Add mbox interrupt handling

Protocol/CAN.h

@@ -106,7 +106,7 @@ public:
     void configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg);
     void configRxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg);
     void configSystemIsr(Uint32 flags);
-    void configMBoxIsr(Uint16 boxNumber);    // TODO not realized yet
+    void configMBoxIsr(Uint16 boxNumber);
 
     bool isNewMessage();
     bool isNewMessage(Uint16 boxNumber);

Protocol/CANConfig.cpp

@@ -269,4 +269,17 @@ void CAN::configSystemIsr(Uint32 flags){
     EDIS;
 }
 
+
+void CAN::configMBoxIsr(Uint16 boxNumber){
+    if (boxNumber > 31) return;
+
+    Uint32 mboxControl(0);
+    mboxControl = 1ul << boxNumber;
+
+    EALLOW;
+    p_CanRegs_->CANMIL.all |= mboxControl;
+    p_CanRegs_->CANMIM.all |= mboxControl;
+    EDIS;
+}
+
 } //canSpace

main.cpp

@@ -13,7 +13,10 @@
 void idle_loop(void);
 interrupt void cpu_timer0_isr(void);
 interrupt void canb_isr(void);
+interrupt void canb_box_isr(void);
+
 volatile Uint16 canISRcounter = 0;
+volatile Uint16 canBoxISRcounter = 0;
 
 canSpace::CAN canTest(canSpace::CANB);
 Uint16 msgsSent = 0;
@@ -45,6 +48,7 @@ void main()
     EALLOW;
     PieVectTable.TINT0 = &cpu_timer0_isr;
     PieVectTable.ECAN0INTB = &canb_isr;
+    PieVectTable.ECAN1INTB = &canb_box_isr;
     EDIS;
 
     // memcpy(&RamfuncsRunStart, &RamfuncsLoadStart, (Uint32)&RamfuncsLoadSize);
@@ -57,6 +61,7 @@ void main()
 
     PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
     PieCtrlRegs.PIEIER9.bit.INTx7 = 1;  // from 5 to 8
+    PieCtrlRegs.PIEIER9.bit.INTx8 = 1;
 
     canTest.initGpio();
     canTest.config(100);
@@ -168,3 +173,35 @@ interrupt void canb_isr(void){
 
     PieCtrlRegs.PIEACK.all |= PIEACK_GROUP9;
 }
+
+interrupt void canb_box_isr(void){
+    canBoxISRcounter++;
+
+    // Just example
+    //
+    // boxNumberIsr = ECanbRegs.CANGIF1.bit.MIV1;
+
+    // CANRMP_REG temp;
+    // temp.all = 0;
+    // temp.all = 1ul << 27;
+    // temp.all |= 1ul << 26;
+
+    // ECanbRegs.CANRMP.all = temp.all;
+
+    // MODBUS_COMM_CPU_Message27.mdh.all = ECanbMboxes.MBOX27.MDH.all;
+    // MODBUS_COMM_CPU_Message27.mdl.all = ECanbMboxes.MBOX27.MDL.all;
+
+    // MODBUS_COMM_CPU_Message26.mdh.all = ECanbMboxes.MBOX26.MDH.all;
+    // MODBUS_COMM_CPU_Message26.mdl.all = ECanbMboxes.MBOX26.MDL.all;
+
+    // temp.all = ECanbRegs.CANRMP.all;
+    // if (temp.bit.RMP25){
+    //     temp.all = 1ul << 25;
+    //     ECanbRegs.CANRMP.all = temp.all;
+
+    //     MODBUS_COMM_CPU_Message25.mdh.all = ECanbMboxes.MBOX25.MDH.all;
+    //     MODBUS_COMM_CPU_Message25.mdl.all = ECanbMboxes.MBOX25.MDL.all;
+    // }
+
+    PieCtrlRegs.PIEACK.all |= PIEACK_GROUP9;
+}