Stefano Calabretti
31 lines
652 B
C
31 lines
652 B
C
#include <stdbool.h>
|
|
#include "mmr_can.h"
|
|
|
|
|
|
MmrResult MMR_CAN_TryReceive(MmrCan *can, MmrCanMessage *result) {
|
|
size_t pendingMessages =
|
|
HAL_CAN_GetRxFifoFillLevel(hcan, MMR_CAN_RX_FIFO);
|
|
|
|
if (pendingMessages > 0) {
|
|
return MMR_CAN_Receive(hcan, result) != HAL_OK
|
|
? MMR_RESULT_COMPLETED
|
|
: MMR_RESULT_ERROR;
|
|
}
|
|
|
|
return MMR_RESULT_PENDING;
|
|
}
|
|
|
|
|
|
HalStatus MMR_CAN_Receive(MmrCan *can, MmrCanMessage *result) {
|
|
CanRxHeader rxHeader = {};
|
|
HalStatus status = HAL_CAN_GetRxMessage(
|
|
can->handle,
|
|
can->fifo,
|
|
&rxHeader,
|
|
result->store
|
|
);
|
|
|
|
result->header = MMR_CAN_HeaderFromBits(rxHeader.ExtId);
|
|
return status;
|
|
}
|