130 lines
3.6 KiB
C++
Executable File
130 lines
3.6 KiB
C++
Executable File
/*
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* SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: CC0-1.0
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*/
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#include <stdio.h>
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#include <string.h>
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#include <inttypes.h>
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#include "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "freertos/queue.h"
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#include "esp_chip_info.h"
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#include "esp_flash.h"
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#include "esp_system.h"
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#include "driver/gpio.h"
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#include "driver/spi_master.h"
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#include "mcp2521.hpp"
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#define SPI_PIN_SCLK GPIO_NUM_18
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#define SPI_PIN_MISO GPIO_NUM_19
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#define SPI_PIN_MOSI GPIO_NUM_23
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#define SPI_PIN_CS0 GPIO_NUM_25
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#define SPI_PIN_CS1 GPIO_NUM_27
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#define CAN_INT0_PIN GPIO_NUM_5
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#define CAN_INT1_PIN GPIO_NUM_26
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void onRX0(void *arg) {
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MCP2521 *mcp2521_0 = (MCP2521 *)arg;
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rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
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uint8_t data[8];
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mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
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printf("RX0: (%x) ", info.id);
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for (int i = 0; i < info.length; i++) {
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printf("%x ", data[i]);
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}
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printf("\n");
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}
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void onRX1(void *arg) {
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MCP2521 *mcp2521_0 = (MCP2521 *)arg;
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rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
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uint8_t data[8];
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mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
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printf("RX1: (%x) ", info.id);
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for (int i = 0; i < info.length; i++) {
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printf("%x ", data[i]);
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}
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printf("\n");
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}
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extern "C" void app_main() {
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printf("Hello world!\n");
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const gpio_num_t LED_PIN = GPIO_NUM_2;
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gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);
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vTaskDelay(100 / portTICK_PERIOD_MS);
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MCP2521_HardwareHandleFactory_ESPBus mcp2521_hardware_factory(
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VSPI_HOST,
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SPI_PIN_MOSI,
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SPI_PIN_MISO,
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SPI_PIN_SCLK
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);
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MCP2521_HardwareHandle_ESPBus hardware_mcp2521_0 = mcp2521_hardware_factory.create(CAN_INT0_PIN, SPI_PIN_CS0);
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MCP2521_HardwareHandle_ESPBus hardware_mcp2521_1 = mcp2521_hardware_factory.create(CAN_INT1_PIN, SPI_PIN_CS1);
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vTaskDelay(100 / portTICK_PERIOD_MS);
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MCP2521 mcp2521_0(&hardware_mcp2521_0);
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MCP2521 mcp2521_1(&hardware_mcp2521_1);
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uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
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mcp2521_0.reset();
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mcp2521_1.reset();
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mcp2521_0.enable_interrupts(true, true, true, true, true, true, true, true);
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mcp2521_1.enable_interrupts(true, true, true, true, true, true, true, true);
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mcp2521_0.register_rx0_handler(onRX0, &mcp2521_0);
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mcp2521_1.register_rx0_handler(onRX1, &mcp2521_1);
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mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
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mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
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mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
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mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
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printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
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printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
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vTaskDelay(20 / portTICK_PERIOD_MS);
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mcp2521_0.prepare_tx(
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MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
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vTaskDelay(20 / portTICK_PERIOD_MS);
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mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
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//vTaskDelay(10 / portTICK_PERIOD_MS);
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//mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
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//mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
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//mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
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vTaskDelay(20 / portTICK_PERIOD_MS);
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bool flag = true;
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while (true) {
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gpio_set_level(LED_PIN, flag);
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flag = !flag;
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vTaskDelay(500 / portTICK_PERIOD_MS);
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}
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}
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