ALPAKA/CAN-Demo
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Addapted to reduced CAN task

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@CarlWachter
2024-03-08 13:56:19 +01:00
parent 29c12b00cd
commit 7732fa2823
10 changed files with 85 additions and 100 deletions
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94
App/Src/tasks/can_task.cpp
View File

@@ -9,102 +9,36 @@
#include <sta/debug/debug.hpp>
#include <sta/rtos/debug/heap_stats.hpp>
#include "can.h"
#include <sta/tacos.hpp>
#include <cmsis_os2.h>
namespace demo
{
CanTask::CanTask(const char* name, CAN_HandleTypeDef * handle)
: TacosThread(name, osPriorityNormal), canController(handle)
CanTask::CanTask(const char* name, uint32_t canID)
: TacosThread(name, osPriorityNormal)
{
setCanID(canID);
}
void CanTask::init()
{
canController.start();
txHeader.id.format = sta::CanIdFormat::STD; // Set to EXT for extended ID
txHeader.id.sid = 0x040; // Set the standard ID or extended ID
txHeader.payloadLength = 8; // Set the payload length (max 8 bytes)
// Create your message payload
for (int i = 0; i < 8; ++i) {
payload[i] = i + 1;
}
}
void CanTask::func()
{
//STA_DEBUG_HEAP_STATS();
canController.sendFrame(txHeader, payload);
//STA_DEBUG_HEAP_STATS();
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);
uint8_t type_id, sensor_ID, value, include;
unpackValues(canRX[0], &type_id, &sensor_ID, &value, &include);
if (type_id == 0){
if (sensor_ID == 1){
STA_DEBUG_PRINTLN("Relay 1 triggered");
if(value == 1){
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_2, GPIO_PIN_SET);
} else if(value == 0){
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_2, GPIO_PIN_RESET);
}
}else if (sensor_ID == 2){
STA_DEBUG_PRINTLN("Relay 2 triggered");
if(value == 1){
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_1, GPIO_PIN_SET);
} else if(value == 0){
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_1, GPIO_PIN_RESET);
}
}else if (sensor_ID == 3){
STA_DEBUG_PRINTLN("Relay 3 triggered");
if(value == 1){
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_0, GPIO_PIN_SET);
} else if(value == 0){
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_0, GPIO_PIN_RESET);
}
}else if (sensor_ID == 4){
STA_DEBUG_PRINTLN("Relay 4 triggered");
if(value == 1){
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_3, GPIO_PIN_SET);
} else if(value == 0){
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_3, GPIO_PIN_RESET);
}
}else if (sensor_ID == 5){
STA_DEBUG_PRINTLN("Relay 5 triggered");
if(value == 1){
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6, GPIO_PIN_SET);
} else if(value == 0){
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6, GPIO_PIN_RESET);
}
}
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
sta::tacos::queueCanBusMsg(msg, 0);
STA_DEBUG_PRINTLN("Can Task sent message");
}
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

4
App/Src/tasks/thermo.cpp
View File

@@ -28,10 +28,10 @@ namespace demo
void ThermoTask::init()
{
mutex = new sta::RtosMutex("spi2");
spi2 = new sta::STM32SPI(&hspi2, 16000000, &mutex);
spi2 = new sta::STM32SPI(&hspi2, 16000000, mutex);
device_ = new sta::STM32SPIDevice(spi2, &cs_pin);
tc = new sta::MAX31855(&device_); //create driver object
tc = new sta::MAX31855(device_); //create driver object
}
void ThermoTask::func()