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