ALPAKA/CAN-Demo
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can_task as distributor

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This commit is contained in:
CarlWachter 2024-03-11 12:25:58 +01:00
parent fd7c123a5e
commit 505c1c3c0a
3 changed files with 52 additions and 15 deletions
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7
App/Inc/sta/config.hpp
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@ -35,4 +35,11 @@
#include<sta/tacos/configs/default.hpp>
#define STA_TACOS_NUM_STATES 3
// Configure CAN IDs for tasks
#define SYSTEM_CAN_MSG_HANDLER 0x123
#define SYSTEM_CAN_THERMO 0x124
#define SYSTEM_CAN_RELAY 0x125
#define SYSTEM_CAN_V_IN 0x126
#define SYSTEM_CAN_ERROR 0x013
#endif /* INC_STA_CONFIG_HPP_ */

6
App/Inc/tasks/can_task.hpp
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@ -11,16 +11,18 @@
#include <sta/tacos/thread.hpp>
#include <sta/devices/stm32/can.hpp>
namespace demo
namespace tasks
{
class CanTask : public sta::tacos::TacosThread {
public:
CanTask(const char* name, uint32_t canID);
CanTask(uint32_t canID);
void init() override;
void func() override;
private:
void unpackValues(uint8_t packedByte, uint8_t* type_id, uint8_t* sensor_ID, uint8_t* value, uint8_t* include);
};
} // namespace demo

54
App/Src/tasks/can_task.cpp
View File

@ -13,10 +13,10 @@
#include <cmsis_os2.h>
namespace demo
namespace tasks
{
CanTask::CanTask(const char* name, uint32_t canID)
: TacosThread(name, osPriorityNormal)
CanTask::CanTask(uint32_t canID)
: TacosThread("SYS_MSG_HANDLE", osPriorityNormal)
{
setCanID(canID);
}
@ -27,25 +27,53 @@ namespace demo
void CanTask::func()
{
//STA_DEBUG_PRINTLN("Can Task awaiting message");
if (CAN_queue_.available() > 0)
{
// Receiving message
CanSysMsg msg;
CAN_queue_.get(&msg);
STA_DEBUG_PRINTLN("Can Task received message");
// Sending it back with one changed bit
msg.payload[1] = 3;
msg.header.sid = getCanID();
msg.header.eid = 0;
msg.header.format = 0;
// Interpret received
uint8_t type_id, sensor_ID, value, include;
unpackValues(canRX[0], &type_id, &sensor_ID, &value, &include);
sta::tacos::queueCanBusMsg(msg, 0);
STA_DEBUG_PRINTLN("Can Task sent message");
// Reformat for internal use
msg.header.payloadLength = 2;
msg.payload[0] = sensor_ID; // First Byte determines sensor number
msg.payload[1] = value; // Second Byte determines value
HAL_Delay(500);
uint32_t target_ID;
switch (type_id){
case 0: // Relay
target_ID = SYSTEM_CAN_RELAY;
break;
case 1: // Thermocouple
target_ID = SYSTEM_CAN_THERMO;
break;
case 2: // V_IN
target_ID = SYSTEM_CAN_V_IN;
break;
default:
target_ID = SYSTEM_CAN_ERROR;
}
// Append to the correct thread's queue
for (std::shared_ptr<TacosThread> thread : Manager::instance()->getActiveThreads()){
if (thread->getCanID() == target_ID){
thread->CAN_queue_.put(sysMsg);
break;
}
}
}
}
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