Implemented Command-Level Interaction with CAN Interface

can-interface/components/mcp2521/include/mcp2521_command.hpp

@@ -0,0 +1,53 @@
+#pragma once
+#include "mcp2521_addresses.hpp"
+
+#include <stdint.h>
+
+#include "mcp2521_hardware_handle.hpp"
+
+enum MCP2521_RX_BUFFER {
+    RXB0 = 0,
+    RXB1 = 1
+};
+
+enum MCP2521_TX_BUFFER {
+    TXB0 = 0,
+    TXB1 = 1,
+    TXB2 = 2
+};
+
+enum MCP2521_BUFFER_TYPE {
+    ID = 0,
+    DATA = 1
+};
+
+class MCP2521_Command_Interface {
+private:
+    MCP2521_Hardware_Handle * hardware_handle;
+public:
+
+    MCP2521_Command_Interface(
+        MCP2521_Hardware_Handle * hardware_handle
+    );
+
+    void reset();
+    
+    void read_reg(uint8_t address, uint8_t *data, size_t length);
+    uint8_t read_reg(uint8_t address);
+
+    void read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
+    
+    void write_reg(uint8_t address, uint8_t *data, size_t length);
+    void write_reg(uint8_t address, uint8_t data);
+
+    void write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
+
+    void request_to_send(bool txb2, bool txb1, bool txb0);
+    void request_to_send(MCP2521_TX_BUFFER buffer);
+
+    uint8_t read_status();
+    uint8_t read_rx_status();
+
+    void bit_modify(uint8_t address, uint8_t mask, uint8_t data);
+};
+