Merge branch 'scs' of https://github.com/mmr-driverless/mmr_can into scs

Inc/mmr_can_header.h

@@ -22,7 +22,7 @@ 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),
+  MMR_CAN_MESSAGE_TYPE_NORMAL = B_(0100),
 } MmrCanMessageType;
 
 
@@ -40,9 +40,10 @@ typedef enum {
  */
 typedef struct {
   MmrCanMessagePriority priority : 3;
-  MmrCanMessageId messageId : 10;
+  uint16_t messageId : 10;
-  uint32_t senderId : 12;
+  uint16_t senderId : 10;
-  MmrCanMessageType messageType : 4;
+  uint8_t seqNumber : 3;
+  MmrCanMessageType messageType : 3;
 } MmrCanHeader;
 
 

Inc/mmr_can_message_id.h

@@ -1,6 +1,7 @@
 #ifndef INC_MMR_CAN_MESSAGE_ID_H_
 #define INC_MMR_CAN_MESSAGE_ID_H_
 
+#include <stdint.h>
 #include <stdbool.h>
 #include "mmr_can_binary_literals.h"
 

Inc/mmr_can_scs_dict.h

@@ -0,0 +1,27 @@
+#ifndef INC_MMR_CAN_SCS_H_
+#define INC_MMR_CAN_SCS_H_
+
+#ifndef MMR_CAN_SCS_DICTIONARY_SIZE
+#define MMR_CAN_SCS_DICTIONARY_SIZE 5
+#endif
+
+#include <stdint.h>
+#include "mmr_can.h"
+
+
+typedef struct {
+  uint32_t key;
+  uint32_t delayStart;
+} MmrCanScsDictEntry;
+
+typedef MmrCanScsDictEntry MmrCanScsDictionary[MMR_CAN_SCS_DICTIONARY_SIZE];
+typedef void(*MmrCanScsDictAction)(MmrCanScsDictEntry *entry);
+
+
+void MMR_CAN_ScsDictPut(MmrCanScsDictEntry entry);
+void MMR_CAN_ScsDictRemove(uint32_t key);
+void MMR_CAN_ScsDictForeach(MmrCanScsDictAction action);
+
+uint32_t MMR_CAN_ScsGetKey(MmrCanMessage *message);
+
+#endif // !INC_MMR_CAN_SCS_H_

README.md

@@ -5,11 +5,6 @@ You can add this library to your project by either cloning it or adding it as a
 ---
 
 ### Add as a submodule (recommended)
-You can add the library to an existing STM32 project if you've already initialized it with a git repository
-
-To create a git repository, simply run `git init` inside the main project folder<br>
-You will then be able to link it to a remote repository (like github) by running `git remote add origin repo_url`
-
 To **add mmr_can as a submodule**, go into your project folder and run
 ```
 git submodule add https://github.com/mmr-driverless/mmr_can.git Drivers/MMR_CAN

Src/mmr_can_scs_dict.c

@@ -0,0 +1,30 @@
+#include "mmr_can_scs_dict.h"
+
+static MmrCanScsDictionary _dictionary;
+
+
+void MMR_CAN_ScsDictPut(MmrCanScsDictEntry entry) {
+  _dictionary[entry.key % MMR_CAN_SCS_DICTIONARY_SIZE] = entry;
+}
+
+void MMR_CAN_ScsDictRemove(uint32_t key) {
+  _dictionary[key] = (MmrCanScsDictEntry){};
+}
+
+void MMR_CAN_ScsDictForeach(MmrCanScsDictAction action) {
+  int i = 0;
+  for (; i < MMR_CAN_SCS_DICTIONARY_SIZE; i++) {
+    MmrCanScsDictEntry entry = _dictionary[i];
+    if (entry.key != 0) {
+      action(&entry);
+    }
+  }
+}
+
+
+uint32_t MMR_CAN_ScsMessageAsKey(MmrCanMessage *message) {
+  uint16_t upperHalf = message->header.messageId;
+  uint16_t lowerHalf = message->header.messageType;
+
+  return (upperHalf << 16) | lowerHalf;
+}