Moved CAN Interface code to comment libary folder with symlink

common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp

@@ -0,0 +1,87 @@
+#pragma once
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+class MCP2521_Hardware_Handle_ESP : public MCP2521_Hardware_Handle {
+    char spi_tmp_buffer;
+    
+    spi_bus_config_t * spi_bus_config;
+    spi_device_interface_config_t spi_device_config;
+    spi_device_handle_t spi_device_handle;
+
+    SemaphoreHandle_t canInterruptSemaphore = NULL;
+    SemaphoreHandle_t spiMutex = NULL;
+    TaskHandle_t canInterruptTaskHandle = NULL;
+
+    void spi_transmit(spi_transaction_t *t);
+
+    void * intHandlerArg = NULL;
+    intHandlerFunction_t intHandler = NULL;
+
+public:
+    MCP2521_Hardware_Handle_ESP(
+        spi_host_device_t spi_host,
+        spi_bus_config_t *bus_config,
+        gpio_num_t mosi, 
+        gpio_num_t miso, 
+        gpio_num_t sclk, 
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+    );
+
+    MCP2521_Hardware_Handle_ESP(
+        spi_host_device_t spi_host,
+        spi_bus_config_t *bus_config,
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+    );
+
+    static void initSPIBus(
+        spi_host_device_t spi_host,
+        gpio_num_t mosi, 
+        gpio_num_t miso, 
+        gpio_num_t sclk, 
+        spi_bus_config_t *bus_config
+    );
+
+    void initSPIDevice(
+        spi_host_device_t spi_host,
+        gpio_num_t cs
+    );
+
+    void initPins(
+        gpio_num_t int_pin
+    );
+
+    ~MCP2521_Hardware_Handle_ESP();
+
+    spi_bus_config_t * getSPI_bus_config();
+
+    // ISR Stuff
+    void isr_can_interrupt();
+    void handleIntteruptTaskFn();
+
+    // Inherited from MCP2521_Hardware_Handle
+    void execute(uint8_t cmd);
+    void execute(uint8_t cmd, uint8_t address);
+
+    void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
+    void read(uint8_t cmd, uint8_t *data, size_t length);
+    uint8_t read(uint8_t cmd, uint8_t address);
+    uint8_t read(uint8_t cmd);
+    
+    void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
+    void write(uint8_t cmd, uint8_t *data, size_t length);
+    void write(uint8_t cmd, uint8_t data, uint8_t address);
+    void write(uint8_t cmd, uint8_t data);
+
+    void registerIntHandler(intHandlerFunction_t handler, void * arg);
+};
+
+#endif

common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp

@@ -0,0 +1,24 @@
+#pragma once
+#include <cstdint>
+#include <strings.h>
+
+typedef void (*intHandlerFunction_t)(void *); 
+
+class MCP2521_Hardware_Handle {
+public:
+    virtual void registerIntHandler(intHandlerFunction_t handler, void * arg) = 0;
+
+    virtual void execute(uint8_t cmd) = 0;
+    virtual void execute(uint8_t cmd, uint8_t address) = 0;
+
+    virtual void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
+    virtual void read(uint8_t cmd, uint8_t *data, size_t length) = 0;
+    virtual uint8_t read(uint8_t cmd, uint8_t address) = 0;
+    virtual uint8_t read(uint8_t cmd) = 0;
+    
+    virtual void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
+    virtual void write(uint8_t cmd, uint8_t *data, size_t length) = 0;
+    virtual void write(uint8_t cmd, uint8_t data, uint8_t address) = 0;
+    virtual void write(uint8_t cmd, uint8_t data) = 0;
+};
+