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>

Inc/mmr_can.h

@@ -6,6 +6,7 @@
 #include "mmr_can_includes.h"
 #include "mmr_can_types.h"
 #include "mmr_can_optimize.h"
+#include "mmr_can_binary_literals.h"
 
 #ifndef MMR_CAN_RX_FIFO
 #define MMR_CAN_RX_FIFO CAN_RX_FIFO0
@@ -23,15 +24,11 @@
 #define MMR_CAN_RX_INTERRUPT CAN_IT_RX_FIFO1_MSG_PENDING
 #endif
 
-#ifndef MMR_CAN_ID
-#define MMR_CAN_ID 0x103
+#ifndef MMR_CAN_MAX_DATA_LENGTH
+#define MMR_CAN_MAX_DATA_LENGTH 8
 #endif
 
-#ifndef MMR_CAN_BUFFER_LEN
-#define MMR_CAN_BUFFER_LEN 8
-#endif
-
-typedef uint8_t CanRxBuffer[MMR_CAN_BUFFER_LEN];
+typedef uint8_t CanRxBuffer[MMR_CAN_MAX_DATA_LENGTH];
 
 
 typedef struct {
@@ -47,7 +44,10 @@ typedef struct {
    * The filter bank to use
    *
    * In systems with more than one CAN interface,
-   * this must go from 0 to slaveBankStart.
+   * this must go from 0 to slaveBankStart for the master CAN
+   * and from slaveBankStart to 27 for the slave CAN
+   * 
+   * Master CAN is usually CAN1, while slave CAN is CAN2
    */
   CanFilterBank bank;
 
@@ -63,13 +63,8 @@ typedef struct {
   CanFilterMask idMask;
 } MmrCanFilterSettings;
 
+
 typedef struct {
-  /**
-   * The id of the CAN interface that will receive the packet.
-   *
-   * If you are using the CANbus in loopback mode, it can be the
-   * id that the sender is using.
-   */
   CanId remoteId;
   CanMailbox *mailbox;
   uint8_t *data;
@@ -77,13 +72,48 @@ typedef struct {
 } MmrCanPacket;
 
 
+/**
+ * @brief
+ * These values can be appended to the extended-id
+ * portion of the CAN bus message (that is, the lower 5 bits
+ * of the standard id)
+ * 
+ * They are used to check if a message is either standalone
+ * or split into multiple frames
+ * 
+ * Multi-frame messages have a higher priority over normal ones
+ */
+typedef enum {
+  MMR_CAN_MESSAGE_TYPE_MULTI_FRAME = B_(0010),
+  MMR_CAN_MESSAGE_TYPE_MULTI_FRAME_END = B_(0011),
+  MMR_CAN_MESSAGE_TYPE_NORMAL = B_(1000),
+} MmrCanMessageType;
+
+
+/**
+ * @brief
+ * Represents a CAN message
+ */
+typedef struct {
+  CanId senderId;
+  void *store;
+} MmrCanMessage;
+
+
 #define MMR_CAN_FilterConfigDefault(phcan) \
   MMR_CAN_FilterConfig(phcan, MMR_CAN_GetDefaultFilterSettings())
 
+
+HalStatus MMR_CAN_BasicSetupAndStart(CanHandle *hcan);
 HalStatus MMR_CAN_FilterConfig(CanHandle *hcan, MmrCanFilterSettings settings);
 CanFilterMask MMR_CAN_AlignStandardMask(CanFilterMask baseMask);
 MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings();
 
 HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet);
+HalStatus MMR_CAN_Receive(CanHandle *hcan, MmrCanMessage *result);
+
+
+bool MMR_CAN_IsMultiFrame(CanRxHeader *header);
+bool MMR_CAN_IsMultiFrameEnd(CanRxHeader *header);
 
 #endif /* INC_MMR_CAN_H_ */