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Multiple frames implementation (#2)

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* 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>
This commit is contained in:
Stefano Calabretti
2021-12-09 11:39:39 +01:00
committed by GitHub
parent 90d1836dfa
commit 7b09401b00
9 changed files with 346 additions and 50 deletions
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Src/mmr_can.c
+24 -11
View File
@@ -1,8 +1,19 @@
#include "mmr_can.h"
#include "mmr_can_util.h"
static uint8_t maskIdLower5Bits(CanRxHeader *header);
HalStatus MMR_CAN_BasicSetupAndStart(CanHandle *hcan) {
return
MMR_CAN_FilterConfigDefault(hcan) |
HAL_CAN_Start(hcan)
;
}
HalStatus MMR_CAN_FilterConfig(CanHandle *hcan, MmrCanFilterSettings settings) {
CAN_FilterTypeDef filter = {
CanFilter filter = {
.FilterActivation = settings.enabled
? CAN_FILTER_ENABLE
: CAN_FILTER_DISABLE,
@@ -19,11 +30,13 @@ HalStatus MMR_CAN_FilterConfig(CanHandle *hcan, MmrCanFilterSettings settings) {
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,
@@ -35,14 +48,14 @@ MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings() {
}
HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet) {
CanTxHeader header = {
.IDE = CAN_ID_STD,
.RTR = CAN_RTR_DATA,
.DLC = packet.length,
.StdId = packet.remoteId,
.TransmitGlobalTime = DISABLE,
};
return HAL_CAN_AddTxMessage(hcan, &header, packet.data, packet.mailbox);
bool MMR_CAN_IsMultiFrame(CanRxHeader *header) {
return maskIdLower5Bits(header) == MMR_CAN_MESSAGE_TYPE_MULTI_FRAME;
}
bool MMR_CAN_IsMultiFrameEnd(CanRxHeader *header) {
return maskIdLower5Bits(header) == MMR_CAN_MESSAGE_TYPE_MULTI_FRAME;
}
static always_inline uint8_t maskIdLower5Bits(CanRxHeader *header) {
return mask(header->ExtId, B8_(0001, 1111));
}