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canbus: Use single method for reading canbus messages

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Previously the code had canbus_read() which was called from task
context (for admin messages), and canbus_process_data() which was
called from irq context (used for data messages).  Change that to a
single canbus_process_data() function that is called from irq context
(used for all messages).  This simplifies the low-level hardware
specific canbus code and should make it easier to support other
hardware implementations.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2022-06-10 14:13:39 -04:00
parent da755c3c1b
commit 84d798f516
4 changed files with 125 additions and 198 deletions
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17
src/generic/canbus.h
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@@ -7,15 +7,24 @@
#define CANBUS_ID_ADMIN_RESP 0x3f1
#define CANBUS_UUID_LEN 6
struct canbus_msg {
uint32_t id;
uint32_t dlc;
union {
uint8_t data[8];
uint32_t data32[2];
};
};
#define CANMSG_DATA_LEN(msg) ((msg)->dlc > 8 ? 8 : (msg)->dlc)
// callbacks provided by board specific code
int canbus_read(uint32_t *id, uint8_t *data);
int canbus_send(uint32_t id, uint32_t len, uint8_t *data);
int canbus_send(struct canbus_msg *msg);
void canbus_set_filter(uint32_t id);
// canbus.c
void canbus_notify_tx(void);
void canbus_notify_rx(void);
void canbus_process_data(uint32_t id, uint32_t len, uint8_t *data);
void canbus_process_data(struct canbus_msg *msg);
void canbus_set_uuid(void *data);
#endif // canbus.h