Fix header bit translation

Inc/mmr_can_header.h

@@ -54,14 +54,14 @@ typedef struct {
  * 3 bits set to zero and the remaining 29 containing the
  * extended id
  */
-uint32_t *MMR_CAN_HeaderToBits(MmrCanHeader *header);
+uint32_t MMR_CAN_HeaderToBits(MmrCanHeader header);
 
 /**
  * @brief
  * Converts a 32bits integer to an MmrCanHeader.
  * The left-most 3 bits must be of padding.
  */
-MmrCanHeader *MMR_CAN_HeaderFromBits(uint32_t *bits);
+MmrCanHeader MMR_CAN_HeaderFromBits(uint32_t bits);
 
 
 /**

Src/mmr_can_header.c

@@ -2,12 +2,23 @@
 #include "mmr_can_util.h"
 #include "mmr_can_optimize.h"
 
-uint32_t *MMR_CAN_HeaderToBits(MmrCanHeader *header) {
-  return (uint32_t*)header;
+uint32_t MMR_CAN_HeaderToBits(MmrCanHeader header) {
+  return 0
+    | ((uint32_t)header.priority << 26)
+	| ((uint32_t)header.messageId << 23)
+    | ((uint32_t)header.senderId << 13)
+    | ((uint32_t)header.seqNumber << 3)
+    | ((uint32_t)header.messageType);
 }
 
-MmrCanHeader *MMR_CAN_HeaderFromBits(uint32_t *bits) {
-  return (MmrCanHeader*)bits;
+MmrCanHeader MMR_CAN_HeaderFromBits(uint32_t bits) {
+  return (MmrCanHeader) {
+	.priority = bits >> 26,
+    .messageId = bits >> 23,
+	.senderId = bits >> 13,
+	.seqNumber = bits >> 3,
+	.messageType = bits,
+  };
 }
 
 

Src/mmr_can_receive.c

@@ -64,10 +64,14 @@ static HalStatus receiveAll(ReceptionParams *rp) {
 
 
 static HalStatus receiveOne(ReceptionParams *rp) {
-  HalStatus status =
-    HAL_CAN_GetRxMessage(rp->handle, rp->fifo, &(rp->headers.rx), rp->result);
+  HalStatus status = HAL_CAN_GetRxMessage(
+    rp->handle,
+	rp->fifo,
+	&rp->headers.rx,
+	rp->result
+  );
 
-  rp->headers.mmr = convertTo(MmrCanHeader, rp->headers.rx.ExtId);
+  rp->headers.mmr = MMR_CAN_HeaderFromBits(rp->headers.rx.ExtId);
   return status;
 }
 

Src/mmr_can_scs_manager.c

@@ -9,7 +9,7 @@ static MmrCanScsEntry* clearEntry(MmrCanHeader header);
 static MmrCanScsEntry* findEntry(MmrCanHeader header);
 
 static TimerRange getCurrentTime();
-static HalStatus sendScs(CanHandle *hcan, MmrCanHeader header);
+HalStatus sendScs(CanHandle *hcan, MmrCanHeader header);
 static MmrCanScsCheckResult checkScs(MmrCanScsEntry *entry);
 
 
@@ -62,6 +62,10 @@ HalStatus MMR_CAN_HandleNextScs(CanHandle *hcan) {
   static int counter = 0;
   MmrCanScsEntry *entry = &__scsEntries[counter++ % MMR_CAN_SCS_ENTRIES_COUNT];
 
+  if (MMR_CAN_HeaderToBits(entry->header) == 0) {
+	return HAL_OK;
+  }
+
   switch (checkScs(entry)) {
   case MMR_CAN_SCS_CHECK_ERROR: return HAL_ERROR;
   case MMR_CAN_SCS_CHECK_OK: return HAL_OK;
@@ -134,14 +138,14 @@ MmrCanScsEntry* clearEntry(MmrCanHeader header) {
 }
 
 MmrCanScsEntry* findEntry(MmrCanHeader header) {
-  uint32_t *target = MMR_CAN_HeaderToBits(&header);
+  uint32_t target = MMR_CAN_HeaderToBits(header);
   uint32_t i = 0;
 
   for (; i < MMR_CAN_SCS_ENTRIES_COUNT; i++) {
     MmrCanScsEntry *entry = __scsEntries + i;
-    uint32_t *curr = MMR_CAN_HeaderToBits(&entry->header);
+    uint32_t curr = MMR_CAN_HeaderToBits(entry->header);
 
-    if (*curr == *target) {
+    if (curr == target) {
       return entry;
     }
   }

Src/mmr_can_send.c

@@ -24,6 +24,9 @@ static void setMessageType(TransmissionParams *header, MmrCanMessageType type);
 static void syncHeaders(TransmissionParams *tp);
 
 
+static CanMailbox __mailbox;
+
+
 HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet) {
   TransmissionParams tp = {
     .handle = hcan,
@@ -57,7 +60,6 @@ HalStatus MMR_CAN_SendNoTamper(CanHandle *hcan, MmrCanPacket packet) {
     },
   };
 
-  syncHeaders(&tp);
   return send(&tp);
 }
 
@@ -108,13 +110,13 @@ static HalStatus send(TransmissionParams *tp) {
     tp->handle,
     &tp->headers.tx,
     tp->packet->data,
-    tp->packet->mailbox
+    &__mailbox
   );
 }
 
 
 static void syncHeaders(TransmissionParams *tp) {
-  tp->headers.tx.ExtId = *MMR_CAN_HeaderToBits(&tp->headers.mmr);
+  tp->headers.tx.ExtId = MMR_CAN_HeaderToBits(tp->headers.mmr);
 }