio_set_input_hysteresis_enabled(LIMIT3_PIN, true);
-    }
-    step_driver.pulse0(0);
-    sleep_ms(500);
 
-    step_driver.set_conf0(10000, 1);
+/*
-    step_driver.pulse0(200);
+    gpio_set_irq_enabled_with_callback(
-    step_driver.wait0(0);
+        LIMIT0_PIN, 
+        GPIO_IRQ_EDGE_RISE, 
+        true, 
+        isr_LimitSwitch
+    );
+    gpio_set_irq_enabled_with_callback(
+        LIMIT1_PIN, 
+        GPIO_IRQ_EDGE_RISE, 
+        true, 
+        isr_LimitSwitch
+    );
+    gpio_set_irq_enabled_with_callback(
+        LIMIT2_PIN, 
+        GPIO_IRQ_EDGE_RISE, 
+        true, 
+        isr_LimitSwitch
+    );
+    gpio_set_irq_enabled_with_callback(
+        LIMIT3_PIN, 
+        GPIO_IRQ_EDGE_RISE, 
+        true, 
+        isr_LimitSwitch
+    );*/
 
-    step_driver.set_conf0(500, 0);
+    gpio_init(RGB2_B_PIN);
-    step_driver.pulse0(5000);
+    gpio_init(RGB2_G_PIN);
-    while(!gpio_get(LIMIT1_PIN)) {
+    gpio_init(RGB2_R_PIN);
-        sleep_ms(1);
+    gpio_set_dir(RGB2_B_PIN, GPIO_OUT);
-    }
+    gpio_set_dir(RGB2_G_PIN, GPIO_OUT);
-    step_driver.pulse0(0);
+    gpio_set_dir(RGB2_R_PIN, GPIO_OUT);
-    sleep_ms(1);
 
+    gpio_init(RGB1_B_PIN);
+    gpio_init(RGB1_G_PIN);
+    gpio_set_dir(RGB1_B_PIN, GPIO_OUT);
+    gpio_set_dir(RGB1_G_PIN, GPIO_OUT);
+
+    gpio_put(RGB1_B_PIN, 1);
+    gpio_put(RGB1_G_PIN, 1);
+    gpio_put(RGB2_B_PIN, 1);
+    gpio_put(RGB2_G_PIN, 1);
+    gpio_put(RGB2_R_PIN, 1);
+
+    /*
     gpio_init(LED_PIN);
     gpio_set_dir(LED_PIN, GPIO_OUT);
 
+    //step_driver.set_conf0(10000, 0);
+    //step_driver.pulse0(1000000);
+    */
+    homeMotors0(&step_driver);
+    printf("Home0 done\n");
+    homeMotors1(&step_driver);
+    printf("Home1 done\n");
+
+    //xTaskCreate(task_home0, "Home0", 1024, &step_driver, 5, NULL);
+    //xTaskCreate(task_home1, "Home1", 1024, &step_driver, 5, NULL);
+    vTaskStartScheduler();
+
+    /*
     while (true) {
         sleep_ms(50);
         gpio_put(LED_PIN, 0);
         sleep_ms(50);
         gpio_put(LED_PIN, 1);
+
+        if(gpio_get(LIMIT1_PIN)) {
+            gpio_put(RGB1_B_PIN, 0);
+        } else {
+            gpio_put(RGB1_B_PIN, 1);
         }
 
+        if(gpio_get(LIMIT3_PIN)) {
+            gpio_put(RGB1_G_PIN, 0);
+        } else {
+            gpio_put(RGB1_G_PIN, 1);
+        }
+
+        if(gpio_get(LIMIT0_PIN)) {
+            gpio_put(RGB2_B_PIN, 0);
+        } else {
+            gpio_put(RGB2_B_PIN, 1);
+        }
+
+        if(gpio_get(LIMIT2_PIN)) {
+            gpio_put(RGB2_G_PIN, 0);
+        } else {
+            gpio_put(RGB2_G_PIN, 1);
+        }
+    }
+    */
 
     return 0;
 }

motor-control/firmware/src/mcp2521

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

motor-control/firmware/src/mcp2521_hardware_interface

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

motor-control/motor-driver-breakout-v2/.gitattributes

@@ -0,0 +1 @@
+*.kicad_sch filter=lfs diff=lfs merge=lfs -text

motor-control/motor-driver-breakout-v2/fp-lib-table

@@ -0,0 +1,5 @@
+(fp_lib_table
+  (version 7)
+  (lib (name "MCU_RaspberryPi_and_Boards")(type "KiCad")(uri "${KIPRJMOD}/external/KiCad-RP-Pico/RP-Pico Libraries/MCU_RaspberryPi_and_Boards.pretty")(options "")(descr ""))
+  (lib (name "tmc2209")(type "KiCad")(uri "/home/alexander/Projects/gobot/motor-control/motor-driver-breakout/external_kicad_liberies/tmc2209")(options "")(descr ""))
+)

motor-control/motor-driver-breakout-v2/jlcpcb/gerber/motor-driver-breakout-v2-EdgeCuts.gbr

@@ -0,0 +1,23 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,8.0.5-8.0.5-0~ubuntu24.04.1*%
+%TF.CreationDate,2024-10-03T18:51:15+02:00*%
+%TF.ProjectId,motor-driver-breakout-v2,6d6f746f-722d-4647-9269-7665722d6272,rev?*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Profile,NP*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 8.0.5-8.0.5-0~ubuntu24.04.1) date 2024-10-03 18:51:15*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+%TA.AperFunction,Profile*%
+%ADD10C,0.200000*%
+%TD*%
+G04 APERTURE END LIST*
+D10*
+X33782000Y-25908000D02*
+X94996000Y-25908000D01*
+X94996000Y-102616000D01*
+X33782000Y-102616000D01*
+X33782000Y-25908000D01*
+M02*

motor-control/motor-driver-breakout-v2/jlcpcb/gerber/motor-driver-breakout-v2-MaskBottom.gbr

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motor-control/motor-driver-breakout-v2/jlcpcb/gerber/motor-driver-breakout-v2-MaskTop.gbr

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