Moved CAN Interface code to comment libary folder with symlink

2024-11-06 23:14:14 +01:00
parent e7a0035041
commit c6fd825e39
19 changed files with 54 additions and 100 deletions
--- a/common-libaries/mcp2521/interface_interrupts.cpp
+++ b/common-libaries/mcp2521/interface_interrupts.cpp
@@ -0,0 +1,113 @@
+#include "mcp2521.hpp"
+#include "mcp2521_addresses.hpp"
+
+void MCP2521_Command_Interface::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) {
+    rx1_handler = handler;
+    rx1_handler_arg = args;
+}
+
+void MCP2521_Command_Interface::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) {
+    tx1_handler = handler;
+    tx1_handler_arg = args;
+}
+
+void MCP2521_Command_Interface::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) {
+    error_handler = handler;
+    error_handler_arg = args;
+}
+
+void MCP2521_Command_Interface::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) {
+    message_error_handler = handler;
+    message_error_handler_arg = args;
+}
+
+void MCP2521_Command_Interface::handleInterrupt() {
+    uint8_t flags = read_reg(MCP2521_CANINTF);
+    uint8_t clearBits = 0;
+
+    if (flags & MCP2521_CANINTF_RX0IF) {
+        if (rx0_handler) {
+            rx0_handler(rx0_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_RX0IF;
+        clearBits |= MCP2521_CANINTF_RX0IF;
+    }
+
+    if (flags & MCP2521_CANINTF_RX1IF) {
+        if (rx1_handler) {
+            rx1_handler(rx1_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_RX1IF;
+        clearBits |= MCP2521_CANINTF_RX1IF;
+    }
+
+    if (flags & MCP2521_CANINTF_TX0IF) {
+        if (tx0_handler) {
+            tx0_handler(tx0_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_TX0IF;
+        clearBits |= MCP2521_CANINTF_TX0IF;
+    }
+
+    if (flags & MCP2521_CANINTF_TX1IF) {
+        if (tx1_handler) {
+            tx1_handler(tx1_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_TX1IF;
+        clearBits |= MCP2521_CANINTF_TX1IF;
+    }
+
+    if (flags & MCP2521_CANINTF_TX2IF) {
+        if (tx2_handler) {
+            tx2_handler(tx2_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_TX2IF;
+        clearBits |= MCP2521_CANINTF_TX2IF;
+    }
+
+    if (flags & MCP2521_CANINTF_ERRIF) {
+        if (error_handler) {
+            error_handler(error_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_ERRIF;
+        clearBits |= MCP2521_CANINTF_ERRIF;
+    }
+
+    if (flags & MCP2521_CANINTF_WAKIF) {
+        if (wakeup_handler) {
+            wakeup_handler(wakeup_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_WAKIF;
+        clearBits |= MCP2521_CANINTF_WAKIF;
+    }
+
+    if (flags & MCP2521_CANINTF_MERRF) {
+        if (message_error_handler) {
+            message_error_handler(message_error_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_MERRF;
+        clearBits |= MCP2521_CANINTF_MERRF;
+    }
+
+    bit_modify(MCP2521_CANINTF, clearBits, 0);
+}