WIP
This commit is contained in:
Stefano Calabretti
+54
-155
@@ -2,174 +2,73 @@
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#include "mmr_can.h"
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#include "mmr_can_util.h"
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typedef struct {
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CanHandle *handle;
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MmrCanPacket *packet;
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struct {
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CanTxHeader tx;
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MmrCanHeader mmr;
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} headers;
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} TransmissionParams;
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static TransmissionParams buildParams(CanHandle *hcan, MmrCanPacket *packet);
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static HalStatus send(TransmissionParams *tp);
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static HalStatus sendNormal(TransmissionParams *tp);
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static HalStatus sendMulti(TransmissionParams *tp);
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static HalStatus sendSingleMultiFrame(TransmissionParams *tp);
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static uint8_t computeFramesToSend(MmrCanPacket *packet);
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static uint8_t computeNextMessageLength(MmrCanPacket *packet);
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static void setMessageType(TransmissionParams *header, MmrCanMessageType type);
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static void syncHeaders(TransmissionParams *tp);
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static CanMailbox *getNextMailbox();
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#define MAILBOXES_COUNT 3
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static CanMailbox __mailboxes[MAILBOXES_COUNT] = {};
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static uint8_t __currentMailbox = 0;
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static MmrCanHeader buildDefaultHeader(MmrCan *can, MmrCanMessageId msgId);
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static CanMailbox *getNextMailbox(MmrCan *can);
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HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet) {
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TransmissionParams tp =
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buildParams(hcan, &packet);
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HalStatus MMR_CAN_SendString(MmrCan *can, MmrCanMessageId msgId, const char *data) {
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uint8_t len =
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strnlen(data, MMR_CAN_MAX_DATA_LENGTH);
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syncHeaders(&tp);
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return packet.length <= MMR_CAN_MAX_DATA_LENGTH
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? sendNormal(&tp)
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: sendMulti(&tp);
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return MMR_CAN_SendRaw(can, msgId, &data, len);
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}
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HalStatus MMR_CAN_SendInt(MmrCan *can, MmrCanMessageId msgId, int data) {
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return MMR_CAN_SendRaw(can, msgId, &data, sizeof(data))
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}
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HalStatus MMR_CAN_SendFloat(MmrCan *can, MmrCanMessageId msgId, float data) {
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return MMR_CAN_SendRaw(can, msgId, &data, sizeof(data));
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}
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HalStatus MMR_CAN_SendNoTamper(CanHandle *hcan, MmrCanPacket packet) {
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TransmissionParams tp =
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buildParams(hcan, &packet);
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return send(&tp);
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HalStatus MMR_CAN_SendRaw(
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MmrCan *can,
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MmrCanMessageId msgId,
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void *data,
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uint8_t length
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) {
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return MMR_CAN_SendPacket(can, (MmrCanPacket){
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.header = buildDefaultHeader(can, msgId),
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.data = data,
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.length = length,
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});
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}
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static TransmissionParams buildParams(CanHandle *hcan, MmrCanPacket *packet) {
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return (TransmissionParams) {
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.handle = hcan,
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.packet = packet,
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.headers.mmr = packet->header,
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.headers.tx = {
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.IDE = CAN_ID_EXT,
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.RTR = CAN_RTR_DATA,
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.DLC = packet->length,
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.TransmitGlobalTime = DISABLE,
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},
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HalStatus MMR_CAN_SendPacket(MmrCan *can, MmrCanPacket packet) {
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CanTxHeader txHeader = {
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.ExtId = MMR_CAN_HeaderToBits(packet.header),
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.IDE = CAN_ID_EXT,
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.RTR = CAN_RTR_DATA,
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.DLC = packet->length,
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.TransmitGlobalTime = DISABLE,
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};
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return HAL_CAN_AddTxMessage(
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can->handle,
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&txHeader,
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(uint8_t*)packet.data,
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getNextMailbox(can)
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);
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}
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MmrCanHeader buildDefaultHeader(MmrCan *can, MmrCanMessageId msgId) {
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return (MmrCanHeader){
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.messageId = msgId,
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.senderId = can->id,
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.priority = MMR_CAN_MESSAGE_PRIORITY_NORMAL,
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.messageType = MMR_CAN_MESSAGE_TYPE_NORMAL,
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};
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}
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static HalStatus sendNormal(TransmissionParams *tp) {
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setMessageType(tp, MMR_CAN_MESSAGE_TYPE_NORMAL);
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return send(tp);
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}
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static HalStatus sendMulti(TransmissionParams *tp) {
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HalStatus status = HAL_OK;
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uint8_t framesToSend = computeFramesToSend(tp->packet);
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setMessageType(tp, MMR_CAN_MESSAGE_TYPE_MULTI_FRAME);
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do {
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bool isLastFrame = framesToSend <= 1;
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if (isLastFrame) {
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setMessageType(tp, MMR_CAN_MESSAGE_TYPE_MULTI_FRAME_END);
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}
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status |= sendSingleMultiFrame(tp);
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}
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while (framesToSend-- > 1 && status == HAL_OK);
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return status;
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}
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static HalStatus sendSingleMultiFrame(TransmissionParams *tp) {
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uint8_t length =
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computeNextMessageLength(tp->packet);
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tp->headers.tx.DLC = length;
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tp->packet->length -= length;
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HalStatus result = send(tp);
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tp->packet->data += length;
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return result;
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}
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static HalStatus send(TransmissionParams *tp) {
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syncHeaders(tp);
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return HAL_CAN_AddTxMessage(
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tp->handle,
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&tp->headers.tx,
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tp->packet->data,
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getNextMailbox()
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);
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}
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static CanMailbox *getNextMailbox() {
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__currentMailbox++;
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__currentMailbox %= MAILBOXES_COUNT;
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return __mailboxes + __currentMailbox;
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}
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static void syncHeaders(TransmissionParams *tp) {
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tp->headers.tx.ExtId = MMR_CAN_HeaderToBits(tp->headers.mmr);
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}
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/**
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* @brief
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* Computes the frames that will need to be sent for a packet.
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*
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* For example, if a packet has 15 bytes, the function will return
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* 2, as one packet is needed for the first 8 bytes and another is
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* needed for the remaining 7.
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*
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* @example
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* The computation is pretty simple
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* Given
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* length = 17 (bytes)
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* We'll have
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* framesToSend = 17 / 8 = 2 (frames)
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* remainder = 17 % 8 = 1 (bytes)
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* maybeOneForRemainder = 1 > 0 = 1 (frame)
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* -------------------------------------------
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* result = 2 + 1 = 3 (frames)
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*/
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static uint8_t computeFramesToSend(MmrCanPacket *packet) {
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uint8_t length = packet->length;
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uint8_t framesToSend = length / MMR_CAN_MAX_DATA_LENGTH;
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uint8_t remainder = length % MMR_CAN_MAX_DATA_LENGTH;
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uint8_t maybeOneForRemainder = remainder > 0;
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return framesToSend + maybeOneForRemainder;
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}
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/**
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* @brief
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* Returns the length for the next message, either
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* 8 bytes or a lower value.
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*/
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static uint8_t computeNextMessageLength(MmrCanPacket *packet) {
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return min(
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packet->length, MMR_CAN_MAX_DATA_LENGTH
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);
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}
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static always_inline void setMessageType(TransmissionParams *tp, MmrCanMessageType type) {
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tp->headers.mmr.messageType = type;
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static CanMailbox *getNextMailbox(MmrCan *can) {
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can->currentMailbox++;
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can->currentMailbox %= MAILBOXES_COUNT;
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return can->mailboxes + can->currentMailbox;
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}
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