canbus: Use single method for reading canbus messages

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>

1 files changed, 13 insertions, 4 deletions

diff --git a/src/generic/canbus.h b/src/generic/canbus.h
index a7df077d..a6463246 100644
--- a/src/generic/canbus.h
+++ b/src/generic/canbus.h
@@ -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