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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_send.c
+69 -58
View File
@@ -3,57 +3,63 @@
#include "mmr_can_util.h"
static HalStatus sendNormal(CanHandle *hcan, CanTxHeader *header, MmrCanPacket *packet);
static HalStatus sendMulti(CanHandle *hcan, CanTxHeader *header, MmrCanPacket *packet);
static HalStatus sendSingleMultiFrame(CanHandle *hcan, CanTxHeader *header, MmrCanPacket *packet, uint8_t *offset);
static uint8_t computeFramesToSend(MmrCanPacket *packet);
static uint8_t computeNextMessageLength(MmrCanPacket *packet, uint8_t offset);
typedef struct {
CanHandle *handle;
MmrCanPacket *packet;
struct {
CanTxHeader tx;
MmrCanHeader mmr;
} headers;
} TransmissionParams;
static HalStatus send(TransmissionParams *tp);
static HalStatus sendNormal(TransmissionParams *tp);
static HalStatus sendMulti(TransmissionParams *tp);
static HalStatus sendSingleMultiFrame(TransmissionParams *tp);
static uint8_t computeFramesToSend(MmrCanPacket *packet);
static uint8_t computeNextMessageLength(MmrCanPacket *packet);
static void setMessageType(TransmissionParams *header, MmrCanMessageType type);
static void syncHeaders(TransmissionParams *tp);
HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet) {
CanTxHeader header = {
.IDE = CAN_ID_EXT,
.RTR = CAN_RTR_DATA,
.DLC = packet.length,
.ExtId = convertTo(uint32_t, packet.header),
.TransmitGlobalTime = DISABLE,
TransmissionParams tp = {
.handle = hcan,
.packet = &packet,
.headers.tx = {
.IDE = CAN_ID_EXT,
.RTR = CAN_RTR_DATA,
.DLC = packet.length,
.TransmitGlobalTime = DISABLE,
},
};
syncHeaders(&tp);
return packet.length <= MMR_CAN_MAX_DATA_LENGTH
? sendNormal(hcan, &header, &packet)
: sendMulti(hcan, &header, &packet);
? sendNormal(&tp)
: sendMulti(&tp);
}
static HalStatus sendNormal(
CanHandle *hcan,
CanTxHeader *header,
MmrCanPacket *packet
) {
header->ExtId |= MMR_CAN_MESSAGE_TYPE_NORMAL;
return
HAL_CAN_AddTxMessage(hcan, header, packet->data, packet->mailbox);
static HalStatus sendNormal(TransmissionParams *tp) {
setMessageType(tp, MMR_CAN_MESSAGE_TYPE_NORMAL);
return send(tp);
}
static HalStatus sendMulti(
CanHandle *hcan,
CanTxHeader *header,
MmrCanPacket *packet
) {
static HalStatus sendMulti(TransmissionParams *tp) {
HalStatus status = HAL_OK;
uint8_t offset = 0;
uint8_t framesToSend = computeFramesToSend(packet);
uint8_t framesToSend = computeFramesToSend(tp->packet);
header->ExtId |= MMR_CAN_MESSAGE_TYPE_MULTI_FRAME;
setMessageType(tp, MMR_CAN_MESSAGE_TYPE_MULTI_FRAME);
do {
bool isLastFrame = framesToSend <= 1;
if (isLastFrame) {
header->ExtId |= MMR_CAN_MESSAGE_TYPE_MULTI_FRAME_END;
setMessageType(tp, MMR_CAN_MESSAGE_TYPE_MULTI_FRAME_END);
}
status |=
sendSingleMultiFrame(hcan, header, packet, &offset);
status |= sendSingleMultiFrame(tp);
}
while (framesToSend-- > 1 && status == HAL_OK);
@@ -61,19 +67,32 @@ static HalStatus sendMulti(
}
static HalStatus sendSingleMultiFrame(
CanHandle *hcan,
CanTxHeader *header,
MmrCanPacket *packet,
uint8_t *offset
) {
uint8_t *dataStart = packet->data + (*offset);
uint8_t length = computeNextMessageLength(packet, *offset);
static HalStatus sendSingleMultiFrame(TransmissionParams *tp) {
uint8_t length =
computeNextMessageLength(tp->packet);
header->DLC = length;
*offset += length;
tp->packet->length -= length;
tp->packet->data += length;
tp->headers.tx.DLC = length;
return HAL_CAN_AddTxMessage(hcan, header, dataStart, packet->mailbox);
return send(tp);
}
static HalStatus send(TransmissionParams *tp) {
syncHeaders(tp);
return HAL_CAN_AddTxMessage(
tp->handle,
&tp->headers.tx,
tp->packet->data,
tp->packet->mailbox
);
}
static void syncHeaders(TransmissionParams *tp) {
tp->headers.tx.ExtId = *MMR_CAN_HeaderToBits(&tp->headers.mmr);
}
@@ -109,22 +128,14 @@ static uint8_t computeFramesToSend(MmrCanPacket *packet) {
/**
* @brief
* Returns the length for the next message, either
* 8 bytes or a lower value, keeping the offset into count.
*
* @example
* Given
* - a 17 bytes packet
* - an offset starting at 0 and supposedly incrementing
* of 8 after each call
*
* Three subsequent calls to this function will return
* First call -> min(17 - 0, 8) = min(17, 8) = 8 (bytes)
* Second call -> min(17 - 8, 8) = min(9, 8) = 8 (bytes)
* Third call -> min(17 - 16, 8) = min(1, 8) = 1 (byte)
* 8 bytes or a lower value.
*/
static uint8_t computeNextMessageLength(MmrCanPacket *packet, uint8_t offset) {
uint8_t remainingBytes = packet->length - offset;
static uint8_t computeNextMessageLength(MmrCanPacket *packet) {
return min(
remainingBytes, MMR_CAN_MAX_DATA_LENGTH
packet->length, MMR_CAN_MAX_DATA_LENGTH
);
}
static always_inline void setMessageType(TransmissionParams *tp, MmrCanMessageType type) {
tp->headers.mmr.messageType = type;
}