Moved CAN Interface code to comment libary folder with symlink
This commit is contained in:
AlexanderHD27
177
common-libaries/mcp2521/include/bitfields.hpp
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177
common-libaries/mcp2521/include/bitfields.hpp
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@@ -0,0 +1,177 @@
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#pragma once
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#include <cstdint>
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/**
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* @brief RXnBF PIN CONTROL AND STATUS REGISTER (ADDRESS: 0Ch)
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*
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*/
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struct BFPCTRL {
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uint8_t B0BFM : 1;
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uint8_t B1BFM : 1;
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uint8_t B0BFE : 1;
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uint8_t B1BFE : 1;
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uint8_t B0BFS : 1;
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uint8_t B1BFS : 1;
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uint8_t : 2;
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};
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/**
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* @brief TXnRTS PIN CONTROL AND STATUS REGISTER
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*
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*/
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struct TXRTSCTRL {
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uint8_t B0RTSM : 1;
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uint8_t B1RTSM : 1;
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uint8_t B2RTSM : 1;
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uint8_t B0RTS : 1;
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uint8_t B1RTS : 1;
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uint8_t B2RTS : 1;
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uint8_t : 2;
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};
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struct CANSTAT {
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uint8_t ICOD0 : ;
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uint8_t : 1;
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uint8_t OPMOD0 : 1;
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uint8_t OPMOD1 : 1;
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uint8_t OPMOD2 : 1;
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uint8_t : 1;
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};
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struct CANCTRL {
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uint8_t CLKPRE0 : 1;
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uint8_t CLKPRE1 : 1;
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uint8_t CLKEN : 1;
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uint8_t OSM : 1;
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uint8_t ABAT : 1;
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uint8_t REQOP0 : 1;
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uint8_t REQOP1 : 1;
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uint8_t REQOP2 : 1;
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};
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struct TEC {
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uint8_t TEC;
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};
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struct REC {
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uint8_t REC;
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};
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struct CNF3 {
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uint8_t PHSEG20 : 1;
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uint8_t PHSEG21 : 1;
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uint8_t PHSEG22 : 1;
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uint8_t : 3;
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uint8_t WAKFIL : 1;
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uint8_t SOF : 1;
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};
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struct CNF2 {
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uint8_t PRSEG0 : 1;
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uint8_t PRSEG1 : 1;
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uint8_t PRSEG2 : 1;
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uint8_t PHSEG10 : 1;
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uint8_t PHSEG11 : 1;
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uint8_t PHSEG12 : 1;
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uint8_t SAM : 1;
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uint8_t BTLMODE : 1;
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};
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struct CNF1 {
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uint8_t BRP0 : 1;
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uint8_t BRP1 : 1;
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uint8_t BRP2 : 1;
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uint8_t BRP3 : 1;
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uint8_t BRP4 : 1;
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uint8_t BRP5 : 1;
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uint8_t SJW0 : 1;
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uint8_t SJW1 : 1;
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};
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struct CANINTE {
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uint8_t RX0IE : 1;
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uint8_t RX1IE : 1;
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uint8_t TX0IE : 1;
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uint8_t TX1IE : 1;
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uint8_t TX2IE : 1;
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uint8_t ERRIE : 1;
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uint8_t WAKIE : 1;
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uint8_t MERRE : 1;
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};
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struct CANINTF {
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uint8_t RX0IF : 1;
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uint8_t RX1IF : 1;
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uint8_t TX0IF : 1;
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uint8_t TX1IF : 1;
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uint8_t TX2IF : 1;
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uint8_t ERRIF : 1;
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uint8_t WAKIF : 1;
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uint8_t MERRF : 1;
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};
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struct EFLG {
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uint8_t EWARN : 1;
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uint8_t RXWAR : 1;
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uint8_t TXWAR : 1;
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uint8_t RXEP : 1;
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uint8_t TXEP : 1;
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uint8_t TXBO : 1;
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uint8_t RX0OVR : 1;
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uint8_t RX1OVR : 1;
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};
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struct TXB0CTRL {
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uint8_t TXP0 : 1;
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uint8_t TXP1 : 1;
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uint8_t : 1;
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uint8_t TXREQ : 1;
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uint8_t TXERR : 1;
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uint8_t MLOA : 1;
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uint8_t ABTF : 1;
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uint8_t : 1;
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};
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struct TXB1CTRL {
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uint8_t TXP0 : 1;
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uint8_t TXP1 : 1;
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uint8_t : 1;
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uint8_t TXREQ : 1;
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uint8_t TXERR : 1;
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uint8_t MLOA : 1;
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uint8_t ABTF : 1;
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uint8_t : 1;
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};
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struct TXB2CTRL {
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uint8_t TXP0 : 1;
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uint8_t TXP1 : 1;
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uint8_t : 1;
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uint8_t TXREQ : 1;
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uint8_t TXERR : 1;
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uint8_t MLOA : 1;
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uint8_t ABTF : 1;
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uint8_t : 1;
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};
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struct RXB0CTRL {
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uint8_t FILHIT0 : 1;
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uint8_t BUKT1 : 1;
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uint8_t BUKT : 1;
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uint8_t RXRTR : 1;
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uint8_t : 1;
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uint8_t RXM0 : 1;
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uint8_t RXM1 : 1;
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uint8_t : 1;
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};
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struct RXB1CTRL {
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uint8_t FILHIT0 : 1;
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uint8_t FILHIT1 : 1;
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uint8_t FILHIT2 : 1;
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uint8_t RXRTR : 1;
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uint8_t : 1;
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uint8_t RXM0 : 1;
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uint8_t RXM1 : 1;
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uint8_t : 1;
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};
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6
common-libaries/mcp2521/include/mcp2521.hpp
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6
common-libaries/mcp2521/include/mcp2521.hpp
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@@ -0,0 +1,6 @@
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#pragma once
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#include "mcp2521_toplevel.hpp"
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#include "mcp2521_command.hpp"
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#include "mcp2521_hardware_esp.hpp"
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#include "mcp2521_addresses.hpp"
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192
common-libaries/mcp2521/include/mcp2521_addresses.hpp
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192
common-libaries/mcp2521/include/mcp2521_addresses.hpp
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@@ -0,0 +1,192 @@
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#pragma once
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#include <stdint.h>
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#define MCP2521_BFPCTRL 0x0C
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#define MCP2521_BFPCTRL_B1BFS (1 << 5)
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#define MCP2521_BFPCTRL_B0BFS (1 << 4)
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#define MCP2521_BFPCTRL_B1BFE (1 << 3)
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#define MCP2521_BFPCTRL_B0BFE (1 << 2)
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#define MCP2521_BFPCTRL_B1BFM (1 << 1)
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#define MCP2521_BFPCTRL_B0BFM (1 << 0)
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#define MCP2521_TXRTSCTRL 0x0D
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#define MCP2521_TXRTSCTRL_B2RTS (1 << 5)
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#define MCP2521_TXRTSCTRL_B1RTS (1 << 4)
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#define MCP2521_TXRTSCTRL_B0RTS (1 << 3)
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#define MCP2521_TXRTSCTRL_B2RTSM (1 << 2)
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#define MCP2521_TXRTSCTRL_B1RTSM (1 << 1)
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#define MCP2521_TXRTSCTRL_B0RTSM (1 << 0)
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#define MCP2521_CANSTAT 0x0E
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#define MCP2521_CANSTAT_OPMOD2 (1 << 7)
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#define MCP2521_CANSTAT_OPMOD1 (1 << 6)
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#define MCP2521_CANSTAT_OPMOD0 (1 << 5)
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#define MCP2521_CANSTAT_ICOD2 (1 << 2)
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#define MCP2521_CANSTAT_ICOD1 (1 << 1)
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#define MCP2521_CANSTAT_ICOD0 (1 << 0)
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struct CANSTAT_Register {
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uint8_t ICOD : 3;
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uint8_t : 1; // Unused bit
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uint8_t OPMOD : 3;
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uint8_t : 1; // Unused bit
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};
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#define MCP2521_CANCTRL 0x0F
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#define MCP2521_CANCTRL_REQOP2 (1 << 7)
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#define MCP2521_CANCTRL_REQOP1 (1 << 6)
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#define MCP2521_CANCTRL_REQOP0 (1 << 5)
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#define MCP2521_CANCTRL_ABAT (1 << 4)
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#define MCP2521_CANCTRL_OSM (1 << 3)
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#define MCP2521_CANCTRL_CLKEN (1 << 2)
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#define MCP2521_CANCTRL_CLKPRE1 (1 << 1)
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#define MCP2521_CANCTRL_CLKPRE0 (1 << 0)
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#define MCP2521_TEC 0x1C
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#define MCP2521_REC 0x1D
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#define MCP2521_CNF3 0x28
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#define MCP2521_CNF3_SOF (1 << 7)
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#define MCP2521_CNF3_WAKFIL (1 << 6)
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#define MCP2521_CNF3_PHSEG22 (1 << 2)
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#define MCP2521_CNF3_PHSEG21 (1 << 1)
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#define MCP2521_CNF3_PHSEG20 (1 << 0)
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#define MCP2521_CNF2 0x29
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#define MCP2521_CNF2_BTLMODE (1 << 7)
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#define MCP2521_CNF2_SAM (1 << 6)
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#define MCP2521_CNF2_PHSEG12 (1 << 5)
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#define MCP2521_CNF2_PHSEG11 (1 << 4)
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#define MCP2521_CNF2_PHSEG10 (1 << 3)
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#define MCP2521_CNF2_PRSEG2 (1 << 2)
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#define MCP2521_CNF2_PRSEG1 (1 << 1)
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#define MCP2521_CNF2_PRSEG0 (1 << 0)
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#define MCP2521_CNF1 0x2A
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#define MCP2521_CNF1_SJW1 (1 << 7)
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#define MCP2521_CNF1_SJW0 (1 << 6)
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#define MCP2521_CNF1_BRP5 (1 << 5)
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#define MCP2521_CNF1_BRP4 (1 << 4)
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#define MCP2521_CNF1_BRP3 (1 << 3)
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#define MCP2521_CNF1_BRP2 (1 << 2)
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#define MCP2521_CNF1_BRP1 (1 << 1)
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#define MCP2521_CNF1_BRP0 (1 << 0)
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#define MCP2521_CANINTE 0x2B
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#define MCP2521_CANINTE_MERRE (1 << 7)
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#define MCP2521_CANINTE_WAKIE (1 << 6)
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#define MCP2521_CANINTE_ERRIE (1 << 5)
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#define MCP2521_CANINTE_TX2IE (1 << 4)
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#define MCP2521_CANINTE_TX1IE (1 << 3)
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#define MCP2521_CANINTE_TX0IE (1 << 2)
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#define MCP2521_CANINTE_RX1IE (1 << 1)
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#define MCP2521_CANINTE_RX0IE (1 << 0)
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#define MCP2521_CANINTF 0x2C
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#define MCP2521_CANINTF_MERRF (1 << 7)
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#define MCP2521_CANINTF_WAKIF (1 << 6)
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#define MCP2521_CANINTF_ERRIF (1 << 5)
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#define MCP2521_CANINTF_TX2IF (1 << 4)
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#define MCP2521_CANINTF_TX1IF (1 << 3)
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#define MCP2521_CANINTF_TX0IF (1 << 2)
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#define MCP2521_CANINTF_RX1IF (1 << 1)
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#define MCP2521_CANINTF_RX0IF (1 << 0)
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#define MCP2521_EFLG 0x2D
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#define MCP2521_EFLG_RX1OVR (1 << 7)
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#define MCP2521_EFLG_RX0OVR (1 << 6)
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#define MCP2521_EFLG_TXBO (1 << 5)
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#define MCP2521_EFLG_TXEP (1 << 4)
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#define MCP2521_EFLG_RXEP (1 << 3)
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#define MCP2521_EFLG_TXWAR (1 << 2)
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#define MCP2521_EFLG_RXWAR (1 << 1)
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#define MCP2521_EFLG_EWARN (1 << 0)
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#define MCP2521_TXB0CTRL 0x30
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#define MCP2521_TXB0CTRL_ABTF (1 << 6)
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#define MCP2521_TXB0CTRL_MLOA (1 << 5)
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#define MCP2521_TXB0CTRL_TXERR (1 << 4)
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#define MCP2521_TXB0CTRL_TXREQ (1 << 3)
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#define MCP2521_TXB0CTRL_TXP1 (1 << 1)
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#define MCP2521_TXB0CTRL_TXP0 (1 << 0)
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#define MCP2521_TXB0DLC 0x35
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#define MCP2521_TXB1DLC 0x45
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#define MCP2521_TXB2DLC 0x55
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#define MCP2521_TXB1CTRL 0x40
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#define MCP2521_TXB1CTRL_ABTF (1 << 6)
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#define MCP2521_TXB1CTRL_MLOA (1 << 5)
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#define MCP2521_TXB1CTRL_TXERR (1 << 4)
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#define MCP2521_TXB1CTRL_TXREQ (1 << 3)
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#define MCP2521_TXB1CTRL_TXP1 (1 << 1)
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#define MCP2521_TXB1CTRL_TXP0 (1 << 0)
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#define MCP2521_TXB2CTRL 0x50
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#define MCP2521_TXB2CTRL_ABTF (1 << 6)
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#define MCP2521_TXB2CTRL_MLOA (1 << 5)
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#define MCP2521_TXB2CTRL_TXERR (1 << 4)
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#define MCP2521_TXB2CTRL_TXREQ (1 << 3)
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#define MCP2521_TXB2CTRL_TXP1 (1 << 1)
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#define MCP2521_TXB2CTRL_TXP0 (1 << 0)
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struct TXBnCTRL_Register {
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uint8_t TXP : 2;
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uint8_t : 1; // Unused bit
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uint8_t TXREQ : 1;
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uint8_t TXERR : 1;
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uint8_t MLOA : 1;
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uint8_t ABTF : 1;
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uint8_t : 1; // Unused bit
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};
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#define MCP2521_RXB0CTRL 0x60
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#define MCP2521_RXB0CTRL_RXM1 (1 << 6)
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#define MCP2521_RXB0CTRL_RXM0 (1 << 5)
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#define MCP2521_RXB0CTRL_RXRTR (1 << 3)
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#define MCP2521_RXB0CTRL_BUKT (1 << 2)
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#define MCP2521_RXB0CTRL_BUKT1 (1 << 1)
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#define MCP2521_RXB0CTRL_FILHIT0 (1 << 0)
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#define MCP2521_RXB1CTRL 0x70
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#define MCP2521_RXB1CTRL_RXM1 (1 << 6)
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#define MCP2521_RXB1CTRL_RXM0 (1 << 5)
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#define MCP2521_RXB1CTRL_RXRTR (1 << 3)
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#define MCP2521_RXB1CTRL_FILHIT2 (1 << 2)
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#define MCP2521_RXB1CTRL_FILHIT1 (1 << 1)
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#define MCP2521_RXB1CTRL_FILHIT0 (1 << 0)
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#define MCP2521_OP_RESET 0b11000000
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#define MCP2521_OP_READ 0b00000011
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#define MCP2521_OP_READ_RX_BUFFER 0b10010000
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#define MCP2521_OP_WRITE 0b00000010
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#define MCP2521_OP_LOAD_TX_BUFFER 0b01000000
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#define MCP2521_OP_RTS 0b10000000
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#define MCP2521_OP_READ_STATUS 0b10100000
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#define MCP2521_OP_RX_STATUS 0b10110000
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#define MCP2521_OP_BIT_MODIFY 0b00000101
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#define MCP2521_TXB0SIDH 0x31
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#define MCP2521_TXB1SIDH 0x41
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#define MCP2521_TXB2SIDH 0x51
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#define MCP2521_TXB0SIDL 0x32
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#define MCP2521_TXB1SIDL 0x42
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#define MCP2521_TXB2SIDL 0x52
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#define MCP2521_RXB0SIDH 0x61
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#define MCP2521_RXB1SIDH 0x71
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#define MCP2521_RXB0SIDL 0x62
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#define MCP2521_RXB1SIDL 0x72
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#define MCP2521_RXB0EID8 0x63
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#define MCP2521_RXB1EID8 0x73
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#define MCP2521_RXB0EID0 0x64
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#define MCP2521_RXB1EID0 0x74
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#define MCP2521_RXB0DLC 0x65
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#define MCP2521_RXB1DLC 0x75
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102
common-libaries/mcp2521/include/mcp2521_command.hpp
Normal file
102
common-libaries/mcp2521/include/mcp2521_command.hpp
Normal file
@@ -0,0 +1,102 @@
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#pragma once
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#include "mcp2521_addresses.hpp"
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#include "mcp2521_hardware_handle.hpp"
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#include <stdint.h>
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enum MCP2521_RX_BUFFER {
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RXB0 = 0,
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RXB1 = 1
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};
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enum MCP2521_TX_BUFFER {
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TXB0 = 0,
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TXB1 = 1,
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TXB2 = 2
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};
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enum MCP2521_BUFFER_TYPE {
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ID = 0,
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DATA = 1
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};
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enum MCP2521_OPERATION_MODE {
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NORMAL = 0b000,
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SLEEP = 0b001,
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LOOPBACK = 0b010,
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LISTEN_ONLY = 0b011,
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CONFIG = 0b100
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};
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struct rx_info {
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bool extended;
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||||
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uint16_t id;
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||||
uint32_t extended_id;
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||||
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bool rtr;
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bool extended_rtr;
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||||
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||||
uint8_t length;
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};
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||||
|
||||
class MCP2521_Command_Interface {
|
||||
private:
|
||||
MCP2521_Hardware_Handle * hardware_handle;
|
||||
|
||||
intHandlerFunction_t rx0_handler;
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||||
intHandlerFunction_t rx1_handler;
|
||||
intHandlerFunction_t tx0_handler;
|
||||
intHandlerFunction_t tx1_handler;
|
||||
intHandlerFunction_t tx2_handler;
|
||||
intHandlerFunction_t error_handler;
|
||||
intHandlerFunction_t wakeup_handler;
|
||||
intHandlerFunction_t message_error_handler;
|
||||
|
||||
void * rx0_handler_arg;
|
||||
void * rx1_handler_arg;
|
||||
void * tx0_handler_arg;
|
||||
void * tx1_handler_arg;
|
||||
void * tx2_handler_arg;
|
||||
void * error_handler_arg;
|
||||
void * wakeup_handler_arg;
|
||||
void * message_error_handler_arg;
|
||||
public:
|
||||
|
||||
MCP2521_Command_Interface(
|
||||
MCP2521_Hardware_Handle * hardware_handle
|
||||
);
|
||||
|
||||
void handleInterrupt();
|
||||
|
||||
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);
|
||||
|
||||
// Registering Handlers for Interrupts
|
||||
void register_rx0_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_rx1_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_tx0_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_tx1_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_tx2_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_error_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_wakeup_handler(intHandlerFunction_t handler, void * arg);
|
||||
void register_message_error_handler(intHandlerFunction_t handler, void * arg);
|
||||
};
|
||||
|
||||
38
common-libaries/mcp2521/include/mcp2521_toplevel.hpp
Normal file
38
common-libaries/mcp2521/include/mcp2521_toplevel.hpp
Normal file
@@ -0,0 +1,38 @@
|
||||
#pragma once
|
||||
#include <stdint.h>
|
||||
|
||||
#include "mcp2521.hpp"
|
||||
#include "mcp2521_command.hpp"
|
||||
#include "mcp2521_addresses.hpp"
|
||||
|
||||
class MCP2521 : public MCP2521_Command_Interface {
|
||||
private:
|
||||
public:
|
||||
void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);
|
||||
|
||||
/**
|
||||
* @brief Loads the Data Length Code register for the specified buffer
|
||||
*
|
||||
* @param buffer What Buffer to load the DLC register for
|
||||
* @param length How many bytes are in the message (0-8)
|
||||
* @param rtr: Remote Transmission Request
|
||||
*/
|
||||
void set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr);
|
||||
|
||||
/**
|
||||
* @brief Loads the data and id into the specified buffer
|
||||
*
|
||||
* @param buffer
|
||||
* @param id
|
||||
* @param data
|
||||
* @param length
|
||||
*/
|
||||
void prepare_tx(MCP2521_TX_BUFFER buffer, uint32_t id, uint8_t *data, size_t length, bool rtr, bool extended);
|
||||
|
||||
void set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot);
|
||||
void set_singleshot_mode(bool enable);
|
||||
|
||||
void enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1);
|
||||
rx_info get_rx_id(MCP2521_RX_BUFFER buffer);
|
||||
|
||||
};
|
||||
Reference in New Issue
Block a user