Multiple frames implementation (#2)
* Add rx event handlers * Fix compile errors and add constness * Pass sender id * Change api interface * Revert changes * Add filter fifo * Add default setup * Add receive function * Remove interrupt activation * Activate RX interrupts * Merge remote changes * Add event list constructor * Fix compilation bug * Send and receive multiple frames * Refactor * Refactor * Fix compile error * Use known syntax * Refactor * Provide storage * Add frame end * Add some documentation * Turn macros into functions * Refactor * Refactor * Fix compile error * Use ExtendedIds Co-authored-by: Riccardo998 <riccardo.storchi98@gmail.com>
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Stefano Calabretti
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GitHub
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90d1836dfa
commit
7b09401b00
+44
-14
@@ -6,6 +6,7 @@
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#include "mmr_can_includes.h"
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#include "mmr_can_types.h"
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#include "mmr_can_optimize.h"
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#include "mmr_can_binary_literals.h"
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#ifndef MMR_CAN_RX_FIFO
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#define MMR_CAN_RX_FIFO CAN_RX_FIFO0
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@@ -23,15 +24,11 @@
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#define MMR_CAN_RX_INTERRUPT CAN_IT_RX_FIFO1_MSG_PENDING
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#endif
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#ifndef MMR_CAN_ID
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#define MMR_CAN_ID 0x103
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#ifndef MMR_CAN_MAX_DATA_LENGTH
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#define MMR_CAN_MAX_DATA_LENGTH 8
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#endif
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#ifndef MMR_CAN_BUFFER_LEN
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#define MMR_CAN_BUFFER_LEN 8
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#endif
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typedef uint8_t CanRxBuffer[MMR_CAN_BUFFER_LEN];
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typedef uint8_t CanRxBuffer[MMR_CAN_MAX_DATA_LENGTH];
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typedef struct {
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@@ -47,7 +44,10 @@ typedef struct {
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* The filter bank to use
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*
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* In systems with more than one CAN interface,
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* this must go from 0 to slaveBankStart.
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* this must go from 0 to slaveBankStart for the master CAN
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* and from slaveBankStart to 27 for the slave CAN
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*
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* Master CAN is usually CAN1, while slave CAN is CAN2
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*/
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CanFilterBank bank;
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@@ -63,13 +63,8 @@ typedef struct {
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CanFilterMask idMask;
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} MmrCanFilterSettings;
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typedef struct {
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/**
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* The id of the CAN interface that will receive the packet.
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*
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* If you are using the CANbus in loopback mode, it can be the
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* id that the sender is using.
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*/
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CanId remoteId;
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CanMailbox *mailbox;
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uint8_t *data;
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@@ -77,13 +72,48 @@ typedef struct {
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} MmrCanPacket;
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/**
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* @brief
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* These values can be appended to the extended-id
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* portion of the CAN bus message (that is, the lower 5 bits
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* of the standard id)
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*
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* They are used to check if a message is either standalone
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* or split into multiple frames
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*
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* Multi-frame messages have a higher priority over normal ones
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*/
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typedef enum {
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MMR_CAN_MESSAGE_TYPE_MULTI_FRAME = B_(0010),
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MMR_CAN_MESSAGE_TYPE_MULTI_FRAME_END = B_(0011),
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MMR_CAN_MESSAGE_TYPE_NORMAL = B_(1000),
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} MmrCanMessageType;
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/**
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* @brief
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* Represents a CAN message
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*/
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typedef struct {
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CanId senderId;
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void *store;
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} MmrCanMessage;
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#define MMR_CAN_FilterConfigDefault(phcan) \
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MMR_CAN_FilterConfig(phcan, MMR_CAN_GetDefaultFilterSettings())
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HalStatus MMR_CAN_BasicSetupAndStart(CanHandle *hcan);
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HalStatus MMR_CAN_FilterConfig(CanHandle *hcan, MmrCanFilterSettings settings);
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CanFilterMask MMR_CAN_AlignStandardMask(CanFilterMask baseMask);
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MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings();
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HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet);
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HalStatus MMR_CAN_Receive(CanHandle *hcan, MmrCanMessage *result);
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bool MMR_CAN_IsMultiFrame(CanRxHeader *header);
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bool MMR_CAN_IsMultiFrameEnd(CanRxHeader *header);
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#endif /* INC_MMR_CAN_H_ */
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@@ -0,0 +1,64 @@
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#ifndef INC_MMR_CAN_BINARY_LITERALS_H_
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#define INC_MMR_CAN_BINARY_LITERALS_H_
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/**
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* @brief
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* These set of macros (B_, B8_, B16_, B32_) allow one
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* to convert bit literals to their hexadecimal representation
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*
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* They are useful when it is needed to convey exactly which bits
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* are being set for a particular register, message etc...
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*
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* @example
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* B_(1010) = 0xA
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* B8_(1111, 1111) = 0xFF
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*
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* -----------------------------------------------------------
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* Macros taken from https://stackoverflow.com/a/7577517 and
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* sligthly readapted
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*/
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#define __B_0000 0
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#define __B_0001 1
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#define __B_0010 2
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#define __B_0011 3
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#define __B_0100 4
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#define __B_0101 5
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#define __B_0110 6
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#define __B_0111 7
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#define __B_1000 8
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#define __B_1001 9
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#define __B_1010 a
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#define __B_1011 b
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#define __B_1100 c
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#define __B_1101 d
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#define __B_1110 e
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#define __B_1111 f
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#define __B2H(bits) __B_ ## bits
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#define _B2H(bits) __B2H(bits)
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#define __HEX(n) 0x ## n
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#define _HEX(n) __HEX(n)
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#define __CCAT(a,b) a ## b
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#define _CCAT(a,b) __CCAT(a,b)
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#define B_(a) _HEX(_B2H(a))
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#define B8_(a, b) _HEX(_CCAT(_B2H(a), _B2H(b)))
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#define B16_(a, b, c, d) \
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_HEX(_CCAT( \
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_CCAT(_B2H(a), _B2H(b)), \
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_CCAT(_B2H(c), _B2H(d)) \
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))
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#define B32_(a, b, c, d, e, f, g, h) \
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_HEX(_CCAT( \
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_CCAT( \
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_CCAT(_B2H(a), _B2H(b)), \
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_CCAT(_B2H(c),_B2H(d))), \
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_CCAT( \
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_CCAT(_B2H(e), _B2H(f)), \
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_CCAT(_B2H(g), _B2H(h)) \
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) \
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))
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#endif /* INC_MMR_CAN_BINARY_LITERALS_H_ */
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@@ -2,21 +2,19 @@
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#define INC_MMR_CAN_EVENTS_H_
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#include "mmr_can.h"
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#include "mmr_can_util.h"
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typedef struct {
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CanId senderId;
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uint8_t *message;
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} MmrCanEvent;
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typedef void (*MmrCanEventHandler)(MmrCanEvent *event);
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typedef void (*MmrCanEventHandler)(const MmrCanMessage *event);
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typedef struct {
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const MmrCanEventHandler *handlers;
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const size_t count;
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} MmrCanEventList;
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#define MMR_CAN_CreateEventList(handlers) \
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(const MmrCanEventList) { handlers, sizeofarray(handlers) }
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void MMR_CAN_InitRxHandlers(const MmrCanEventList *rxEvents);
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HalStatus MMR_CAN_InitRxHandlers(CanHandle *hcan, const MmrCanEventList *rxEvents);
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#endif /* INC_MMR_CAN_EVENTS_H_ */
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@@ -35,5 +35,6 @@ typedef HAL_StatusTypeDef HalStatus;
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typedef CAN_HandleTypeDef CanHandle;
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typedef CAN_RxHeaderTypeDef CanRxHeader;
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typedef CAN_TxHeaderTypeDef CanTxHeader;
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typedef CAN_FilterTypeDef CanFilter;
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#endif /* INC_MMR_CAN_TYPES_H_ */
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+8
-5
@@ -4,14 +4,17 @@
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#include <stdint.h>
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#include <string.h>
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#define arrayLength(array) \
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#define sizeofarray(array) \
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(sizeof(array) / sizeof(*(array)))
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#define stringArrayLength(array) \
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stringBufferLength((array), sizeof(array))
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stringBufferLength((array), sizeofarray(array))
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#define stringBufferLength(pbuffer, maxLen) \
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strnlen((const char*)(pbuffer), maxLen)
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#define min(a, b) ((a) < (b) ? a : b);
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#define mask(value, bits) (value & bits)
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size_t stringBufferLength(uint8_t *buffer, size_t maxLen) {
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return strnlen((const char*)buffer, maxLen);
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}
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#endif /* INC_MMR_CAN_UTIL_H_ */
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