From 906dfcd3dba5021ae8fa0dbd52742532a4b727ec Mon Sep 17 00:00:00 2001
From: Stefano Calabretti <45517710+cala-br@users.noreply.github.com>
Date: Sat, 29 Jan 2022 13:27:37 +0100
Subject: [PATCH] Update header (#9)

* Add ack message type

* Rename dictionaryEntry to messageId

* Refactor

* Map message ids
---
 Inc/mmr_can_header.h     |  5 ++--
 Inc/mmr_can_message_id.h | 63 ++++++++++++++++++++++++++++++++++++++++
 Src/mmr_can_message_id.c | 23 +++++++++++++++
 Src/mmr_can_send.c       |  1 +
 4 files changed, 90 insertions(+), 2 deletions(-)
 create mode 100644 Inc/mmr_can_message_id.h
 create mode 100644 Src/mmr_can_message_id.c

diff --git a/Inc/mmr_can_header.h b/Inc/mmr_can_header.h
index c148cce..7a5cf88 100644
--- a/Inc/mmr_can_header.h
+++ b/Inc/mmr_can_header.h
@@ -4,6 +4,7 @@
 #include <stdbool.h>
 #include "mmr_can_util.h"
 #include "mmr_can_binary_literals.h"
+#include "mmr_can_message_id.h"
 
 /**
  * @brief
@@ -18,13 +19,13 @@
  * messages have a higher priority over normal ones
  */
 typedef enum {
+  MMR_CAN_MESSAGE_ACK = B_(0001),
   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;
 
 
-
 typedef enum {
   MMR_CAN_MESSAGE_PRIORITY_LOW = B_(0010),
   MMR_CAN_MESSAGE_PRIORITY_NORMAL = B_(0001),
@@ -39,7 +40,7 @@ typedef enum {
  */
 typedef struct {
   MmrCanMessagePriority priority : 3;
-  uint32_t dictionaryEntry : 10;
+  MmrCanMessageId messageId : 10;
   uint32_t senderId : 12;
   MmrCanMessageType messageType : 4;
 } MmrCanHeader;
diff --git a/Inc/mmr_can_message_id.h b/Inc/mmr_can_message_id.h
new file mode 100644
index 0000000..68d1082
--- /dev/null
+++ b/Inc/mmr_can_message_id.h
@@ -0,0 +1,63 @@
+#ifndef INC_MMR_CAN_MESSAGE_ID_H_
+#define INC_MMR_CAN_MESSAGE_ID_H_
+
+#include <stdbool.h>
+#include "mmr_can_binary_literals.h"
+
+/**
+ * @brief
+ * Message ids are 10 bits wide
+ * The first 3 bits determine the message id type, while
+ * the other 7 determine the subtype.
+ * 
+ * Ids scheme:
+ *
+ *  id  | type | subtype
+ * -----|------|---------
+ *  SCS | 000  | xxxxxxx
+ */
+typedef enum MmrCanMessageId MmrCanMessageId;
+
+typedef enum {
+  MMR_CAN_MESSAGE_ID_TYPE_SCS = 0,
+} MmrCanMessageIdType;
+
+
+uint8_t MMR_CAN_GetMessageIdType(MmrCanMessageId msgId);
+uint8_t MMR_CAN_GetMessageIdSubtype(MmrCanMessageId msgId);
+
+bool MMR_CAN_IsMessageIdOfType(MmrCanMessageId msgId, MmrCanMessageIdType type);
+bool MMR_CAN_IsMessageIdSCS(MmrCanMessageId msgId);
+
+
+enum MmrCanMessageId {
+// SCS
+  MMR_CAN_MESSAGE_ID_SCS_PPA = 0x1,
+  MMR_CAN_MESSAGE_ID_SCS_PLF,
+  MMR_CAN_MESSAGE_ID_SCS_LV12,
+  MMR_CAN_MESSAGE_ID_SCS_LV24,
+  MMR_CAN_MESSAGE_ID_SCS_PF,
+  MMR_CAN_MESSAGE_ID_SCS_FRBPS,
+  MMR_CAN_MESSAGE_ID_SCS_EBS,
+  MMR_CAN_MESSAGE_ID_SCS_APPS,
+  MMR_CAN_MESSAGE_ID_SCS_TPS,
+  
+  MMR_CAN_MESSAGE_ID_SCS_AS_R2D,
+  MMR_CAN_MESSAGE_ID_SCS_AS_TS,
+  MMR_CAN_MESSAGE_ID_SCS_AS_FINISHED,
+  MMR_CAN_MESSAGE_ID_SCS_AS_EMERGENCY,
+  MMR_CAN_MESSAGE_ID_SCS_AS_READY,
+  MMR_CAN_MESSAGE_ID_SCS_AS_DRIVING,
+  MMR_CAN_MESSAGE_ID_SCS_AS_OFF,
+  
+  MMR_CAN_MESSAGE_ID_SCS_AM_MANUAL_DRIVING,
+  MMR_CAN_MESSAGE_ID_SCS_AM_ACCELERATION,
+  MMR_CAN_MESSAGE_ID_SCS_AM_SKIDPAD,
+  MMR_CAN_MESSAGE_ID_SCS_AM_AUTOCROSS,
+  MMR_CAN_MESSAGE_ID_SCS_AM_TRACKDRIVE,
+  MMR_CAN_MESSAGE_ID_SCS_AM_EBS_TEST,
+  MMR_CAN_MESSAGE_ID_SCS_AM_INSPECTION = 0x17,
+// !SCS
+};
+
+#endif // !INC_MMR_CAN_MESSAGE_ID_H_
diff --git a/Src/mmr_can_message_id.c b/Src/mmr_can_message_id.c
new file mode 100644
index 0000000..d224d92
--- /dev/null
+++ b/Src/mmr_can_message_id.c
@@ -0,0 +1,23 @@
+#include "mmr_can_message_id.h"
+
+
+bool MMR_CAN_IsMessageIdSCS(MmrCanMessageId msgId) {
+  return MMR_CAN_IsMessageIdOfType(msgId, MMR_CAN_MESSAGE_ID_TYPE_SCS);
+}
+
+
+bool MMR_CAN_IsMessageIdOfType(
+  MmrCanMessageId msgId,
+  MmrCanMessageIdType type
+) {
+  return MMR_CAN_GetMessageIdType(msgId) == type;
+}
+
+
+uint8_t MMR_CAN_GetMessageIdType(MmrCanMessageId msgId) {
+  return msgId >> 7;
+}
+
+uint8_t MMR_CAN_GetMessageIdSubtype(MmrCanMessageId msgId) {
+  return msgId & B8_(0111, 1111);
+}
diff --git a/Src/mmr_can_send.c b/Src/mmr_can_send.c
index 1c06ba8..4e02a7d 100644
--- a/Src/mmr_can_send.c
+++ b/Src/mmr_can_send.c
@@ -23,6 +23,7 @@ static uint8_t computeNextMessageLength(MmrCanPacket *packet);
 static void setMessageType(TransmissionParams *header, MmrCanMessageType type);
 static void syncHeaders(TransmissionParams *tp);
 
+
 HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet) {
   TransmissionParams tp = {
     .handle = hcan,