From 7a46db43e61ef9ba8cec1557ba966f2a38d6e2d4 Mon Sep 17 00:00:00 2001
From: aesthetic-sofa <71275573+aesthetic-sofa@users.noreply.github.com>
Date: Tue, 10 May 2022 20:16:52 +0200
Subject: [PATCH 1/2] odometry id

---
 Inc/mmr_can_message_id.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/Inc/mmr_can_message_id.h b/Inc/mmr_can_message_id.h
index cdeb956..7af93c6 100644
--- a/Inc/mmr_can_message_id.h
+++ b/Inc/mmr_can_message_id.h
@@ -120,8 +120,10 @@ enum MmrCanMessageId {
   MMR_CAN_MESSAGE_ID_AMC_BE,
 // !AUTONOMOUS_MISSION_CONTROL
 // DRIVE
-  MMR_CAN_MESSAGE_ID_D_STEERING_ANGLE = 160,
+  MMR_CAN_MESSAGE_ID_D_STEERING_ANGLE = 138,
   MMR_CAN_MESSAGE_ID_D_BREAKING_PERCENTAGE,
+  MMR_CAN_MESSAGE_ID_D_ACCELERATOR_PERCENTAGE,
+  MMR_CAN_MESSAGE_ID_D_SPEED_ODOMETRY,
 // !DRIVE
 // ECU_BOSCH
   MMR_CAN_MESSAGE_ID_ECU_BOSCH_ = 192,
-- 
2.52.0


From d63f41a8d56438a64343b8eece584d1a7fdc73b2 Mon Sep 17 00:00:00 2001
From: Stefano Calabretti <45517710+cala-br@users.noreply.github.com>
Date: Tue, 10 May 2022 20:22:53 +0200
Subject: [PATCH 2/2] Bugfix (#12)

* Cycle mailboxes

* Fix send bug

* Refactor
---
 .gitignore         |  3 ++-
 Src/mmr_can_send.c | 30 +++++++++++++++++++++---------
 2 files changed, 23 insertions(+), 10 deletions(-)

diff --git a/.gitignore b/.gitignore
index 8c76af6..ac572a3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 !.vscode/settings.json
-.vscode
\ No newline at end of file
+.vscode
+.DS_Store
\ No newline at end of file
diff --git a/Src/mmr_can_send.c b/Src/mmr_can_send.c
index f92599d..6c4d613 100644
--- a/Src/mmr_can_send.c
+++ b/Src/mmr_can_send.c
@@ -14,7 +14,7 @@ typedef struct {
 } TransmissionParams;
 
 
-static TransmissionParams buildParams(CanHandle *hcan, MmrCanPacket packet);
+static TransmissionParams buildParams(CanHandle *hcan, MmrCanPacket *packet);
 static HalStatus send(TransmissionParams *tp);
 static HalStatus sendNormal(TransmissionParams *tp);
 static HalStatus sendMulti(TransmissionParams *tp);
@@ -23,14 +23,18 @@ 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();
 
 
-static CanMailbox __mailbox;
+#define MAILBOXES_COUNT 3
+
+static CanMailbox __mailboxes[MAILBOXES_COUNT] = {};
+static uint8_t __currentMailbox = 0;
 
 
 HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet) {
   TransmissionParams tp =
-    buildParams(hcan, packet);
+    buildParams(hcan, &packet);
 
   syncHeaders(&tp);
   return packet.length <= MMR_CAN_MAX_DATA_LENGTH
@@ -41,21 +45,21 @@ HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet) {
 
 HalStatus MMR_CAN_SendNoTamper(CanHandle *hcan, MmrCanPacket packet) {
   TransmissionParams tp =
-    buildParams(hcan, packet);
+    buildParams(hcan, &packet);
 
   return send(&tp);
 }
 
 
-static TransmissionParams buildParams(CanHandle *hcan, MmrCanPacket packet) {
+static TransmissionParams buildParams(CanHandle *hcan, MmrCanPacket *packet) {
   return (TransmissionParams) {
     .handle = hcan,
-    .packet = &packet,
-    .headers.mmr = packet.header,
+    .packet = packet,
+    .headers.mmr = packet->header,
     .headers.tx = {
       .IDE = CAN_ID_EXT,
       .RTR = CAN_RTR_DATA,
-      .DLC = packet.length,
+      .DLC = packet->length,
       .TransmitGlobalTime = DISABLE,
     },
   };
@@ -108,11 +112,19 @@ static HalStatus send(TransmissionParams *tp) {
     tp->handle,
     &tp->headers.tx,
     tp->packet->data,
-    &__mailbox
+    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);
 }
-- 
2.52.0