Implemented Command-Level Interaction with CAN Interface

can-interface/main/hello_world_main.cpp

@@ -22,7 +22,6 @@
 #include "driver/spi_master.h"
 
 #include "mcp2521.hpp"
-#include "reg.hpp"
 
 #define SPI_PIN_CS0 GPIO_NUM_5
 #define SPI_PIN_SCLK GPIO_NUM_18
@@ -32,11 +31,7 @@
 
 #define EXTERNAL_TRIGGER GPIO_NUM_26
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void app_main() {
+extern "C" void app_main() {
     printf("Hello world!\n");
 
     const gpio_num_t LED_PIN = GPIO_NUM_2;
@@ -46,11 +41,11 @@ void app_main() {
     gpio_set_level(EXTERNAL_TRIGGER, true);
 
     vTaskDelay(100 / portTICK_PERIOD_MS);
-    gpio_set_level(EXTERNAL_TRIGGER, false);
+    
 
     spi_bus_config_t spi_bus;
 
-    MCP2521_SPI_Interface mcp2521_spi(
+    MCP2521_Hardware_Handle_ESP hardware_mcp2521(
         VSPI_HOST,
         &spi_bus,
         SPI_PIN_MOSI,
@@ -60,11 +55,16 @@ void app_main() {
         CAN_INT_PIN
     );
 
-    mcp2521_spi.reset();
-    printf("%x\n", mcp2521_spi.read_reg(MCP2521_CANCTRL));
+    MCP2521_Command_Interface mcp2521(&hardware_mcp2521);
+
+
+    gpio_set_level(EXTERNAL_TRIGGER, false);
+    printf("CANCTRL: %x\n", mcp2521.read_reg(MCP2521_CANCTRL));
+    printf("RX_STATUS: %x\n", mcp2521.read_rx_status());
+    printf("STATUS: %x\n", mcp2521.read_status());
 
     uint8_t data[16];
-    mcp2521_spi.read_reg(MCP2521_CANSTAT, data, 16);
+    hardware_mcp2521.read(MCP2521_OP_READ, data, 16, MCP2521_RXB0CTRL);
 
     for(int i=0; i<0x10; i++) {
         printf("%x ", i);
@@ -79,12 +79,8 @@ void app_main() {
     bool flag = true;
     while (true) {
         gpio_set_level(LED_PIN, flag);
-        flag = dummy_function(flag);
+        flag = !flag;
 
         vTaskDelay(100 / portTICK_PERIOD_MS);
-    }    
+    }
 }
-
-#ifdef __cplusplus
-}
-#endif