100 lines
3.1 KiB
C++
100 lines
3.1 KiB
C++
#include <cstring>
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#include "mcp2521.hpp"
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#include "mcp2521_addresses.hpp"
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void runIntHandler(void *arg) {
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MCP2521_CommandInterface *command_interface = (MCP2521_CommandInterface *)arg;
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command_interface->handleInterrupt();
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}
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MCP2521_CommandInterface::MCP2521_CommandInterface(
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I_MCP2521_HardwareHandle * hardware_handle
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) {
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this->hardware_handle = hardware_handle;
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this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
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rx0_handler = NULL;
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rx1_handler = NULL;
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tx0_handler = NULL;
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tx1_handler = NULL;
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tx2_handler = NULL;
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error_handler = NULL;
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wakeup_handler = NULL;
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message_error_handler = NULL;
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rx0_handler_arg = NULL;
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rx1_handler_arg = NULL;
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tx0_handler_arg = NULL;
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tx1_handler_arg = NULL;
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tx2_handler_arg = NULL;
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error_handler_arg = NULL;
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wakeup_handler_arg = NULL;
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message_error_handler_arg = NULL;
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}
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void MCP2521_CommandInterface::reset() {
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hardware_handle->execute(MCP2521_OP_RESET);
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}
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void MCP2521_CommandInterface::read_reg(uint8_t address, uint8_t *data, size_t length) {
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hardware_handle->read(MCP2521_OP_READ, data, length, address);
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}
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uint8_t MCP2521_CommandInterface::read_reg(uint8_t address) {
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return hardware_handle->read(MCP2521_OP_READ, address);
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}
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void MCP2521_CommandInterface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
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uint8_t address = (buffer << 1) | (type << 2);
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hardware_handle->read(MCP2521_OP_READ_RX_BUFFER | address, data, length);
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}
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void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t *data, size_t length) {
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hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
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}
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void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t data) {
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hardware_handle->write(MCP2521_OP_WRITE, data, address);
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}
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void MCP2521_CommandInterface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
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uint8_t address = (buffer << 1) | (type);
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hardware_handle->write(MCP2521_OP_LOAD_TX_BUFFER | address, data, length);
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}
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void MCP2521_CommandInterface::request_to_send(bool txb2, bool txb1, bool txb0) {
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uint8_t data = (txb2 << 2) | (txb1 << 1) | txb0;
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hardware_handle->execute(MCP2521_OP_RTS | data);
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}
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void MCP2521_CommandInterface::request_to_send(MCP2521_TX_BUFFER buffer) {
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uint8_t mask = 0;
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switch (buffer) {
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case MCP2521_TX_BUFFER::TXB0:
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mask = 0b001;
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break;
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case MCP2521_TX_BUFFER::TXB1:
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mask = 0b010;
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break;
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case MCP2521_TX_BUFFER::TXB2:
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mask = 0b100;
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break;
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}
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hardware_handle->execute(MCP2521_OP_RTS | mask);
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}
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uint8_t MCP2521_CommandInterface::read_status() {
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return hardware_handle->read(MCP2521_OP_READ_STATUS);
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}
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uint8_t MCP2521_CommandInterface::read_rx_status() {
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return hardware_handle->read(MCP2521_OP_RX_STATUS);
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}
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void MCP2521_CommandInterface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
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uint8_t data_array[3] = {address, mask, data};
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hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
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} |