WIP

Inc/mmr_can.h

@@ -194,6 +194,10 @@ HalStatus MMR_CAN_SendRaw(MmrCan *can, MmrCanMessageId msgId, void *data, uint8_
 HalStatus MMR_CAN_SendPacket(MmrCan *can, MmrCanPacket packet);
 
 
+#define MMR_CAN_SendStruct(pcan, messageId, pdata) \
+  MMR_CAN_SendRaw(pcan, messageId, pdata, sizeof(*pdata))
+
+
 /**
  * @brief
  * Sets the tick provider.
@@ -230,6 +234,14 @@ HalStatus MMR_CAN_FilterConfig(CanHandle *hcan, MmrCanFilterSettings settings);
  */
 MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings();
 
+
+HalStatus MMR_CAN_SendString(MmrCan *can, MmrCanMessageId msgId, const char *data);
+HalStatus MMR_CAN_SendInt(MmrCan *can, MmrCanMessageId msgId, int data);
+HalStatus MMR_CAN_SendFloat(MmrCan *can, MmrCanMessageId msgId, float data);
+HalStatus MMR_CAN_SendRaw(MmrCan *can, MmrCanMessageId msgId, void *data, uint8_t length);
+HalStatus MMR_CAN_SendPacket(MmrCan *can, MmrCanPacket packet);
+
+
 /**
  * @brief
  * Sends a can packet over the network.

Inc/mmr_can_ecu_messages.h

@@ -0,0 +1,40 @@
+#ifndef MMR_CAN_ECU_MESSAGES_H_
+#define MMR_CAN_ECU_MESSAGES_H_
+
+#include <stdint.h>
+
+typedef struct EcuPedalThrottle {
+  float apsAVoltage;
+  float apsBVoltage;
+  float throttleAVoltage;
+  float throttleBVoltage;
+} EcuPedalThrottle;
+
+typedef struct EcuTemperatures {
+  int16_t oil;
+  int16_t engine;
+  int16_t intake;
+  int16_t ambient;
+} EcuTemperatures;
+
+typedef struct EcuEngineFn1 {
+  float engineRpm;
+  float gear;
+  uint16_t vehicleSpeed;
+  uint16_t throttle;
+} EcuEngineFn1;
+
+typedef struct EcuPressures {
+  float oil;
+  float fuel;
+  float intake;
+  float ambient;
+} EcuPressures;
+
+typedef struct EcuEngineFn2 {
+  float batteryVoltage;
+  float acceleratorPedal;
+  float fanControl;
+} EcuEngineFn2;
+
+#endif // !MMR_CAN_ECU_MESSAGES_H_

Src/mmr_can_ecu_messages.c

@@ -0,0 +1,55 @@
+#include "mmr_can_ecu_messages.h"
+#include "mmr_can.h"
+
+#define ecuToHost(byteA, byteB) ((byteA << 8) | (byteB))
+
+
+EcuPedalThrottle MMR_CAN_GetEcuPedalThrottle(MmrCanMessage *message) {
+  uint8_t *buffer = message->store
+  return (EcuPedalThrottle) {
+    .apsAVoltage = ecuToHost(buffer[0], buffer[1]) / 1000,
+    .apsBVoltage = ecuToHost(buffer[2], buffer[3]) / 1000,
+    .throttleAVoltage = ecuToHost(buffer[4], buffer[5]) / 1000,
+    .throttleBVoltage = ecuToHost(buffer[6], buffer[7]) / 1000,
+  };
+}
+
+EcuTemperatures MMR_CAN_GetEcuTemperatures(MmrCanMessage *message) {
+  uint8_t *buffer = message->store
+  return (EcuTemperatures) {
+    .oil = ecuToHost(buffer[0], buffer[1]) - 40,
+    .engine = ecuToHost(buffer[2], buffer[3]) - 40,
+    .intake = ecuToHost(buffer[4], buffer[5]) - 40,
+    .ambient = ecuToHost(buffer[6], buffer[7]) - 40,
+  };
+}
+
+EcuEngineFn1 MMR_CAN_GetEcuEngineFn1(MmrCanMessage *message) {
+  uint8_t *buffer = message->store
+  return (EcuEngineFn1) {
+    .engineRpm = ecuToHost(buffer[0], buffer[1]),
+    .gear = ecuToHost(buffer[2], buffer[3])
+    .vehicleSpeed = ecuToHost(buffer[4], buffer[5]) / 100,
+    .throttle = ecuToHost(buffer[6], buffer[7]) / 100,
+  };
+}
+
+EcuPressures MMR_CAN_GetEcuPressures(MmrCanMessage *message) {
+  uint8_t *buffer = message->store
+  return (EcuPressures) {
+    .oil = ecuToHost(buffer[0], buffer[1]) / 100,
+    .fuel = ecuToHost(buffer[2], buffer[3]) / 100,
+    .intake = ecuToHost(buffer[4], buffer[5]) / 10,
+    .ambient = ecuToHost(buffer[6], buffer[7]) / 10,
+  };
+}
+
+EcuEngineFn2 MMR_CAN_GetEcuEngineFn2(MmrCanMessage *message) {
+  uint8_t *buffer = message->store
+  return (EcuEngineFn2) {
+    .batteryVoltage = ecuToHost(buffer[0], buffer[1]) / 1000,
+    .acceleratorPedal = ecuToHost(buffer[2], buffer[3]) / 100,
+    .fanControl = ecuToHost(buffer[4], buffer[5]) / 100,
+  };
+}
+

Src/mmr_can_receive.c

@@ -1,7 +1,28 @@
 #include <stdbool.h>
+#include <stdint.h>
 #include "mmr_can.h"
 
 
+#define cast(pmsg, to) (*(to*)(pmsg->store))
+
+
+uint16_t MMR_CAN_GetUInt16(MmrCanMessage *message) {
+  return cast(message, uint16_t);
+}
+
+uint32_t MMR_CAN_GetUInt32(MmrCanMessage *message) {
+  return cast(message, uint32_t);
+}
+
+uint64_t MMR_CAN_GetUInt64(MmrCanMessage *message) {
+  return cast(message, uint64_t);
+}
+
+float MMR_CAN_GetFloat(MmrCanMessage *message) {
+  return cast(message, float);
+}
+
+
 MmrResult MMR_CAN_TryReceive(MmrCan *can, MmrCanMessage *result) {
   size_t pendingMessages =
     HAL_CAN_GetRxFifoFillLevel(hcan, MMR_CAN_RX_FIFO);

Src/mmr_can_send.c

@@ -5,6 +5,7 @@
 #define MAILBOXES_COUNT 3
 
 static MmrCanHeader buildDefaultHeader(MmrCan *can, MmrCanMessageId msgId);
+static CanTxHeader buildTxHeader(MmrCan *can, MmrCanPacket *packet);
 static CanMailbox *getNextMailbox(MmrCan *can);
 
 
@@ -15,10 +16,12 @@ HalStatus MMR_CAN_SendString(MmrCan *can, MmrCanMessageId msgId, const char *dat
   return MMR_CAN_SendRaw(can, msgId, &data, len);
 }
 
+
 HalStatus MMR_CAN_SendInt(MmrCan *can, MmrCanMessageId msgId, int data) {
   return MMR_CAN_SendRaw(can, msgId, &data, sizeof(data))
 }
 
+
 HalStatus MMR_CAN_SendFloat(MmrCan *can, MmrCanMessageId msgId, float data) {
   return MMR_CAN_SendRaw(can, msgId, &data, sizeof(data));
 }
@@ -39,13 +42,8 @@ HalStatus MMR_CAN_SendRaw(
 
 
 HalStatus MMR_CAN_SendPacket(MmrCan *can, MmrCanPacket packet) {
-  CanTxHeader txHeader = {
+  CanTxHeader txHeader =
-    .ExtId = MMR_CAN_HeaderToBits(packet.header),
+    buildTxHeader(can, &packet);
-    .IDE = CAN_ID_EXT,
-    .RTR = CAN_RTR_DATA,
-    .DLC = packet->length,
-    .TransmitGlobalTime = DISABLE,
-  };
 
   return HAL_CAN_AddTxMessage(
     can->handle,
@@ -56,7 +54,7 @@ HalStatus MMR_CAN_SendPacket(MmrCan *can, MmrCanPacket packet) {
 }
 
 
-MmrCanHeader buildDefaultHeader(MmrCan *can, MmrCanMessageId msgId) {
+static MmrCanHeader buildDefaultHeader(MmrCan *can, MmrCanMessageId msgId) {
   return (MmrCanHeader){
     .messageId = msgId,
     .senderId = can->id,
@@ -66,6 +64,17 @@ MmrCanHeader buildDefaultHeader(MmrCan *can, MmrCanMessageId msgId) {
 }
 
 
+static CanTxHeader buildTxHeader(MmrCan *can, MmrCanPacket *packet) {
+  return (CanTxHeader){
+    .ExtId = MMR_CAN_HeaderToBits(packet->header),
+    .IDE = CAN_ID_EXT,
+    .RTR = CAN_RTR_DATA,
+    .DLC = packet->length,
+    .TransmitGlobalTime = DISABLE,
+  };
+}
+
+
 static CanMailbox *getNextMailbox(MmrCan *can) {
   can->currentMailbox++;
   can->currentMailbox %= MAILBOXES_COUNT;