Create "working" example

.gitattributes

@@ -32,3 +32,5 @@ board-vision/cnn_model/data/* filter=lfs diff=lfs merge=lfs -text
 *.gto filter=lfs diff=lfs merge=lfs -text
 *.drl filter=lfs diff=lfs merge=lfs -text
 /motor-control/motor-driver-breakout/sym-lib-table filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.3mf filter=lfs diff=lfs merge=lfs -text

board-vision/.gitattributes

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

board-vision/.vscode/settings.json

@@ -0,0 +1,15 @@
+{
+    "python.testing.pytestArgs": [
+        "--cov-report", "xml:cov.xml",
+        "--cov-report", "term",
+        "--cov=src",
+        "test",
+    ],
+    "python.testing.unittestEnabled": false,
+    "python.testing.pytestEnabled": true,
+    "coverage-gutters.coverageFileNames": [
+        "cov.xml",
+    ],
+    "coverage-gutters.coverageBaseDir": "**",
+    "testing.coverageToolbarEnabled": true
+}

board-vision/requirements.txt

@@ -0,0 +1,157 @@
+aioice==0.9.0
+aiortc==1.9.0
+anyio==4.4.0
+argon2-cffi==23.1.0
+argon2-cffi-bindings==21.2.0
+arrow==1.3.0
+asgiref==3.8.1
+asttokens==2.4.1
+async-lru==2.0.4
+attrs==23.2.0
+av==12.3.0
+Babel==2.15.0
+beautifulsoup4==4.12.3
+bleach==6.1.0
+blinker==1.8.2
+certifi==2024.7.4
+cffi==1.16.0
+charset-normalizer==3.3.2
+click==8.1.7
+comm==0.2.2
+contourpy==1.2.1
+coverage==7.6.1
+cramjam==2.8.3
+cryptography==43.0.3
+cycler==0.12.1
+debugpy==1.8.2
+decorator==5.1.1
+defusedxml==0.7.1
+dnspython==2.7.0
+executing==2.0.1
+fastjsonschema==2.20.0
+fastparquet==2024.5.0
+filelock==3.15.4
+Flask==3.0.3
+fonttools==4.53.1
+fqdn==1.5.1
+fsspec==2024.6.1
+google-crc32c==1.6.0
+h11==0.14.0
+httpcore==1.0.5
+httpx==0.27.0
+idna==3.7
+ifaddr==0.2.0
+imageio==2.34.2
+iniconfig==2.0.0
+ipykernel==6.29.5
+ipython==8.26.0
+isoduration==20.11.0
+itsdangerous==2.2.0
+janus==1.0.0
+jedi==0.19.1
+Jinja2==3.1.4
+joblib==1.4.2
+json5==0.9.25
+jsonpointer==3.0.0
+jsonschema==4.23.0
+jsonschema-specifications==2023.12.1
+jupyter-events==0.10.0
+jupyter-lsp==2.2.5
+jupyter_client==8.6.2
+jupyter_core==5.7.2
+jupyter_server==2.14.2
+jupyter_server_terminals==0.5.3
+jupyterlab==4.2.4
+jupyterlab_pygments==0.3.0
+jupyterlab_server==2.27.3
+kiwisolver==1.4.5
+lazy_loader==0.4
+MarkupSafe==2.1.5
+matplotlib==3.9.1
+matplotlib-inline==0.1.7
+mistune==3.0.2
+mpmath==1.3.0
+nbclient==0.10.0
+nbconvert==7.16.4
+nbformat==5.10.4
+nest-asyncio==1.6.0
+networkx==3.3
+notebook_shim==0.2.4
+numpy==2.0.1
+nvidia-cublas-cu12==12.1.3.1
+nvidia-cuda-cupti-cu12==12.1.105
+nvidia-cuda-nvrtc-cu12==12.1.105
+nvidia-cuda-runtime-cu12==12.1.105
+nvidia-cudnn-cu12==9.1.0.70
+nvidia-cufft-cu12==11.0.2.54
+nvidia-curand-cu12==10.3.2.106
+nvidia-cusolver-cu12==11.4.5.107
+nvidia-cusparse-cu12==12.1.0.106
+nvidia-nccl-cu12==2.20.5
+nvidia-nvjitlink-cu12==12.6.20
+nvidia-nvtx-cu12==12.1.105
+opencv-python==4.10.0.84
+overrides==7.7.0
+packaging==24.1
+pandas==2.2.2
+pandocfilters==1.5.1
+parso==0.8.4
+pexpect==4.9.0
+pillow==10.4.0
+platformdirs==4.2.2
+pluggy==1.5.0
+prometheus_client==0.20.0
+prompt_toolkit==3.0.47
+psutil==6.0.0
+ptyprocess==0.7.0
+pure_eval==0.2.3
+pycparser==2.22
+pyee==12.0.0
+Pygments==2.18.0
+pylibsrtp==0.10.0
+pyOpenSSL==24.2.1
+pyparsing==3.1.2
+pytest==8.3.3
+pytest-asyncio==0.24.0
+pytest-cov==5.0.0
+pytest-timeout==2.3.1
+python-dateutil==2.9.0.post0
+python-json-logger==2.0.7
+pytz==2024.1
+PyYAML==6.0.1
+pyzmq==26.0.3
+referencing==0.35.1
+requests==2.32.3
+rfc3339-validator==0.1.4
+rfc3986-validator==0.1.1
+rpds-py==0.19.1
+scikit-image==0.24.0
+scikit-learn==1.5.1
+scipy==1.14.0
+Send2Trash==1.8.3
+setuptools==72.1.0
+six==1.16.0
+sniffio==1.3.1
+soupsieve==2.5
+stack-data==0.6.3
+sympy==1.13.1
+terminado==0.18.1
+threadpoolctl==3.5.0
+tifffile==2024.7.24
+tinycss2==1.3.0
+torch==2.4.0
+torchaudio==2.4.0
+torchvision==0.19.0
+tornado==6.4.1
+traitlets==5.14.3
+triton==3.0.0
+types-python-dateutil==2.9.0.20240316
+typing_extensions==4.12.2
+tzdata==2024.1
+uri-template==1.3.0
+urllib3==2.2.2
+wcwidth==0.2.13
+webcolors==24.6.0
+webencodings==0.5.1
+websocket-client==1.8.0
+Werkzeug==3.0.4

can-interface/.devcontainer/Dockerfile

@@ -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);
-    }
-}