Stefano Calabretti
90d1836dfa
* Add rx event handlers * Fix compile errors and add constness * Pass sender id * Change api interface * Revert changes * Add filter fifo
49 lines
1.2 KiB
C
49 lines
1.2 KiB
C
#include "mmr_can.h"
|
|
|
|
|
|
HalStatus MMR_CAN_FilterConfig(CanHandle *hcan, MmrCanFilterSettings settings) {
|
|
CAN_FilterTypeDef filter = {
|
|
.FilterActivation = settings.enabled
|
|
? CAN_FILTER_ENABLE
|
|
: CAN_FILTER_DISABLE,
|
|
|
|
.FilterIdHigh = settings.idMask,
|
|
.FilterMaskIdHigh = settings.idMask,
|
|
.FilterFIFOAssignment = settings.fifo,
|
|
.FilterBank = settings.bank,
|
|
.SlaveStartFilterBank = settings.slaveBankStart,
|
|
.FilterMode = CAN_FILTERMODE_IDMASK,
|
|
.FilterScale = CAN_FILTERSCALE_32BIT,
|
|
};
|
|
|
|
return HAL_CAN_ConfigFilter(hcan, &filter);
|
|
}
|
|
|
|
CanFilterMask MMR_CAN_AlignStandardMask(CanFilterMask baseMask) {
|
|
static const uint8_t extendedMaskSurplusBytes = 5;
|
|
return baseMask << extendedMaskSurplusBytes;
|
|
}
|
|
|
|
MmrCanFilterSettings MMR_CAN_GetDefaultFilterSettings() {
|
|
return (MmrCanFilterSettings) {
|
|
.enabled = true,
|
|
.fifo = MMR_CAN_FILTER_FIFO,
|
|
.idMask = 0,
|
|
.bank = 0,
|
|
.slaveBankStart = 14,
|
|
};
|
|
}
|
|
|
|
|
|
HalStatus MMR_CAN_Send(CanHandle *hcan, MmrCanPacket packet) {
|
|
CanTxHeader header = {
|
|
.IDE = CAN_ID_STD,
|
|
.RTR = CAN_RTR_DATA,
|
|
.DLC = packet.length,
|
|
.StdId = packet.remoteId,
|
|
.TransmitGlobalTime = DISABLE,
|
|
};
|
|
|
|
return HAL_CAN_AddTxMessage(hcan, &header, packet.data, packet.mailbox);
|
|
}
|