WIP

Inc/mmr_can.h

@@ -46,6 +46,15 @@ typedef uint32_t (*MmrCanTickProvider)();
 typedef uint8_t CanRxBuffer[MMR_CAN_MAX_DATA_LENGTH];
 
 
+typedef struct MmrCan {
+  CanId id;
+  CanHandle *handle;
+  CanFifo fifo;
+  CanMailbox mailboxes[MAILBOXES_COUNT];
+  uint8_t currentMailbox;
+} MmrCan;
+
+
 typedef struct MmrCanFilterSettings {
   bool enabled;
 
@@ -115,7 +124,7 @@ typedef struct MmrCanFilterSettings {
  */
 typedef struct MmrCanPacket {
   MmrCanHeader header;
-  uint8_t *data;
+  void *data;
   uint8_t length;
 } MmrCanPacket;
 
@@ -173,6 +182,22 @@ typedef struct MmrCanMessage {
 extern MmrCanTickProvider __mmr_can_tickProvider;
 
 
+
+MmrCan MMR_CAN_Create(CanHandle *hcan, CanFifo rxFifo);
+HalStatus MMR_CAN_Start(MmrCan *can);
+HalStatus MMR_CAN_EnableFilter(MmrCan *can, CanFilterMask mask, CanFilterBank bank);
+
+HalStatus MMR_CAN_SendString(MmrCan *can, MmrCanMessageId msgId, const char *data);
+HalStatus MMR_CAN_SendInt(MmrCan *can, MmrCanMessageId msgId, int data);
+HalStatus MMR_CAN_SendFloat(MmrCan *can, MmrCanMessageId msgId, float data);
+HalStatus MMR_CAN_SendRaw(MmrCan *can, MmrCanMessageId msgId, void *data, uint8_t length);
+HalStatus MMR_CAN_SendPacket(MmrCan *can, MmrCanPacket packet);
+
+
+#define MMR_CAN_SendStruct(pcan, messageId, pdata) \
+  MMR_CAN_SendRaw(pcan, messageId, pdata, sizeof(*pdata))
+
+
 /**
  * @brief
  * Sets the tick provider.
@@ -209,6 +234,14 @@ HalStatus MMR_CAN_FilterConfig(CanHandle *hcan, MmrCanFilterSettings settings);
  */
 MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings();
 
+
+HalStatus MMR_CAN_SendString(MmrCan *can, MmrCanMessageId msgId, const char *data);
+HalStatus MMR_CAN_SendInt(MmrCan *can, MmrCanMessageId msgId, int data);
+HalStatus MMR_CAN_SendFloat(MmrCan *can, MmrCanMessageId msgId, float data);
+HalStatus MMR_CAN_SendRaw(MmrCan *can, MmrCanMessageId msgId, void *data, uint8_t length);
+HalStatus MMR_CAN_SendPacket(MmrCan *can, MmrCanPacket packet);
+
+
 /**
  * @brief
  * Sends a can packet over the network.
@@ -235,7 +268,7 @@ HalStatus MMR_CAN_SendNoTamper(CanHandle *hcan, MmrCanPacket packet);
  * @brief
  * Tries to receive a message.
  */
-MmrResult MMR_CAN_TryReceive(CanHandle *hcan, MmrCanMessage *result);
+MmrResult MMR_CAN_TryReceive(MmrCan *can, MmrCanMessage *result);
 
 /**
  * @brief
@@ -245,6 +278,6 @@ MmrResult MMR_CAN_TryReceive(CanHandle *hcan, MmrCanMessage *result);
  * If a multi-frame message is received, this function will block
  * and read every frame for that particular message.
  */
-HalStatus MMR_CAN_Receive(CanHandle *hcan, MmrCanMessage *result);
+HalStatus MMR_CAN_Receive(MmrCan *can, MmrCanMessage *result);
 
 #endif /* INC_MMR_CAN_H_ */

Inc/mmr_can_ecu_messages.h

@@ -0,0 +1,40 @@
+#ifndef MMR_CAN_ECU_MESSAGES_H_
+#define MMR_CAN_ECU_MESSAGES_H_
+
+#include <stdint.h>
+
+typedef struct EcuPedalThrottle {
+  float apsAVoltage;
+  float apsBVoltage;
+  float throttleAVoltage;
+  float throttleBVoltage;
+} EcuPedalThrottle;
+
+typedef struct EcuTemperatures {
+  int16_t oil;
+  int16_t engine;
+  int16_t intake;
+  int16_t ambient;
+} EcuTemperatures;
+
+typedef struct EcuEngineFn1 {
+  float engineRpm;
+  float gear;
+  uint16_t vehicleSpeed;
+  uint16_t throttle;
+} EcuEngineFn1;
+
+typedef struct EcuPressures {
+  float oil;
+  float fuel;
+  float intake;
+  float ambient;
+} EcuPressures;
+
+typedef struct EcuEngineFn2 {
+  float batteryVoltage;
+  float acceleratorPedal;
+  float fanControl;
+} EcuEngineFn2;
+
+#endif // !MMR_CAN_ECU_MESSAGES_H_

Inc/mmr_can_header.h

@@ -79,7 +79,5 @@ MmrCanHeader MMR_CAN_HeaderFromBits(uint32_t bits);
  * Tells wether the given header represents an SCS.
  */
 bool MMR_CAN_IsHeaderScs(MmrCanHeader header);
-bool MMR_CAN_IsMultiFrame(MmrCanHeader header);
-bool MMR_CAN_IsMultiFrameEnd(MmrCanHeader header);
 
 #endif /* INC_MMR_CAN_HEADER_H_ */

Inc/mmr_can_message_id.h

@@ -126,8 +126,28 @@ enum MmrCanMessageId {
   MMR_CAN_MESSAGE_ID_D_SPEED_ODOMETRY,
 // !DRIVE
 // ECU_BOSCH
-  MMR_CAN_MESSAGE_ID_ECU_BOSCH_ = 192,
+  MMR_CAN_MESSAGE_ID_ECU_BOSCH_SPEED = 192,
+  MMR_CAN_MESSAGE_ID_ECU_BOSCH_GEAR,
+  MMR_CAN_MESSAGE_ID_ECU_BOSCH_RPM,
+  MMR_CAN_MESSAGE_ID_ECU_BOSCH_THROTTLE,
+  MMR_CAN_MESSAGE_ID_ECU_BOSCH_TEMP_OIL,
+  MMR_CAN_MESSAGE_ID_ECU_BOSCH_TEMP_WATER,
+  MMR_CAN_MESSAGE_ID_ECU_BOSCH_TORQUE,
 // !ECU_BOSCH
+// CONTROL_SIGNAL
+  MMR_CAN_MESSAGE_ID_CS_CLUTCH_SIGNAL = 224,
+  MMR_CAN_MESSAGE_ID_CS_CLUTCH_FEEDBACK,
+// !CONTROL_SIGNAL
+// STEERING
+  MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ERROR_LEFT_X = 256,
+  MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ERROR_RIGHT_X,
+  MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ODOMETRY_MIN_SPEED_LEFT_X,
+  MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ODOMETRY_MIN_SPEED_LEFT_Y,
+  MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ODOMETRY_MIN_SPEED_RIGHT_X,
+  MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ODOMETRY_MIN_SPEED_RIGHT_Y,
+  MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ODOMETRY_MAX_SPEED_LEFT_Y,
+  MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ODOMETRY_MAX_SPEED_RIGHT_Y,
+// !STEERING
 };
 
 #endif // !INC_MMR_CAN_MESSAGE_ID_H_

Inc/mmr_can_types.h

@@ -12,6 +12,7 @@
 
 typedef uint32_t CanId;
 typedef uint32_t CanMailbox;
+typedef uint32_t CanFifo;
 
 /**
  * @brief

Src/mmr_can_ecu_messages.c

@@ -0,0 +1,55 @@
+#include "mmr_can_ecu_messages.h"
+#include "mmr_can.h"
+
+#define ecuToHost(byteA, byteB) ((byteA << 8) | (byteB))
+
+
+EcuPedalThrottle MMR_CAN_GetEcuPedalThrottle(MmrCanMessage *message) {
+  uint8_t *buffer = message->store
+  return (EcuPedalThrottle) {
+    .apsAVoltage = ecuToHost(buffer[0], buffer[1]) / 1000,
+    .apsBVoltage = ecuToHost(buffer[2], buffer[3]) / 1000,
+    .throttleAVoltage = ecuToHost(buffer[4], buffer[5]) / 1000,
+    .throttleBVoltage = ecuToHost(buffer[6], buffer[7]) / 1000,
+  };
+}
+
+EcuTemperatures MMR_CAN_GetEcuTemperatures(MmrCanMessage *message) {
+  uint8_t *buffer = message->store
+  return (EcuTemperatures) {
+    .oil = ecuToHost(buffer[0], buffer[1]) - 40,
+    .engine = ecuToHost(buffer[2], buffer[3]) - 40,
+    .intake = ecuToHost(buffer[4], buffer[5]) - 40,
+    .ambient = ecuToHost(buffer[6], buffer[7]) - 40,
+  };
+}
+
+EcuEngineFn1 MMR_CAN_GetEcuEngineFn1(MmrCanMessage *message) {
+  uint8_t *buffer = message->store
+  return (EcuEngineFn1) {
+    .engineRpm = ecuToHost(buffer[0], buffer[1]),
+    .gear = ecuToHost(buffer[2], buffer[3])
+    .vehicleSpeed = ecuToHost(buffer[4], buffer[5]) / 100,
+    .throttle = ecuToHost(buffer[6], buffer[7]) / 100,
+  };
+}
+
+EcuPressures MMR_CAN_GetEcuPressures(MmrCanMessage *message) {
+  uint8_t *buffer = message->store
+  return (EcuPressures) {
+    .oil = ecuToHost(buffer[0], buffer[1]) / 100,
+    .fuel = ecuToHost(buffer[2], buffer[3]) / 100,
+    .intake = ecuToHost(buffer[4], buffer[5]) / 10,
+    .ambient = ecuToHost(buffer[6], buffer[7]) / 10,
+  };
+}
+
+EcuEngineFn2 MMR_CAN_GetEcuEngineFn2(MmrCanMessage *message) {
+  uint8_t *buffer = message->store
+  return (EcuEngineFn2) {
+    .batteryVoltage = ecuToHost(buffer[0], buffer[1]) / 1000,
+    .acceleratorPedal = ecuToHost(buffer[2], buffer[3]) / 100,
+    .fanControl = ecuToHost(buffer[4], buffer[5]) / 100,
+  };
+}
+

Src/mmr_can_header.c

@@ -2,6 +2,11 @@
 #include "mmr_can_util.h"
 #include "mmr_can_optimize.h"
 
+struct MmrCanHeader {
+  
+};
+
+
 uint32_t MMR_CAN_HeaderToBits(MmrCanHeader header) {
   return 0
     | ((uint32_t)header.priority << 26)
@@ -25,11 +30,3 @@ MmrCanHeader MMR_CAN_HeaderFromBits(uint32_t bits) {
 bool MMR_CAN_IsHeaderScs(MmrCanHeader header) {
   return header.messageType == MMR_CAN_MESSAGE_TYPE_SCS;
 }
-
-bool MMR_CAN_IsMultiFrame(MmrCanHeader header) {
-  return header.messageType == MMR_CAN_MESSAGE_TYPE_MULTI_FRAME;
-}
-
-bool MMR_CAN_IsMultiFrameEnd(MmrCanHeader header) {
-  return header.messageType == MMR_CAN_MESSAGE_TYPE_MULTI_FRAME_END;
-}

Src/mmr_can_receive.c

@@ -1,26 +1,29 @@
 #include <stdbool.h>
+#include <stdint.h>
 #include "mmr_can.h"
 
 
-typedef struct {
+#define cast(pmsg, to) (*(to*)(pmsg->store))
-  CanHandle *handle;
-  uint8_t *result;
-
-  struct {
-    CanRxHeader rx;
-    MmrCanHeader mmr;
-  } headers;
-
-  uint8_t fifo;
-} ReceptionParams;
 
 
-static HalStatus receiveOne(ReceptionParams *rp);
+uint16_t MMR_CAN_GetUInt16(MmrCanMessage *message) {
-static HalStatus receiveAll(ReceptionParams *rp);
+  return cast(message, uint16_t);
-static bool headerIsMultiFrame(MmrCanHeader header, CanId targetId);
+}
+
+uint32_t MMR_CAN_GetUInt32(MmrCanMessage *message) {
+  return cast(message, uint32_t);
+}
+
+uint64_t MMR_CAN_GetUInt64(MmrCanMessage *message) {
+  return cast(message, uint64_t);
+}
+
+float MMR_CAN_GetFloat(MmrCanMessage *message) {
+  return cast(message, float);
+}
 
 
-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 +37,15 @@ MmrResult MMR_CAN_TryReceive(CanHandle *hcan, MmrCanMessage *result) {
 }
 
 
-HalStatus MMR_CAN_Receive(CanHandle *hcan, MmrCanMessage *result) {
+HalStatus MMR_CAN_Receive(MmrCan *can, MmrCanMessage *result) {
-  ReceptionParams rp = {
+  CanRxHeader rxHeader = {};
-    .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 status = HAL_CAN_GetRxMessage(
-    rp->handle,
+    can->handle,
-    rp->fifo,
+    can->fifo,
-    &rp->headers.rx,
+    &rxHeader,
-    rp->result
+    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;
-}

Src/mmr_can_send.c

@@ -2,174 +2,82 @@
 #include "mmr_can.h"
 #include "mmr_can_util.h"
 
-
-typedef struct {
-  CanHandle *handle;
-  MmrCanPacket *packet;
-
-  struct {
-    CanTxHeader tx;
-    MmrCanHeader mmr;
-  } headers;
-} TransmissionParams;
-
-
-static TransmissionParams buildParams(CanHandle *hcan, MmrCanPacket *packet);
-static HalStatus send(TransmissionParams *tp);
-static HalStatus sendNormal(TransmissionParams *tp);
-static HalStatus sendMulti(TransmissionParams *tp);
-static HalStatus sendSingleMultiFrame(TransmissionParams *tp);
-static uint8_t computeFramesToSend(MmrCanPacket *packet);
-static uint8_t computeNextMessageLength(MmrCanPacket *packet);
-static void setMessageType(TransmissionParams *header, MmrCanMessageType type);
-static void syncHeaders(TransmissionParams *tp);
-static CanMailbox *getNextMailbox();
-
-
 #define MAILBOXES_COUNT 3
 
-static CanMailbox __mailboxes[MAILBOXES_COUNT] = {};
+static MmrCanHeader buildDefaultHeader(MmrCan *can, MmrCanMessageId msgId);
-static uint8_t __currentMailbox = 0;
+static CanTxHeader buildTxHeader(MmrCan *can, MmrCanPacket *packet);
+static CanMailbox *getNextMailbox(MmrCan *can);
 
 
-HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet) {
+HalStatus MMR_CAN_SendString(MmrCan *can, MmrCanMessageId msgId, const char *data) {
-  TransmissionParams tp =
+  uint8_t len =
-    buildParams(hcan, &packet);
+    strnlen(data, MMR_CAN_MAX_DATA_LENGTH);
 
-  syncHeaders(&tp);
+  return MMR_CAN_SendRaw(can, msgId, &data, len);
-  return packet.length <= MMR_CAN_MAX_DATA_LENGTH
-    ? sendNormal(&tp)
-    : sendMulti(&tp);
 }
 
 
-HalStatus MMR_CAN_SendNoTamper(CanHandle *hcan, MmrCanPacket packet) {
+HalStatus MMR_CAN_SendInt(MmrCan *can, MmrCanMessageId msgId, int data) {
-  TransmissionParams tp =
+  return MMR_CAN_SendRaw(can, msgId, &data, sizeof(data))
-    buildParams(hcan, &packet);
-
-  return send(&tp);
 }
 
 
-static TransmissionParams buildParams(CanHandle *hcan, MmrCanPacket *packet) {
+HalStatus MMR_CAN_SendFloat(MmrCan *can, MmrCanMessageId msgId, float data) {
-  return (TransmissionParams) {
+  return MMR_CAN_SendRaw(can, msgId, &data, sizeof(data));
-    .handle = hcan,
+}
-    .packet = packet,
+
-    .headers.mmr = packet->header,
+
-    .headers.tx = {
+HalStatus MMR_CAN_SendRaw(
-      .IDE = CAN_ID_EXT,
+  MmrCan *can,
-      .RTR = CAN_RTR_DATA,
+  MmrCanMessageId msgId,
-      .DLC = packet->length,
+  void *data,
-      .TransmitGlobalTime = DISABLE,
+  uint8_t length
-    },
+) {
+  return MMR_CAN_SendPacket(can, (MmrCanPacket){
+    .header = buildDefaultHeader(can, msgId),
+    .data = data,
+    .length = length,
+  });
+}
+
+
+HalStatus MMR_CAN_SendPacket(MmrCan *can, MmrCanPacket packet) {
+  CanTxHeader txHeader =
+    buildTxHeader(can, &packet);
+
+  return HAL_CAN_AddTxMessage(
+    can->handle,
+    &txHeader,
+    (uint8_t*)packet.data,
+    getNextMailbox(can)
+  );
+}
+
+
+static MmrCanHeader buildDefaultHeader(MmrCan *can, MmrCanMessageId msgId) {
+  return (MmrCanHeader){
+    .messageId = msgId,
+    .senderId = can->id,
+    .priority = MMR_CAN_MESSAGE_PRIORITY_NORMAL,
+    .messageType = MMR_CAN_MESSAGE_TYPE_NORMAL,
   };
 }
 
 
-static HalStatus sendNormal(TransmissionParams *tp) {
+static CanTxHeader buildTxHeader(MmrCan *can, MmrCanPacket *packet) {
-  setMessageType(tp, MMR_CAN_MESSAGE_TYPE_NORMAL);
+  return (CanTxHeader){
-  return send(tp);
+    .ExtId = MMR_CAN_HeaderToBits(packet->header),
+    .IDE = CAN_ID_EXT,
+    .RTR = CAN_RTR_DATA,
+    .DLC = packet->length,
+    .TransmitGlobalTime = DISABLE,
+  };
 }
 
 
-static HalStatus sendMulti(TransmissionParams *tp) {
+static CanMailbox *getNextMailbox(MmrCan *can) {
-  HalStatus status = HAL_OK;
+  can->currentMailbox++;
-  uint8_t framesToSend = computeFramesToSend(tp->packet);
+  can->currentMailbox %= MAILBOXES_COUNT;
 
-  setMessageType(tp, MMR_CAN_MESSAGE_TYPE_MULTI_FRAME);
+  return can->mailboxes + can->currentMailbox;
-  do {
-    bool isLastFrame = framesToSend <= 1;
-    if (isLastFrame) {
-      setMessageType(tp, MMR_CAN_MESSAGE_TYPE_MULTI_FRAME_END);
-    }
-
-    status |= sendSingleMultiFrame(tp);
-  }
-  while (framesToSend-- > 1 && status == HAL_OK);
-
-  return status;
-}
-
-
-static HalStatus sendSingleMultiFrame(TransmissionParams *tp) {
-  uint8_t length =
-    computeNextMessageLength(tp->packet);
-
-  tp->headers.tx.DLC = length;
-  tp->packet->length -= length;
-
-  HalStatus result = send(tp);
-
-  tp->packet->data += length;
-  return result;
-}
-
-
-static HalStatus send(TransmissionParams *tp) {
-  syncHeaders(tp);
-
-  return HAL_CAN_AddTxMessage(
-    tp->handle,
-    &tp->headers.tx,
-    tp->packet->data,
-    getNextMailbox()
-  );
-}
-
-
-static CanMailbox *getNextMailbox() {
-  __currentMailbox++;
-  __currentMailbox %= MAILBOXES_COUNT;
-
-  return __mailboxes + __currentMailbox;
-}
-
-
-static void syncHeaders(TransmissionParams *tp) {
-  tp->headers.tx.ExtId = MMR_CAN_HeaderToBits(tp->headers.mmr);
-}
-
-
-/**
- * @brief 
- * Computes the frames that will need to be sent for a packet.
- * 
- * For example, if a packet has 15 bytes, the function will return
- * 2, as one packet is needed for the first 8 bytes and another is
- * needed for the remaining 7.
- * 
- * @example
- * The computation is pretty simple
- * Given
- *               length = 17 (bytes)
- * We'll have
- *         framesToSend = 17 / 8 = 2 (frames)
- *            remainder = 17 % 8 = 1 (bytes)
- * maybeOneForRemainder = 1 > 0  = 1 (frame)
- * -------------------------------------------
- *               result = 2 + 1  = 3 (frames) 
- */
-static uint8_t computeFramesToSend(MmrCanPacket *packet) {
-  uint8_t length = packet->length;
-  uint8_t framesToSend = length / MMR_CAN_MAX_DATA_LENGTH;
-  uint8_t remainder = length % MMR_CAN_MAX_DATA_LENGTH;
-  uint8_t maybeOneForRemainder = remainder > 0;
-
-  return framesToSend + maybeOneForRemainder;
-}
-
-
-/**
- * @brief 
- * Returns the length for the next message, either
- * 8 bytes or a lower value.
- */
-static uint8_t computeNextMessageLength(MmrCanPacket *packet) {
-  return min(
-    packet->length, MMR_CAN_MAX_DATA_LENGTH
-  );
-}
-
-static always_inline void setMessageType(TransmissionParams *tp, MmrCanMessageType type) {
-  tp->headers.mmr.messageType = type;
 }