e091d4df18
commitc6fd825e39Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 23:14:14 2024 +0100 Moved CAN Interface code to comment libary folder with symlink commite7a0035041Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 22:01:28 2024 +0100 Got MCP2521 to work commit4bfb1f533eAuthor: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:29:35 2024 +0200 Did something to YGantryMount. It works. trust me commit5683168a47Author: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:28:36 2024 +0200 Implemented Command-Level Interaction with CAN Interface commit9c0c676be8Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:20:37 2024 +0200 Added Vscode Profile file commitb150a905a3Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:19:00 2024 +0200 Implemented Low Level Compunications commit7eebf619aeAuthor: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:46:15 2024 +0200 Created Head Pipe Mount commit93c40e1805Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:44:11 2024 +0200 First Revision of YGantryMount commit91c2125458Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:52:37 2024 +0200 Added Kicad Backups 2 gitignore commit096a6c18d6Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:49:21 2024 +0200 Created ESP-IDF for can-interface commit48fded7981Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 28 19:54:29 2024 +0200 Added files from Pico sdk to gitignore commitec5e5cbf13Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 14 21:09:50 2024 +0200 Create Marker for position Calibration commit58d31964b2Author: AlexanderHD27 <alexander@hal> Date: Wed Sep 11 23:32:55 2024 +0200 Upgrade to pico SDK 2.0.0
106 lines
2.5 KiB
C++
Executable File
106 lines
2.5 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_CS0 GPIO_NUM_5
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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 CAN_INT_PIN GPIO_NUM_21
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#define EXTERNAL_TRIGGER GPIO_NUM_26
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void onRX(void *arg) {
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MCP2521 *mcp2521 = (MCP2521 *)arg;
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rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
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uint8_t data[8];
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mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
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printf("RX: (%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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gpio_set_direction(EXTERNAL_TRIGGER, GPIO_MODE_OUTPUT);
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gpio_set_level(EXTERNAL_TRIGGER, true);
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vTaskDelay(100 / portTICK_PERIOD_MS);
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spi_bus_config_t spi_bus;
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MCP2521_Hardware_Handle_ESP hardware_mcp2521(
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VSPI_HOST,
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&spi_bus,
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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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SPI_PIN_CS0,
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CAN_INT_PIN
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);
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MCP2521 mcp2521(&hardware_mcp2521);
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uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
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gpio_set_level(EXTERNAL_TRIGGER, false);
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mcp2521.reset();
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mcp2521.enable_interrupts(true, true, true, true, true, true, true, true);
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mcp2521.register_rx0_handler(onRX, &mcp2521);
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mcp2521.register_rx1_handler(onRX, &mcp2521);
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mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
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vTaskDelay(3 / portTICK_PERIOD_MS);
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mcp2521.prepare_tx(
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MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
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mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
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mcp2521.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
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mcp2521.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(100 / portTICK_PERIOD_MS);
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}
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}
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