Bump pico mcp lib and configure all

Firmware/foxtool.py

@@ -1,3 +1,5 @@
+#!/usr/bin/python
+
 # Saw a lot of people using small python scripts to
 # help automate the process of getting the uf2 on the rp2040
 

Firmware/src/CMakeLists.txt

@@ -9,28 +9,30 @@ include(../pico_sdk_import.cmake)
 project(${PROJECT} C CXX)
 pico_sdk_init()
 
+# We have to do this manually with the pico-mcp2515 library for.. some reason :/
+add_subdirectory(../lib/pico-mcp2515 ${CMAKE_BINARY_DIR}/pico-mcp2515)
+
 add_executable(${ProjectName}
     main.cpp
     console.cpp
     command_dispatcher.cpp
     usb_console.cpp
     parser.cpp
     led_task.cpp
-    # can_controller.cpp
+    can_controller.cpp
 )
 
 target_include_directories(${ProjectName} PRIVATE
     ${CMAKE_CURRENT_LIST_DIR}
-    # ${CMAKE_CURRENT_LIST_DIR}/../lib/pico-mcp2515/include # MCP_CAN library
 )
 
 target_link_libraries(${ProjectName} 
     pico_stdlib                # Obviously we need this one
     hardware_spi               # SPI library pico
     FreeRTOS-Kernel-Heap4      # From FreeRTOS
-    # pcio-mcp2515               # MCP_CAN library
+    pico_mcp2515               # MCP_CAN library
     cmake_git_version_tracking # https://github.com/andrew-hardin/cmake-git-version-tracking Very handy library!
-    )
+)
 
 
 # Setting these will configure USB for serial output and disable uart

Firmware/src/can_controller.cpp

@@ -1,22 +1,17 @@
 #include "can_controller.h"
 #include "pico/stdlib.h"
+#include "console.h"
+#include "mcp2515.h"
+#include "can.h"
 
-// Define SPI pins and settings for MCP2515
-#define SPI_PORT spi0
-#define PIN_SCK 2
-#define PIN_MOSI 3
-#define PIN_MISO 4
-#define PIN_CS 5
-
-// CAN control queue
-#define CAN_QUEUE_LENGTH 1
-#define CAN_COMMAND_GET_VERSION 1
+const uint8_t CAN_QUEUE_LENGTH = 10;
 
 static QueueHandle_t canQueue; // RTOS queue for CAN commands
-static MCP2515 mcp2515;        // MCP2515 CAN controller instance
+static MCP2515 can0;           // MCP2515 CAN controller instance
+struct can_frame rx;
 
 // Function to request version info from the MCP2515
-void request_can_version(void)
+void request_can_version(Command_t *cmd)
 {
     if (canQueue == NULL)
     {
@@ -29,37 +24,13 @@ void request_can_version(void)
     xQueueSend(canQueue, &versionCommand, 0);
 }
 
-// Initialize SPI for MCP2515 communication
-void setup_spi()
-{
-    // Initialize SPI at 1MHz
-    spi_init(SPI_PORT, 1000 * 1000);
-
-    // Set up SPI pins
-    gpio_set_function(PIN_SCK, GPIO_FUNC_SPI);
-    gpio_set_function(PIN_MOSI, GPIO_FUNC_SPI);
-    gpio_set_function(PIN_MISO, GPIO_FUNC_SPI);
-
-    // Set CS pin as output
-    gpio_init(PIN_CS);
-    gpio_set_dir(PIN_CS, GPIO_OUT);
-    gpio_put(PIN_CS, 1); // CS high to deselect the MCP2515
-}
-
 // Function to initialize CAN communication
 void setup_can()
 {
-    // Initialize the MCP2515 driver
-    mcp2515_init(&mcp2515, SPI_PORT, PIN_CS);
-
-    // Reset the MCP2515 to enter configuration mode
-    mcp2515_reset(&mcp2515);
-
-    // Set bit rate to 500kbps
-    mcp2515_set_bitrate(&mcp2515, MCP_500KBPS);
-
-    // Enable normal mode for operation
-    mcp2515_set_mode(&mcp2515, MCP_MODE_NORMAL);
+    // Initialize interface
+    can0.reset();
+    can0.setBitrate(CAN_1000KBPS, MCP_16MHZ);
+    can0.setNormalMode();
 }
 
 // The CAN task function
@@ -69,16 +40,15 @@ void can_task(void *pvParams)
     TickType_t lastWakeTime;                           // The last time we got a general command that wasn't idle
     const TickType_t tickInterval = pdMS_TO_TICKS(10); // 10 ms interval for checking commands
 
-    // Set up SPI and CAN communication
-    setup_spi();
+    // Setup CAN communication
     setup_can();
 
     // Create the CAN command queue
     canQueue = xQueueCreate(CAN_QUEUE_LENGTH, sizeof(uint8_t));
     if (canQueue == NULL)
     {
         // Handle error (e.g., print an error message)
-        printf("Failed to create CAN command queue.\n");
+        console_printf(BROADCAST, "Failed to create CAN command queue.\n");
         vTaskDelete(NULL); // Delete the task if the queue creation fails
     }
 
@@ -94,8 +64,8 @@ void can_task(void *pvParams)
             if (canCommand == CAN_COMMAND_GET_VERSION)
             {
                 // Retrieve the MCP2515 version
-                uint8_t version = mcp2515_read_register(&mcp2515, MCP_CANSTAT);
-                printf("MCP2515 Version: 0x%x\n", version);
+                uint8_t version = can0.getStatus();
+                console_printf(BROADCAST, "MCP2515 Version: 0x%x\n", version);
             }
         }
 

Firmware/src/can_controller.h

@@ -4,12 +4,17 @@
 #include "FreeRTOS.h"
 #include "task.h"
 #include "queue.h"
-#include "mcp2515/mcp2515.h"
+#include "command_dispatcher.h"
+
+enum CANCommands
+{
+    CAN_COMMAND_GET_VERSION
+};
 
 // Function to initialize and start the CAN task
 void can_task(void *pvParams);
 
 // Function to request version info from the MCP2515
-void request_can_version(void);
+void request_can_version(Command_t *cmd);
 
 #endif // CAN_CONTROLLER_H

Firmware/src/command_dispatcher.cpp

@@ -1,11 +1,13 @@
 #include "command_dispatcher.h"
 #include "git.h"
+#include "can_controller.h"
 
 // Define the command mapping table
 const CommandMapping_t commandTable[] = {
-    {"version", handleVersionCommand}, // Prints the version
-    {"help", handleHelpCommand},       // Prints the help
-    {NULL, handleUnknownCommand}       // Default handler for unknown commands
+    {"version", handleVersionCommand},  // Prints the version
+    {"help", handleHelpCommand},        // Prints the help
+    {"canstatus", request_can_version}, // Gets the status from the canbus
+    {NULL, handleUnknownCommand}        // Default handler for unknown commands
 };
 
 // Simple retrieve version

Firmware/src/main.cpp

@@ -14,7 +14,7 @@
 #include "usb_console.h"        // USB serial console
 #include "command_dispatcher.h" // Functions for dispatching commands
 #include "led_task.h"           // Manages LED functions
-// #include "can_controller.h"     // Manages the canbus
+#include "can_controller.h"     // Manages the canbus
 
 // Global Definitions
 QueueHandle_t cmdQueue = NULL;
@@ -36,7 +36,7 @@ int main()
 
     // FreeRTOS Create tasks
     xTaskCreate(led_task, "LED_Task", 256, NULL, 1, NULL);
-    // xTaskCreate(can_task, "CAN_Task", 512, NULL, 1, NULL);
+    xTaskCreate(can_task, "CAN_Task", 512, NULL, 1, NULL);
     xTaskCreate(commandDispatcherTask, "CmdDispatcher", 512, NULL, 1, NULL);
     xTaskCreate(usb_console, "USB_Console", 1024, NULL, 1, NULL);