[untested] Rudeimentary demo for EGSE on TACOS

App/Src/tasks/can_task.cpp

@@ -8,6 +8,7 @@
 #include <tasks/can_task.hpp>
 #include <sta/debug/debug.hpp>
 #include <sta/rtos/debug/heap_stats.hpp>
+#include "can.h"
 
 #include <cmsis_os2.h>
 
@@ -37,10 +38,36 @@ namespace demo
 	void CanTask::func()
 	{
 		//STA_DEBUG_HEAP_STATS();
-		canController.sendFrame(txHeader, payload);
+		//canController.sendFrame(txHeader, payload);
 		//STA_DEBUG_HEAP_STATS();
-		STA_DEBUG_PRINTLN("SENT FRAME");
+
+		CAN_RxHeaderTypeDef rxHeader;			//CAN Bus Receive Header
+		uint8_t canRX[8] = {0,0,0,0,0,0,0,0};  	//CAN Bus Receive Buffer
+
+		STA_DEBUG_PRINTLN("WAITING");
+		HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &rxHeader, canRX);
+		STA_DEBUG_PRINTLN("RECEIVED");
+
+		uint8_t type_id, sensor_ID, value, include;
+
+		unpackValues(canRX[0], &type_id, &sensor_ID, &value, &include);
+
+		if (type_id == 0 && sensor_ID == 1){
+			if (value == 0){
+				HAL_GPIO_WritePin(GPIOD,GPIO_PIN_8, GPIO_PIN_RESET);
+			}else{
+				HAL_GPIO_WritePin(GPIOD,GPIO_PIN_8, GPIO_PIN_SET);
+			}
+		}
+
 		HAL_Delay(1000);
 	}
+
+	void CanTask::unpackValues(uint8_t packedByte, uint8_t* type_id, uint8_t* sensor_ID, uint8_t* value, uint8_t* include) {
+		*type_id = (packedByte >> 6) & 0x03;       // Extracting two bits for type_id
+		*sensor_ID = (packedByte >> 3) & 0x07;     // Extracting three bits for sensorID
+		*include = (packedByte >> 2) & 0x01;       // Extracting the flag for included value
+		*value = (packedByte >> 1) & 0x01;         // Extracting one bit for value
+	}
 } // namespace demo