Got MCP2521 to work

can-interface/components/mcp2521/include/mcp2521_addresses.hpp

@@ -1,4 +1,5 @@
 #pragma once
+#include <stdint.h> 
 
 #define MCP2521_BFPCTRL 0x0C
 #define MCP2521_BFPCTRL_B1BFS (1 << 5)
@@ -110,6 +111,10 @@ struct CANSTAT_Register {
 #define MCP2521_TXB0CTRL_TXP1 (1 << 1)
 #define MCP2521_TXB0CTRL_TXP0 (1 << 0)
 
+#define MCP2521_TXB0DLC 0x35
+#define MCP2521_TXB1DLC 0x45
+#define MCP2521_TXB2DLC 0x55
+
 #define MCP2521_TXB1CTRL 0x40
 #define MCP2521_TXB1CTRL_ABTF (1 << 6)
 #define MCP2521_TXB1CTRL_MLOA (1 << 5)
@@ -161,4 +166,27 @@ struct TXBnCTRL_Register {
 #define MCP2521_OP_RTS              0b10000000
 #define MCP2521_OP_READ_STATUS      0b10100000
 #define MCP2521_OP_RX_STATUS        0b10110000
-#define MCP2521_OP_BIT_MODIFY       0b00000101
+#define MCP2521_OP_BIT_MODIFY       0b00000101
+
+#define MCP2521_TXB0SIDH 0x31
+#define MCP2521_TXB1SIDH 0x41
+#define MCP2521_TXB2SIDH 0x51
+
+#define MCP2521_TXB0SIDL 0x32
+#define MCP2521_TXB1SIDL 0x42
+#define MCP2521_TXB2SIDL 0x52
+
+#define MCP2521_RXB0SIDH 0x61
+#define MCP2521_RXB1SIDH 0x71
+
+#define MCP2521_RXB0SIDL 0x62
+#define MCP2521_RXB1SIDL 0x72
+
+#define MCP2521_RXB0EID8 0x63
+#define MCP2521_RXB1EID8 0x73
+
+#define MCP2521_RXB0EID0 0x64
+#define MCP2521_RXB1EID0 0x74
+
+#define MCP2521_RXB0DLC 0x65
+#define MCP2521_RXB1DLC 0x75

can-interface/components/mcp2521/include/mcp2521_command.hpp

@@ -21,15 +21,55 @@ enum MCP2521_BUFFER_TYPE {
     DATA = 1
 };
 
+enum MCP2521_OPERATION_MODE {
+    NORMAL      = 0b000,
+    SLEEP       = 0b001,
+    LOOPBACK    = 0b010,
+    LISTEN_ONLY = 0b011,
+    CONFIG      = 0b100
+};
+
+struct rx_info {
+    bool extended;
+
+    uint16_t id;
+    uint32_t extended_id;
+
+    bool rtr;
+    bool extended_rtr;
+
+    uint8_t length;
+};
+
 class MCP2521_Command_Interface {
 private:
     MCP2521_Hardware_Handle * hardware_handle;
+
+    intHandlerFunction_t rx0_handler;
+    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);
@@ -49,5 +89,45 @@ public:
     uint8_t read_rx_status();
 
     void bit_modify(uint8_t address, uint8_t mask, uint8_t data);
+
+    // More Complex Commands
+    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);
+
+
+
+    // 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);
 };
 

can-interface/components/mcp2521/include/mcp2521_register.hpp

@@ -9,8 +9,6 @@ class MCP2515 {
     private:
 
 
-
-    
     public:
         MCP2515();
         ~MCP2515();