First commit

Src/mmr_can.c

@@ -0,0 +1,66 @@
+#include "mmr_can.h"
+
+
+HalStatus MMR_CAN_FilterConfig(CanHandle *hcan, MmrCanFilterSettings settings) {
+  CAN_FilterTypeDef filter = {
+    .FilterActivation = settings.enabled
+      ? CAN_FILTER_ENABLE
+      : CAN_FILTER_DISABLE,
+
+    .FilterIdHigh = settings.idMask,
+    .FilterMaskIdHigh = settings.idMask,
+    .FilterFIFOAssignment = settings.fifo,
+    .FilterBank = settings.bank,
+    .SlaveStartFilterBank = settings.slaveBankStart,
+    .FilterMode = CAN_FILTERMODE_IDMASK,
+    .FilterScale = CAN_FILTERSCALE_32BIT,
+  };
+
+  return HAL_CAN_ConfigFilter(hcan, &filter);
+}
+
+CanFilterMask MMR_CAN_AlignStandardMask(CanFilterMask baseMask) {
+  static const uint8_t extendedMaskSurplusBytes = 5;
+  return baseMask << extendedMaskSurplusBytes;
+}
+
+MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings() {
+  return (MmrCanFilterSettings) {
+    .enabled = true,
+    .fifo = MMR_CAN_RX_FIFO,
+    .idMask = 0,
+    .bank = 0,
+    .slaveBankStart = 14,
+  };
+}
+
+
+HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet) {
+  CAN_TxHeaderTypeDef header = {
+    .IDE = CAN_ID_STD,
+    .RTR = CAN_RTR_DATA,
+    .DLC = packet.length,
+    .StdId = packet.slaveId,
+    .TransmitGlobalTime = DISABLE,
+  };
+
+  return HAL_CAN_AddTxMessage(hcan, &header, packet.data, packet.mailbox);
+}
+
+
+static void __handleCanRxInterrupt(CAN_HandleTypeDef *hcan) {
+  static CAN_RxHeaderTypeDef rxHeader = {};
+  static CanRxBuffer rxData = {};
+
+  HAL_CAN_GetRxMessage(hcan, MMR_CAN_RX_FIFO, &rxHeader, rxData);
+}
+
+#if MMR_CAN_RX_FIFO == CAN_RX_FIFO0
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
+  __handleCanRxInterrupt(hcan);
+}
+#elif MMR_CAN_RX_FIFO == CAN_RX_FIFO1
+void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
+  __handleCanRxInterrupt(hcan);
+}
+#endif