Better parameter handling (#6)

* 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

* Fix reception bug (fixes #4)

* Add packet headers

* Refactor

Co-authored-by: Riccardo998 <riccardo.storchi98@gmail.com>

Inc/mmr_can.h

@@ -4,6 +4,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "mmr_can_includes.h"
+#include "mmr_can_header.h"
 #include "mmr_can_types.h"
 #include "mmr_can_optimize.h"
 #include "mmr_can_binary_literals.h"
@@ -65,31 +66,13 @@ typedef struct {
 
 
 typedef struct {
-  CanId remoteId;
+  MmrCanHeader header;
   CanMailbox *mailbox;
   uint8_t *data;
   uint8_t length;
 } 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
@@ -112,8 +95,4 @@ 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_ */

Inc/mmr_can_header.h

@@ -0,0 +1,42 @@
+#ifndef INC_MMR_CAN_HEADER_H_
+#define INC_MMR_CAN_HEADER_H_
+
+#include <stdbool.h>
+#include "mmr_can_util.h"
+#include "mmr_can_binary_literals.h"
+
+/**
+ * @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
+ * 
+ * When the priority and id fields are the same, 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
+ * This struct encodes the values stored inside the
+ * extended id field of a CAN packet.
+ */
+typedef struct {
+  uint32_t priority : 5;
+  uint32_t senderId : 23;
+  MmrCanMessageType messageType : 4;
+} MmrCanHeader;
+
+
+bool MMR_CAN_IsMultiFrame(MmrCanHeader *header);
+bool MMR_CAN_IsMultiFrameEnd(MmrCanHeader *header);
+
+#endif /* INC_MMR_CAN_HEADER_H_ */

Inc/mmr_can_util.h

@@ -15,6 +15,27 @@
 
 #define min(a, b) ((a) < (b) ? a : b);
 #define mask(value, bits) (value & bits)
+#define convertTo(resultType, lvalue) (*interpretAs(resultType*, &(lvalue)))
+#define interpretAs(resultType, lvalue) ((resultType)(lvalue))
+
+
+/**
+ * @brief
+ * Represents the result of an asynchronous computation
+ *
+ * Either
+ *  - Error: the computation resulted in error
+ *  - Pending: the computation is still undergoing
+ *  - Completed: the computation has completed succesfully
+ *               and its results can be read
+ *
+ * Asynchronous logig can be easily implemented using State Machines
+ */
+typedef enum {
+  MMR_ASYNC_RESULT_ERROR,
+  MMR_ASYNC_RESULT_PENDING,
+  MMR_ASYNC_RESULT_COMPLETED,
+} MmrAsyncResult;
 
 
 #endif /* INC_MMR_CAN_UTIL_H_ */