can handler

Northeastern-Electric-Racing · Dec 16, 2023 · 324464e · 324464e
1 parent 1576590
commit 324464e
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/Core/Inc/can_handler.h b/Core/Inc/can_handler.h
@@ -9,6 +9,6 @@ can_t can2;
 /* Shepherd hanbdles both can busses the same way */
 void can_receive_callback(CAN_HandleTypeDef *hcan);
 
-void get_can_msg();
+uint8_t get_can_msg(can_msg_t* msg);
 
 #endif // CAN_HANDLER_H
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
@@ -33,6 +33,13 @@ void can_receive_callback(CAN_HandleTypeDef *hcan)
     new_msg.len = rx_header.DLC;
 	new_msg.id = rx_header.StdId;
 
-    enqueue(can_receive_queue, new_msg.data);
+    ringbuffer_enqueue(can_receive_queue, new_msg);
 }
 
+uint8_t get_can_msg(can_msg_t* msg)
+{
+    /* no messages to read */
+    if (ringbuffer_is_empty(&can_receive_queue)) return -1;
+
+    ringbuffer_dequeue(&can_receive_queue, msg);
+}