113 lines
3.2 KiB
C++
113 lines
3.2 KiB
C++
#include "mcp2521.hpp"
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#include "mcp2521_addresses.hpp"
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void MCP2521_CommandInterface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
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rx0_handler = handler;
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rx0_handler_arg = args;
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}
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void MCP2521_CommandInterface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
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rx1_handler = handler;
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rx1_handler_arg = args;
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}
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void MCP2521_CommandInterface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
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tx0_handler = handler;
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tx0_handler_arg = args;
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}
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void MCP2521_CommandInterface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
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tx1_handler = handler;
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tx1_handler_arg = args;
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}
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void MCP2521_CommandInterface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
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tx2_handler = handler;
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tx2_handler_arg = args;
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}
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void MCP2521_CommandInterface::register_error_handler(intHandlerFunction_t handler, void* args) {
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error_handler = handler;
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error_handler_arg = args;
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}
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void MCP2521_CommandInterface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
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wakeup_handler = handler;
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wakeup_handler_arg = args;
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}
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void MCP2521_CommandInterface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
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message_error_handler = handler;
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message_error_handler_arg = args;
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}
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void MCP2521_CommandInterface::handleInterrupt() {
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uint8_t flags = read_reg(MCP2521_CANINTF);
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uint8_t clearBits = 0;
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if (flags & MCP2521_CANINTF_RX0IF) {
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if (rx0_handler) {
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rx0_handler(rx0_handler_arg);
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}
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flags &= ~MCP2521_CANINTF_RX0IF;
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clearBits |= MCP2521_CANINTF_RX0IF;
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}
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if (flags & MCP2521_CANINTF_RX1IF) {
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if (rx1_handler) {
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rx1_handler(rx1_handler_arg);
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}
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flags &= ~MCP2521_CANINTF_RX1IF;
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clearBits |= MCP2521_CANINTF_RX1IF;
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}
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if (flags & MCP2521_CANINTF_TX0IF) {
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if (tx0_handler) {
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tx0_handler(tx0_handler_arg);
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}
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flags &= ~MCP2521_CANINTF_TX0IF;
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clearBits |= MCP2521_CANINTF_TX0IF;
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}
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if (flags & MCP2521_CANINTF_TX1IF) {
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if (tx1_handler) {
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tx1_handler(tx1_handler_arg);
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}
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flags &= ~MCP2521_CANINTF_TX1IF;
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clearBits |= MCP2521_CANINTF_TX1IF;
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}
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if (flags & MCP2521_CANINTF_TX2IF) {
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if (tx2_handler) {
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tx2_handler(tx2_handler_arg);
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}
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flags &= ~MCP2521_CANINTF_TX2IF;
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clearBits |= MCP2521_CANINTF_TX2IF;
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}
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if (flags & MCP2521_CANINTF_ERRIF) {
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if (error_handler) {
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error_handler(error_handler_arg);
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}
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flags &= ~MCP2521_CANINTF_ERRIF;
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clearBits |= MCP2521_CANINTF_ERRIF;
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}
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if (flags & MCP2521_CANINTF_WAKIF) {
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if (wakeup_handler) {
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wakeup_handler(wakeup_handler_arg);
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}
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flags &= ~MCP2521_CANINTF_WAKIF;
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clearBits |= MCP2521_CANINTF_WAKIF;
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}
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if (flags & MCP2521_CANINTF_MERRF) {
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if (message_error_handler) {
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message_error_handler(message_error_handler_arg);
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}
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flags &= ~MCP2521_CANINTF_MERRF;
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clearBits |= MCP2521_CANINTF_MERRF;
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}
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bit_modify(MCP2521_CANINTF, clearBits, 0);
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} |