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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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17
common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp
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@@ -6,16 +6,16 @@
#include "mcp2521_hardware_esp.hpp"
static void IRAM_ATTR gpio_isr_can_handler(void* arg) {
MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
handle->isr_can_interrupt();
}
static void handleInteruptTaskCallerFn(void *arg) {
MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
handle->handleIntteruptTaskFn();
}
void MCP2521_Hardware_Handle_ESP::initPins(
void MCP2521_HardwareHandle_ESP::initPins(
gpio_num_t int_pin
) {
canInterruptSemaphore = xSemaphoreCreateBinary();
@@ -31,24 +31,25 @@ void MCP2521_Hardware_Handle_ESP::initPins(
gpio_install_isr_service(0);
gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
xTaskCreate(
xTaskCreatePinnedToCore(
(TaskFunction_t)&handleInteruptTaskCallerFn,
"canInterruptTask",
2048,
this,
5,
&canInterruptTaskHandle
&canInterruptTaskHandle,
0
);
}
void MCP2521_Hardware_Handle_ESP::handleIntteruptTaskFn() {
void MCP2521_HardwareHandle_ESP::handleIntteruptTaskFn() {
while(true) {
xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
intHandler(intHandlerArg);
}
}
void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
void MCP2521_HardwareHandle_ESP::isr_can_interrupt() {
BaseType_t wokenTask = pdFALSE;
xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);
@@ -57,7 +58,7 @@ void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
}
}
void MCP2521_Hardware_Handle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
void MCP2521_HardwareHandle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
intHandlerArg = arg;
intHandler = handler;
}