Implemented Command-Level Interaction with CAN Interface

can-interface/components/mcp2521/include/mcp2521_register.hpp

@@ -0,0 +1,52 @@
+#pragma once
+#include <stdint.h>
+
+#include "mcp2521.hpp"
+
+
+
+class MCP2515 {
+    private:
+
+
+
+    
+    public:
+        MCP2515();
+        ~MCP2515();
+
+        void reset();
+
+        // Interrupts
+
+        void register_rx_callback(void (*callback)(uint32_t id, uint8_t *data, size_t length));
+        void register_tx_callback(void (*callback)(MCP2521_TX_BUFFER buffer));
+        void register_error_callback(void (*callback)(uint8_t error_flags));
+        void register_message_error_callback(void (*callback)(uint8_t error_flags));
+
+        // Transmittion
+        void set_tx_id(MCP2521_TX_BUFFER buffer, uint32_t id);
+        void set_tx_data(MCP2521_TX_BUFFER buffer, uint8_t *data, size_t length);
+        void set_tx_priority(MCP2521_TX_BUFFER buffer, uint8_t priority);
+        void set_one_shot(MCP2521_TX_BUFFER buffer, bool one_shot);
+
+        void request_to_send(MCP2521_TX_BUFFER buffer);
+        void request_to_send(bool txb2, bool txb1, bool txb0);
+
+        void abort_tx(MCP2521_TX_BUFFER buffer);
+        void abort_all_tx();
+
+        TXBnCTRL_Register get_TXBnCTRL(MCP2521_TX_BUFFER buffer);
+
+        void transmit(MCP2521_TX_BUFFER buffer, uint32_t id, uint8_t *data, size_t length, uint8_t priority, bool one_shot);
+
+        // Reception
+
+
+
+        uint8_t get_TransmitErrorCounter();
+        uint8_t get_ReceiveErrorCounter();
+
+
+
+};