66 lines
1.7 KiB
C++
66 lines
1.7 KiB
C++
#include "mcp2521_hardware_handle.hpp"
|
|
|
|
#ifdef ESP_PLATFORM
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "mcp2521_hardware_esp.hpp"
|
|
|
|
static void IRAM_ATTR gpio_isr_can_handler(void* arg) {
|
|
MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
|
|
handle->isr_can_interrupt();
|
|
}
|
|
|
|
static void handleInteruptTaskCallerFn(void *arg) {
|
|
MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
|
|
handle->handleIntteruptTaskFn();
|
|
}
|
|
|
|
void MCP2521_HardwareHandle_ESP::initPins(
|
|
gpio_num_t int_pin
|
|
) {
|
|
canInterruptSemaphore = xSemaphoreCreateBinary();
|
|
|
|
gpio_config_t io_conf;
|
|
io_conf.intr_type = GPIO_INTR_NEGEDGE;
|
|
io_conf.mode = GPIO_MODE_INPUT;
|
|
io_conf.pin_bit_mask = 1 << int_pin;
|
|
io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
|
|
io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
|
|
gpio_config(&io_conf);
|
|
|
|
gpio_install_isr_service(0);
|
|
gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
|
|
|
|
xTaskCreatePinnedToCore(
|
|
(TaskFunction_t)&handleInteruptTaskCallerFn,
|
|
"canInterruptTask",
|
|
2048,
|
|
this,
|
|
5,
|
|
&canInterruptTaskHandle,
|
|
0
|
|
);
|
|
}
|
|
|
|
void MCP2521_HardwareHandle_ESP::handleIntteruptTaskFn() {
|
|
while(true) {
|
|
xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
|
|
intHandler(intHandlerArg);
|
|
}
|
|
}
|
|
|
|
void MCP2521_HardwareHandle_ESP::isr_can_interrupt() {
|
|
BaseType_t wokenTask = pdFALSE;
|
|
xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);
|
|
|
|
if(wokenTask) {
|
|
portYIELD_FROM_ISR();
|
|
}
|
|
}
|
|
|
|
void MCP2521_HardwareHandle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
|
|
intHandlerArg = arg;
|
|
intHandler = handler;
|
|
}
|
|
|
|
#endif |