Stefano Calabretti
85 lines
1.7 KiB
C
85 lines
1.7 KiB
C
#include <stdbool.h>
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#include "mmr_can.h"
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typedef struct {
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CanHandle *handle;
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uint8_t *result;
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struct {
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CanRxHeader rx;
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MmrCanHeader mmr;
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} headers;
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uint8_t fifo;
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} ReceptionParams;
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static HalStatus receiveOne(ReceptionParams *rp);
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static HalStatus receiveAll(ReceptionParams *rp);
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static bool headerIsMultiFrame(MmrCanHeader *header, CanId targetId);
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/**
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* @brief
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* Reads a CAN message and stores it inside the
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* given MmrCanMessage struct.
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*
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* If a multi-frame message is received, this function will block
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* and read every frame for that particular message.
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*/
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HalStatus MMR_CAN_Receive(CanHandle *hcan, MmrCanMessage *result) {
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ReceptionParams rp = {
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.handle = hcan,
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.result = (uint8_t*)result->store,
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.fifo = MMR_CAN_RX_FIFO,
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};
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HalStatus status = receiveOne(&rp);
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if (status != HAL_OK) {
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return status;
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}
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result->header = rp.headers.mmr;
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if (MMR_CAN_IsMultiFrame(&rp.headers.mmr)) {
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status |= receiveAll(&rp);
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}
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return status;
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}
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static HalStatus receiveAll(ReceptionParams *rp) {
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CanId targetId = rp->headers.mmr.senderId;
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HalStatus status = HAL_OK;
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do {
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rp->result += MMR_CAN_MAX_DATA_LENGTH;
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status |= receiveOne(rp);
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} while (
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headerIsMultiFrame(&rp->headers.mmr, targetId) && status == HAL_OK
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);
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return status;
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}
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static HalStatus receiveOne(ReceptionParams *rp) {
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HalStatus status = HAL_CAN_GetRxMessage(
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rp->handle,
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rp->fifo,
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&rp->headers.rx,
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rp->result
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);
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rp->headers.mmr = MMR_CAN_HeaderFromBits(rp->headers.rx.ExtId);
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return status;
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}
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static always_inline bool headerIsMultiFrame(MmrCanHeader *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->senderId == targetId;
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}
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