WIP

Src/mmr_can_receive.c

@@ -2,25 +2,7 @@
 #include "mmr_can.h"
 
 
-typedef struct {
-  CanHandle *handle;
-  uint8_t *result;
-
-  struct {
-    CanRxHeader rx;
-    MmrCanHeader mmr;
-  } headers;
-
-  uint8_t fifo;
-} ReceptionParams;
-
-
-static HalStatus receiveOne(ReceptionParams *rp);
-static HalStatus receiveAll(ReceptionParams *rp);
-static bool headerIsMultiFrame(MmrCanHeader header, CanId targetId);
-
-
-MmrResult MMR_CAN_TryReceive(CanHandle *hcan, MmrCanMessage *result) {
+MmrResult MMR_CAN_TryReceive(MmrCan *can, MmrCanMessage *result) {
   size_t pendingMessages =
     HAL_CAN_GetRxFifoFillLevel(hcan, MMR_CAN_RX_FIFO);
 
@@ -34,58 +16,15 @@ MmrResult MMR_CAN_TryReceive(CanHandle *hcan, MmrCanMessage *result) {
 }
 
 
-HalStatus MMR_CAN_Receive(CanHandle *hcan, MmrCanMessage *result) {
-  ReceptionParams rp = {
-    .handle = hcan,
-    .result = (uint8_t*)result->store,
-    .fifo = MMR_CAN_RX_FIFO,
-  };
-
-  HalStatus status = receiveOne(&rp);
-  if (status != HAL_OK) {
-    return status;
-  }
-
-  result->header = rp.headers.mmr;
-  if (MMR_CAN_IsMultiFrame(rp.headers.mmr)) {
-    status |= receiveAll(&rp);
-  }
-
-  return status;
-}
-
-
-static HalStatus receiveAll(ReceptionParams *rp) {
-  CanId targetId = rp->headers.mmr.senderId;
-  HalStatus status = HAL_OK;
-  do {
-    rp->result += MMR_CAN_MAX_DATA_LENGTH;
-    status |= receiveOne(rp);
-  }
-  while (
-    headerIsMultiFrame(rp->headers.mmr, targetId) && status == HAL_OK
-  );
-
-  return status;
-}
-
-
-static HalStatus receiveOne(ReceptionParams *rp) {
+HalStatus MMR_CAN_Receive(MmrCan *can, MmrCanMessage *result) {
+  CanRxHeader rxHeader = {};
   HalStatus status = HAL_CAN_GetRxMessage(
-    rp->handle,
-    rp->fifo,
-    &rp->headers.rx,
-    rp->result
+    can->handle,
+    can->fifo,
+    &rxHeader,
+    result->store
   );
 
-  rp->headers.mmr = MMR_CAN_HeaderFromBits(rp->headers.rx.ExtId);
+  result->header = MMR_CAN_HeaderFromBits(rxHeader.ExtId);
   return status;
 }
-
-
-static bool headerIsMultiFrame(MmrCanHeader header, CanId targetId) {
-  return
-    MMR_CAN_IsMultiFrame(header) &&
-    !MMR_CAN_IsMultiFrameEnd(header) &&
-    header.senderId == targetId;
-}