Stefano Calabretti
52 lines
1.0 KiB
C
52 lines
1.0 KiB
C
#include <stdbool.h>
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#include <stdint.h>
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#include "mmr_can.h"
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#define cast(pmsg, to) (*(to*)(pmsg->store))
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uint16_t MMR_CAN_GetUInt16(MmrCanMessage *message) {
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return cast(message, uint16_t);
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}
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uint32_t MMR_CAN_GetUInt32(MmrCanMessage *message) {
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return cast(message, uint32_t);
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}
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uint64_t MMR_CAN_GetUInt64(MmrCanMessage *message) {
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return cast(message, uint64_t);
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}
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float MMR_CAN_GetFloat(MmrCanMessage *message) {
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return cast(message, float);
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}
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MmrResult MMR_CAN_TryReceive(MmrCan *can, MmrCanMessage *result) {
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size_t pendingMessages =
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HAL_CAN_GetRxFifoFillLevel(hcan, MMR_CAN_RX_FIFO);
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if (pendingMessages > 0) {
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return MMR_CAN_Receive(hcan, result) != HAL_OK
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? MMR_RESULT_COMPLETED
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: MMR_RESULT_ERROR;
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}
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return MMR_RESULT_PENDING;
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}
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HalStatus MMR_CAN_Receive(MmrCan *can, MmrCanMessage *result) {
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CanRxHeader rxHeader = {};
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HalStatus status = HAL_CAN_GetRxMessage(
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can->handle,
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can->fifo,
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&rxHeader,
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result->store
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);
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result->header = MMR_CAN_HeaderFromBits(rxHeader.ExtId);
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return status;
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}
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