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Implement Multi-Bus CAN Interfaces

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This commit is contained in:
AlexanderHD27
2024-11-23 01:25:29 +01:00
parent f26cc07558
commit c1dc89eb58
39 changed files with 5746 additions and 109 deletions
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102
common-libaries/mcp2521/docs/.$MCP2521_Libary_ClassDiagram.drawio.bkp Normal file
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1
common-libaries/mcp2521/include/mcp2521.hpp
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@@ -3,4 +3,5 @@
#include "mcp2521_toplevel.hpp"
#include "mcp2521_command.hpp"
#include "mcp2521_hardware_esp.hpp"
#include "mcp2521_hardware_esp_bus_factory.hpp"
#include "mcp2521_addresses.hpp"

8
common-libaries/mcp2521/include/mcp2521_command.hpp
View File

@@ -40,9 +40,9 @@ struct rx_info {
uint8_t length;
};
class MCP2521_Command_Interface {
class MCP2521_CommandInterface {
private:
MCP2521_Hardware_Handle * hardware_handle;
I_MCP2521_HardwareHandle * hardware_handle;
intHandlerFunction_t rx0_handler;
intHandlerFunction_t rx1_handler;
@@ -63,8 +63,8 @@ private:
void * message_error_handler_arg;
public:
MCP2521_Command_Interface(
MCP2521_Hardware_Handle * hardware_handle
MCP2521_CommandInterface(
I_MCP2521_HardwareHandle * hardware_handle
);
void handleInterrupt();

2
common-libaries/mcp2521/include/mcp2521_toplevel.hpp
View File

@@ -5,7 +5,7 @@
#include "mcp2521_command.hpp"
#include "mcp2521_addresses.hpp"
class MCP2521 : public MCP2521_Command_Interface {
class MCP2521 : public MCP2521_CommandInterface {
private:
public:
void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);

30
common-libaries/mcp2521/interface_commands.cpp
View File

@@ -4,12 +4,12 @@
#include "mcp2521_addresses.hpp"
void runIntHandler(void *arg) {
MCP2521_Command_Interface *command_interface = (MCP2521_Command_Interface *)arg;
MCP2521_CommandInterface *command_interface = (MCP2521_CommandInterface *)arg;
command_interface->handleInterrupt();
}
MCP2521_Command_Interface::MCP2521_Command_Interface(
MCP2521_Hardware_Handle * hardware_handle
MCP2521_CommandInterface::MCP2521_CommandInterface(
I_MCP2521_HardwareHandle * hardware_handle
) {
this->hardware_handle = hardware_handle;
this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
@@ -33,42 +33,42 @@ MCP2521_Command_Interface::MCP2521_Command_Interface(
message_error_handler_arg = NULL;
}
void MCP2521_Command_Interface::reset() {
void MCP2521_CommandInterface::reset() {
hardware_handle->execute(MCP2521_OP_RESET);
}
void MCP2521_Command_Interface::read_reg(uint8_t address, uint8_t *data, size_t length) {
void MCP2521_CommandInterface::read_reg(uint8_t address, uint8_t *data, size_t length) {
hardware_handle->read(MCP2521_OP_READ, data, length, address);
}
uint8_t MCP2521_Command_Interface::read_reg(uint8_t address) {
uint8_t MCP2521_CommandInterface::read_reg(uint8_t address) {
return hardware_handle->read(MCP2521_OP_READ, address);
}
void MCP2521_Command_Interface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
void MCP2521_CommandInterface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
uint8_t address = (buffer << 1) | (type << 2);
hardware_handle->read(MCP2521_OP_READ_RX_BUFFER | address, data, length);
}
void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t *data, size_t length) {
void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t *data, size_t length) {
hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
}
void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t data) {
void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t data) {
hardware_handle->write(MCP2521_OP_WRITE, data, address);
}
void MCP2521_Command_Interface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
void MCP2521_CommandInterface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
uint8_t address = (buffer << 1) | (type);
hardware_handle->write(MCP2521_OP_LOAD_TX_BUFFER | address, data, length);
}
void MCP2521_Command_Interface::request_to_send(bool txb2, bool txb1, bool txb0) {
void MCP2521_CommandInterface::request_to_send(bool txb2, bool txb1, bool txb0) {
uint8_t data = (txb2 << 2) | (txb1 << 1) | txb0;
hardware_handle->execute(MCP2521_OP_RTS | data);
}
void MCP2521_Command_Interface::request_to_send(MCP2521_TX_BUFFER buffer) {
void MCP2521_CommandInterface::request_to_send(MCP2521_TX_BUFFER buffer) {
uint8_t mask = 0;
switch (buffer) {
@@ -86,15 +86,15 @@ void MCP2521_Command_Interface::request_to_send(MCP2521_TX_BUFFER buffer) {
hardware_handle->execute(MCP2521_OP_RTS | mask);
}
uint8_t MCP2521_Command_Interface::read_status() {
uint8_t MCP2521_CommandInterface::read_status() {
return hardware_handle->read(MCP2521_OP_READ_STATUS);
}
uint8_t MCP2521_Command_Interface::read_rx_status() {
uint8_t MCP2521_CommandInterface::read_rx_status() {
return hardware_handle->read(MCP2521_OP_RX_STATUS);
}
void MCP2521_Command_Interface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
void MCP2521_CommandInterface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
uint8_t data_array[3] = {address, mask, data};
hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
}

18
common-libaries/mcp2521/interface_interrupts.cpp
View File

@@ -1,47 +1,47 @@
#include "mcp2521.hpp"
#include "mcp2521_addresses.hpp"
void MCP2521_Command_Interface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
void MCP2521_CommandInterface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
rx0_handler = handler;
rx0_handler_arg = args;
}
void MCP2521_Command_Interface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
void MCP2521_CommandInterface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
rx1_handler = handler;
rx1_handler_arg = args;
}
void MCP2521_Command_Interface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
void MCP2521_CommandInterface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
tx0_handler = handler;
tx0_handler_arg = args;
}
void MCP2521_Command_Interface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
void MCP2521_CommandInterface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
tx1_handler = handler;
tx1_handler_arg = args;
}
void MCP2521_Command_Interface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
void MCP2521_CommandInterface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
tx2_handler = handler;
tx2_handler_arg = args;
}
void MCP2521_Command_Interface::register_error_handler(intHandlerFunction_t handler, void* args) {
void MCP2521_CommandInterface::register_error_handler(intHandlerFunction_t handler, void* args) {
error_handler = handler;
error_handler_arg = args;
}
void MCP2521_Command_Interface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
void MCP2521_CommandInterface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
wakeup_handler = handler;
wakeup_handler_arg = args;
}
void MCP2521_Command_Interface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
void MCP2521_CommandInterface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
message_error_handler = handler;
message_error_handler_arg = args;
}
void MCP2521_Command_Interface::handleInterrupt() {
void MCP2521_CommandInterface::handleInterrupt() {
uint8_t flags = read_reg(MCP2521_CANINTF);
uint8_t clearBits = 0;