Added arduino interrupt

sufst-controller/can.cpp

@@ -45,6 +45,13 @@ extern void ecuCanMsg0x2008(CanMsgTemplate *canMsg);
 
 extern void ecuCanMsg0x2009(CanMsgTemplate *canMsg);
 
+static void canISR();
+
+static void canISR()
+{
+    canSaveMsg();
+}
+
 // ECU can messages function pointers for calling the corresponding function when that msg is seen.
 // Used in function canParseRxMsg.
 void
@@ -68,6 +75,8 @@ uint8_t canBegin()
 
     pinMode(CAN_INT_PIN, INPUT_PULLUP);
 
+    attachInterrupt(digitalPinToInterrupt(CAN_INT_PIN), canISR, FALLING);
+
     // Initialize the Arduino CAN class with slave select pin.
     can.init_CS(CAN_CS_PIN);
 
@@ -145,41 +154,6 @@ void canAddTxRequest(CanMsgTemplate *canMsg)
     cirBufferWrite(&canTxCirBuffer, canMsg);
 }
 
-// External interrupt currently only designed to work with atmega 2560
-#if !defined(__AVR_ATmega2560__)
-#error "PLATFORM NOT SUPPORTED CURRENTLY"
-#endif // !defined(atmega2560)
-
-#if CAN_INT_PIN != 2
-#error "CAN_INT_PIN CHANGED FROM 2"
-#endif //CAN_INT_PIN != 2
-
-void canBeginExtInterrupt()
-{
-    noInterrupts();
-
-    // On the mega 2560 pin 2 is external interrupt 4
-    EIMSK &= ~(1 << INT4);
-
-    EICRB &= ~(1 << ISC41);
-    //EICRB &= ~(1 << ISC40);
-
-    EIMSK |= (1 << INT4);
-
-    interrupts();
-}
-
-ISR(INT4_vect) {
-
-    noInterrupts();
-
-    lastCanMsgRecTimeMs = millis();
-
-    canSaveMsg();
-
-    interrupts();
-}
-
 void canParseRxMsg(CanMsgTemplate *canMsg)
 {
     if ((canMsg->id >= 0x2000) && (canMsg->id <= 0x200A)) {

sufst-controller/can.h

@@ -9,7 +9,7 @@
 
 // CAN_INT_PIN MUST BE 2
 #define CAN_INT_PIN 2
-#define CAN_CS_PIN 9
+#define CAN_CS_PIN 10
 
 #define CAN_RX_BUFFER_LEN 32
 #define CAN_TX_BUFFER_LEN 32