Stefano Calabretti
84 lines
1.9 KiB
C
84 lines
1.9 KiB
C
#include <stdbool.h>
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#include "mmr_can.h"
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#include "mmr_can_util.h"
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#define MAILBOXES_COUNT 3
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static MmrCanHeader buildDefaultHeader(MmrCan *can, MmrCanMessageId msgId);
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static CanTxHeader buildTxHeader(MmrCan *can, MmrCanPacket *packet);
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static CanMailbox *getNextMailbox(MmrCan *can);
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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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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_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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HalStatus MMR_CAN_SendPacket(MmrCan *can, MmrCanPacket packet) {
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CanTxHeader txHeader =
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buildTxHeader(can, &packet);
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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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static 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 CanTxHeader buildTxHeader(MmrCan *can, MmrCanPacket *packet) {
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return (CanTxHeader){
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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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}
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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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