106 lines
2.5 KiB
C++
Executable File
106 lines
2.5 KiB
C++
Executable File
/*
|
|
* 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);
|
|
}
|
|
}
|