103 lines
2.7 KiB
C++
103 lines
2.7 KiB
C++
#pragma once
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#include "mcp2521_addresses.hpp"
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#include "mcp2521_hardware_handle.hpp"
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#include <stdint.h>
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enum MCP2521_RX_BUFFER {
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RXB0 = 0,
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RXB1 = 1
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};
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enum MCP2521_TX_BUFFER {
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TXB0 = 0,
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TXB1 = 1,
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TXB2 = 2
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};
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enum MCP2521_BUFFER_TYPE {
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ID = 0,
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DATA = 1
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};
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enum MCP2521_OPERATION_MODE {
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NORMAL = 0b000,
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SLEEP = 0b001,
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LOOPBACK = 0b010,
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LISTEN_ONLY = 0b011,
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CONFIG = 0b100
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};
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struct rx_info {
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bool extended;
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uint16_t id;
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uint32_t extended_id;
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bool rtr;
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bool extended_rtr;
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uint8_t length;
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};
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class MCP2521_Command_Interface {
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private:
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MCP2521_Hardware_Handle * hardware_handle;
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intHandlerFunction_t rx0_handler;
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intHandlerFunction_t rx1_handler;
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intHandlerFunction_t tx0_handler;
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intHandlerFunction_t tx1_handler;
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intHandlerFunction_t tx2_handler;
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intHandlerFunction_t error_handler;
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intHandlerFunction_t wakeup_handler;
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intHandlerFunction_t message_error_handler;
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void * rx0_handler_arg;
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void * rx1_handler_arg;
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void * tx0_handler_arg;
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void * tx1_handler_arg;
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void * tx2_handler_arg;
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void * error_handler_arg;
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void * wakeup_handler_arg;
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void * message_error_handler_arg;
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public:
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MCP2521_Command_Interface(
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MCP2521_Hardware_Handle * hardware_handle
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);
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void handleInterrupt();
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void reset();
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void read_reg(uint8_t address, uint8_t *data, size_t length);
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uint8_t read_reg(uint8_t address);
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void read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
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void write_reg(uint8_t address, uint8_t *data, size_t length);
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void write_reg(uint8_t address, uint8_t data);
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void write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
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void request_to_send(bool txb2, bool txb1, bool txb0);
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void request_to_send(MCP2521_TX_BUFFER buffer);
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uint8_t read_status();
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uint8_t read_rx_status();
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void bit_modify(uint8_t address, uint8_t mask, uint8_t data);
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// Registering Handlers for Interrupts
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void register_rx0_handler(intHandlerFunction_t handler, void * arg);
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void register_rx1_handler(intHandlerFunction_t handler, void * arg);
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void register_tx0_handler(intHandlerFunction_t handler, void * arg);
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void register_tx1_handler(intHandlerFunction_t handler, void * arg);
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void register_tx2_handler(intHandlerFunction_t handler, void * arg);
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void register_error_handler(intHandlerFunction_t handler, void * arg);
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void register_wakeup_handler(intHandlerFunction_t handler, void * arg);
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void register_message_error_handler(intHandlerFunction_t handler, void * arg);
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};
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