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
88 lines
2.2 KiB
C++
88 lines
2.2 KiB
C++
#pragma once
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#include "mcp2521_hardware_handle.hpp"
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#ifdef ESP_PLATFORM
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#include "driver/gpio.h"
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#include "driver/spi_master.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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class MCP2521_Hardware_Handle_ESP : public MCP2521_Hardware_Handle {
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char spi_tmp_buffer;
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spi_bus_config_t * spi_bus_config;
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spi_device_interface_config_t spi_device_config;
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spi_device_handle_t spi_device_handle;
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SemaphoreHandle_t canInterruptSemaphore = NULL;
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SemaphoreHandle_t spiMutex = NULL;
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TaskHandle_t canInterruptTaskHandle = NULL;
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void spi_transmit(spi_transaction_t *t);
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void * intHandlerArg = NULL;
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intHandlerFunction_t intHandler = NULL;
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public:
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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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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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static void 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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void 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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void initPins(
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gpio_num_t int_pin
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);
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~MCP2521_Hardware_Handle_ESP();
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spi_bus_config_t * getSPI_bus_config();
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// ISR Stuff
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void isr_can_interrupt();
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void handleIntteruptTaskFn();
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// Inherited from MCP2521_Hardware_Handle
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void execute(uint8_t cmd);
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void execute(uint8_t cmd, uint8_t address);
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void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
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void read(uint8_t cmd, uint8_t *data, size_t length);
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uint8_t read(uint8_t cmd, uint8_t address);
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uint8_t read(uint8_t cmd);
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void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
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void write(uint8_t cmd, uint8_t *data, size_t length);
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void write(uint8_t cmd, uint8_t data, uint8_t address);
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void write(uint8_t cmd, uint8_t data);
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void registerIntHandler(intHandlerFunction_t handler, void * arg);
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};
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#endif
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