Got MCP2521 to work

can-interface/components/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp

@@ -5,6 +5,8 @@
 
 #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;
@@ -13,6 +15,15 @@ class MCP2521_Hardware_Handle_ESP : public MCP2521_Hardware_Handle {
     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,
@@ -52,6 +63,10 @@ public:
 
     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);
@@ -65,6 +80,8 @@ public:
     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

can-interface/components/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp

@@ -2,8 +2,12 @@
 #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;