Stefano Calabretti
7b09401b00
* Add rx event handlers * Fix compile errors and add constness * Pass sender id * Change api interface * Revert changes * Add filter fifo * Add default setup * Add receive function * Remove interrupt activation * Activate RX interrupts * Merge remote changes * Add event list constructor * Fix compilation bug * Send and receive multiple frames * Refactor * Refactor * Fix compile error * Use known syntax * Refactor * Provide storage * Add frame end * Add some documentation * Turn macros into functions * Refactor * Refactor * Fix compile error * Use ExtendedIds Co-authored-by: Riccardo998 <riccardo.storchi98@gmail.com>
55 lines
1.3 KiB
C
55 lines
1.3 KiB
C
#include <stdbool.h>
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#include "mmr_can.h"
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static HalStatus receiveOne(CanHandle *hcan, CanRxHeader *header, uint8_t *result);
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static HalStatus receiveAll(CanHandle *hcan, CanRxHeader *header, uint8_t *result);
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static bool headerIsMultiFrame(CanRxHeader *header, CanId targetId);
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HalStatus MMR_CAN_Receive(CanHandle *hcan, MmrCanMessage *result) {
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CanRxHeader header = {};
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uint8_t *dest = result->store;
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HalStatus status = receiveOne(hcan, &header, dest);
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result->senderId = header.ExtId;
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if (MMR_CAN_IsMultiFrame(&header)) {
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status |= receiveAll(hcan, &header, dest);
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}
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return status;
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}
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static HalStatus receiveOne(
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CanHandle *hcan,
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CanRxHeader *header,
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uint8_t *result
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) {
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return HAL_CAN_GetRxMessage(hcan, MMR_CAN_RX_FIFO, header, result);
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}
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static HalStatus receiveAll(
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CanHandle *hcan,
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CanRxHeader *header,
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uint8_t *result
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) {
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CanId targetId = header->ExtId;
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HalStatus status = HAL_OK;
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do {
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result += MMR_CAN_MAX_DATA_LENGTH;
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status |= receiveOne(hcan, header, result);
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} while (
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headerIsMultiFrame(header, targetId) && status == HAL_OK
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);
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return status;
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}
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static bool headerIsMultiFrame(CanRxHeader *header, CanId targetId) {
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return
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MMR_CAN_IsMultiFrame(header) &&
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!MMR_CAN_IsMultiFrameEnd(header) &&
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header->DLC >= MMR_CAN_MAX_DATA_LENGTH;
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}
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