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>
2021-12-09 11:39:39 +01:00
parent 90d1836dfa
commit 7b09401b00
9 changed files with 346 additions and 50 deletions
@@ -0,0 +1,54 @@
+#include <stdbool.h>
+#include "mmr_can.h"
+
+static HalStatus receiveOne(CanHandle *hcan, CanRxHeader *header, uint8_t *result);
+static HalStatus receiveAll(CanHandle *hcan, CanRxHeader *header, uint8_t *result);
+static bool headerIsMultiFrame(CanRxHeader *header, CanId targetId);
+
+
+HalStatus MMR_CAN_Receive(CanHandle *hcan, MmrCanMessage *result) {
+  CanRxHeader header = {};
+  uint8_t *dest = result->store;
+  HalStatus status = receiveOne(hcan, &header, dest);
+
+  result->senderId = header.ExtId;
+  if (MMR_CAN_IsMultiFrame(&header)) {
+    status |= receiveAll(hcan, &header, dest);
+  }
+
+  return status;
+}
+
+
+static HalStatus receiveOne(
+  CanHandle *hcan,
+  CanRxHeader *header,
+  uint8_t *result
+) {
+  return HAL_CAN_GetRxMessage(hcan, MMR_CAN_RX_FIFO, header, result);
+}
+
+static HalStatus receiveAll(
+  CanHandle *hcan,
+  CanRxHeader *header,
+  uint8_t *result
+) {
+  CanId targetId = header->ExtId;
+  HalStatus status = HAL_OK;
+  do {
+    result += MMR_CAN_MAX_DATA_LENGTH;
+    status |= receiveOne(hcan, header, result);
+  } while (
+    headerIsMultiFrame(header, targetId) && status == HAL_OK
+  );
+
+  return status;
+}
+
+
+static bool headerIsMultiFrame(CanRxHeader *header, CanId targetId) {
+  return
+    MMR_CAN_IsMultiFrame(header) &&
+    !MMR_CAN_IsMultiFrameEnd(header) &&
+    header->DLC >= MMR_CAN_MAX_DATA_LENGTH;
+}