Squashed commit of the following:

commit c6fd825e39 Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 23:14:14 2024 +0100 Moved CAN Interface code to comment libary folder with symlink commit e7a0035041 Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 22:01:28 2024 +0100 Got MCP2521 to work commit 4bfb1f533e Author: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:29:35 2024 +0200 Did something to YGantryMount. It works. trust me commit 5683168a47 Author: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:28:36 2024 +0200 Implemented Command-Level Interaction with CAN Interface commit 9c0c676be8 Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:20:37 2024 +0200 Added Vscode Profile file commit b150a905a3 Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:19:00 2024 +0200 Implemented Low Level Compunications commit 7eebf619ae Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:46:15 2024 +0200 Created Head Pipe Mount commit 93c40e1805 Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:44:11 2024 +0200 First Revision of YGantryMount commit 91c2125458 Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:52:37 2024 +0200 Added Kicad Backups 2 gitignore commit 096a6c18d6 Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:49:21 2024 +0200 Created ESP-IDF for can-interface commit 48fded7981 Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 28 19:54:29 2024 +0200 Added files from Pico sdk to gitignore commit ec5e5cbf13 Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 14 21:09:50 2024 +0200 Create Marker for position Calibration commit 58d31964b2 Author: AlexanderHD27 <alexander@hal> Date: Wed Sep 11 23:32:55 2024 +0200 Upgrade to pico SDK 2.0.0
2024-11-06 23:18:12 +01:00
parent f002a01308
commit e091d4df18
49 changed files with 3905 additions and 0 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);
+}