mmr/can
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Multiple frames (#8)

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* Add fields to mmr header

* Reorder priority constants

* Add message priority

* Add header to message

* Fix compile error

* Set correct bits in header

* Refactor

* Create queue
This commit is contained in:
Stefano Calabretti
2022-01-25 18:12:33 +01:00
committed by GitHub
parent e7bb09478e
commit 174f5e8d76
6 changed files with 117 additions and 69 deletions
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Src/mmr_can_receive.c
+10 -8
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@@ -1,14 +1,11 @@
#include <stdbool.h>
#include "mmr_can.h"
static HalStatus receiveOne(ReceptionParams *rp);
static HalStatus receiveAll(ReceptionParams *rp);
static bool headerIsMultiFrame(MmrCanHeader *header, CanId targetId);
typedef struct {
CanHandle *handle;
uint8_t *result;
struct {
CanRxHeader rx;
MmrCanHeader mmr;
@@ -18,6 +15,11 @@ typedef struct {
} ReceptionParams;
static HalStatus receiveOne(ReceptionParams *rp);
static HalStatus receiveAll(ReceptionParams *rp);
static bool headerIsMultiFrame(MmrCanHeader *header, CanId targetId);
/**
* @brief
* Reads a CAN message and stores it inside the
@@ -29,7 +31,7 @@ typedef struct {
HalStatus MMR_CAN_Receive(CanHandle *hcan, MmrCanMessage *result) {
ReceptionParams rp = {
.handle = hcan,
.result = interpretAs(uint8_t*, result->store),
.result = (uint8_t*)result->store,
.fifo = MMR_CAN_RX_FIFO,
};
@@ -38,7 +40,7 @@ HalStatus MMR_CAN_Receive(CanHandle *hcan, MmrCanMessage *result) {
return status;
}
result->senderId = rp.headers.mmr.senderId;
result->header = rp.headers.mmr;
if (MMR_CAN_IsMultiFrame(&rp.headers.mmr)) {
status |= receiveAll(&rp);
}
@@ -63,9 +65,9 @@ static HalStatus receiveAll(ReceptionParams *rp) {
static HalStatus receiveOne(ReceptionParams *rp) {
HalStatus status =
HAL_CAN_GetRxMessage(rp->hcan, rp->fifo, &(rp->headers.rx), rp->result);
HAL_CAN_GetRxMessage(rp->handle, rp->fifo, &(rp->headers.rx), rp->result);
rp->headers.mmr = convertTo(MmrCanHeader, header->ExtId);
rp->headers.mmr = convertTo(MmrCanHeader, rp->headers.rx.ExtId);
return status;
}