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>
2021-12-20 15:12:57 +01:00
parent c0cc853cf8
commit ed2a26fbc9
8 changed files with 147 additions and 73 deletions
@@ -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_ */