From bd3e71fc31eaf623f6e333ab84c6995bb3395a93 Mon Sep 17 00:00:00 2001
From: nrs1g15 <nrs1g15@soton.ac.uk>
Date: Thu, 1 Aug 2019 22:38:26 +0100
Subject: [PATCH] Added arduino interrupt
---
sufst-controller/can.cpp | 44 ++++++++--------------------------------
sufst-controller/can.h | 2 +-
2 files changed, 10 insertions(+), 36 deletions(-)
diff --git a/sufst-controller/can.cpp b/sufst-controller/can.cpp
index cf6a339..781ede0 100644
--- a/sufst-controller/can.cpp
+++ b/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)) {
diff --git a/sufst-controller/can.h b/sufst-controller/can.h
index f01e8d4..5725d55 100644
--- a/sufst-controller/can.h
+++ b/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
--
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