Add pin control and interrupt

mcp2515.c

@@ -251,20 +251,42 @@ CAN_Error MCP2515_Reset(MCP2515_HandleTypeDef* hcan) {
     return ERROR_OK;
 }
 
-CAN_Error MCP2515_Set_Listen_Only_Mode(MCP2515_HandleTypeDef* hcan) {
+CAN_Error MCP2515_Set_Mode(MCP2515_HandleTypeDef* hcan, MCP2515_Mode_t mode) {
-    return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_LISTENONLY);
+    switch (mode) {
+        case MODE_LISTEN_ONLY:
+            return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_LISTENONLY);
+        break;
+        case MODE_LOOPBACK: 
+            return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_LOOPBACK);
+        break;
+        case MODE_SLEEP: 
+            return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_SLEEP);
+        break;
+        case MODE_NORMAL: 
+            return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_NORMAL);
+        break;
+        default: 
+            return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_NORMAL);
+        break;
+    }
 }
 
-CAN_Error MCP2515_Set_Sleep_Mode(MCP2515_HandleTypeDef* hcan) {
+CAN_Error MCP2515_Set_Pin_Control(MCP2515_HandleTypeDef* hcan, bool B1BFS, bool B0BFS, bool B1BFE, bool B0BFE, bool B1BFM, bool B0BFM) {
-    return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_SLEEP);
+    CAN_Error error = MCP2515_Set_Config_Mode(hcan);
+    if (error != ERROR_OK) {
+        return error;
+    }
+    MCP2515_Set_Register(hcan, MCP_BFPCTRL, (B1BFS << 5) | (B0BFS << 4) | (B1BFE << 3) | (B0BFE << 2) | (B1BFM << 1) | B0BFM);
+    return ERROR_OK;
 }
 
-CAN_Error MCP2515_Set_Loopback_Mode(MCP2515_HandleTypeDef* hcan) {
+CAN_Error MCP2515_Set_Interrupt(MCP2515_HandleTypeDef* hcan, bool MERRIE, bool WAKIE, bool ERRIE, bool TX2IE, bool TX1IE, bool TX0IE, bool RX1IE, bool RX0IE) {
-    return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_LOOPBACK);
+    CAN_Error error = MCP2515_Set_Config_Mode(hcan);
-}
+    if (error != ERROR_OK) {
-
+        return error;
-CAN_Error MCP2515_Set_Normal_Mode(MCP2515_HandleTypeDef* hcan) {
+    }
-    return MCP2515_Set_Mode(hcan, CANCTRL_REQOP_NORMAL);
+    MCP2515_Set_Register(hcan, MCP_CANINTE, (MERRIE << 7) | (WAKIE << 6) | (ERRIE << 5) | (TX2IE << 4) | (TX1IE << 3) | (TX0IE << 2) | (RX1IE << 1) | RX0IE);
+    return ERROR_OK;
 }
 
 CAN_Error MCP2515_Set_Bitrate_Clock(MCP2515_HandleTypeDef* hcan, CAN_SPEED canSpeed, CAN_CLOCK canClock) {

mcp2515.h

@@ -50,6 +50,13 @@ typedef enum { TXB0 = 0, TXB1 = 1, TXB2 = 2 } TXBn;
 
 typedef enum { RXB0 = 0, RXB1 = 1 } RXBn;
 
+typedef enum {
+    MODE_LISTEN_ONLY,
+    MODE_SLEEP,
+    MODE_LOOPBACK,
+    MODE_NORMAL
+} MCP2515_Mode_t;
+
 typedef struct {
     SPI_HandleTypeDef* hspi;
     GPIO_TypeDef* cs_port;
@@ -66,10 +73,7 @@ void MCP2515_Init(MCP2515_HandleTypeDef* hcan, SPI_HandleTypeDef* hspi, GPIO_Typ
 CAN_Error MCP2515_Reset(MCP2515_HandleTypeDef* hcan);
 uint8_t MCP2515_Get_Status(MCP2515_HandleTypeDef* hcan);
 
-CAN_Error MCP2515_Set_Listen_Only_Mode(MCP2515_HandleTypeDef* hcan);
+CAN_Error MCP2515_Set_Mode(MCP2515_HandleTypeDef* hcan, MCP2515_Mode_t mode);
-CAN_Error MCP2515_Set_Sleep_Mode(MCP2515_HandleTypeDef* hcan);
-CAN_Error MCP2515_Set_Loopback_Mode(MCP2515_HandleTypeDef* hcan);
-CAN_Error MCP2515_Set_Normal_Mode(MCP2515_HandleTypeDef* hcan);
 
 CAN_Error MCP2515_Set_Bitrate_Clock(MCP2515_HandleTypeDef* hcan, CAN_SPEED canSpeed, CAN_CLOCK canClock);
 

mcp2515_consts.h

@@ -209,6 +209,7 @@ typedef enum {
             MCP_RXF2SIDL = 0x09,
             MCP_RXF2EID8 = 0x0A,
             MCP_RXF2EID0 = 0x0B,
+            MCP_BFPCTRL  = 0x0C,
             MCP_CANSTAT  = 0x0E,
             MCP_CANCTRL  = 0x0F,
             MCP_RXF3SIDH = 0x10,