Stefano Calabretti
90d1836dfa
* Add rx event handlers * Fix compile errors and add constness * Pass sender id * Change api interface * Revert changes * Add filter fifo
59 lines
1.3 KiB
C
59 lines
1.3 KiB
C
#include "mmr_can.h"
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#include "mmr_can_events.h"
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static const MmrCanEventList *_rxEvents = NULL;
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static void __handleCanRxInterrupt(CanHandle *hcan);
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static void __invokeAll(const MmrCanEventList *events, MmrCanEvent *event);
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static void __maybeInvoke(const MmrCanEventHandler handler, MmrCanEvent *event);
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void MMR_CAN_InitRxHandlers(const MmrCanEventList *rxEvents) {
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_rxEvents = rxEvents;
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}
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static void __handleCanRxInterrupt(CanHandle *hcan) {
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static CanRxHeader rxHeader = {};
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static CanRxBuffer rxData = {};
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HAL_CAN_GetRxMessage(hcan, MMR_CAN_RX_FIFO, &rxHeader, rxData);
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MmrCanEvent event = {
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.senderId = rxHeader.StdId,
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.message = rxData,
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};
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__invokeAll(_rxEvents, &event);
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}
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static void __invokeAll(const MmrCanEventList *events, MmrCanEvent *event) {
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if (!events) {
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return;
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}
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short i;
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for (i = 0; i < events->count; i++) {
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__maybeInvoke(events->handlers[i], event);
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}
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}
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static always_inline void __maybeInvoke(const MmrCanEventHandler handler, MmrCanEvent *event) {
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if (handler) {
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handler(event);
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}
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}
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#if MMR_CAN_RX_FIFO == CAN_RX_FIFO0
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void HAL_CAN_RxFifo0MsgPendingCallback(CanHandle *hcan) {
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__handleCanRxInterrupt(hcan);
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}
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#elif MMR_CAN_RX_FIFO == CAN_RX_FIFO1
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void HAL_CAN_RxFifo1MsgPendingCallback(CanHandle *hcan) {
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__handleCanRxInterrupt(hcan);
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}
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#endif
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