Addapted to reduced CAN task

.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1080687771005896909" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-614993993494983921" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1080687771005896909" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-614993993494983921" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

.settings/stm32cubeide.project.prefs

@@ -1,5 +1,5 @@
 635E684B79701B039C64EA45C3F84D30=44DBEC1DE4EBA9B0485911FBE58BFC80
 66BE74F758C12D739921AEA421D593D3=3
-8DF89ED150041C4CBC7CB9A9CAA90856=84EF3C290D485BA5E95DA5C0811FD966
+8DF89ED150041C4CBC7CB9A9CAA90856=7B5B92F1162457C6ECACD202698061B0
-DC22A860405A8BF2F2C095E5B6529F12=84EF3C290D485BA5E95DA5C0811FD966
+DC22A860405A8BF2F2C095E5B6529F12=3C8525AE6BF206AA629BF4979058680C
 eclipse.preferences.version=1

.vscode/settings.json

@@ -0,0 +1,55 @@
+{
+    "files.associations": {
+        "algorithm": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "cctype": "cpp",
+        "cinttypes": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "exception": "cpp",
+        "functional": "cpp",
+        "initializer_list": "cpp",
+        "ios": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "iterator": "cpp",
+        "limits": "cpp",
+        "list": "cpp",
+        "memory": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "set": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "typeinfo": "cpp",
+        "unordered_map": "cpp",
+        "utility": "cpp",
+        "vector": "cpp",
+        "xfacet": "cpp",
+        "xhash": "cpp",
+        "xiosbase": "cpp",
+        "xlocale": "cpp",
+        "xlocinfo": "cpp",
+        "xlocnum": "cpp",
+        "xmemory": "cpp",
+        "xstddef": "cpp",
+        "xstring": "cpp",
+        "xtr1common": "cpp",
+        "xtree": "cpp",
+        "xutility": "cpp"
+    }
+}

App/Inc/sta/config.hpp

@@ -29,7 +29,7 @@
 #define STA_RTOS_SYSTEM_EVENTS_ENABLE
 // #define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
 // #define STA_RTOS_WATCHDOG_ENABLE
-// #define STA_CAN_BUS_ENABLE
+#define STA_CAN_BUS_ENABLE
 
 // Uses the default configuration for TACOS.
 #include<sta/tacos/configs/default.hpp>

App/Inc/tasks/can_task.hpp

@@ -15,18 +15,12 @@ namespace demo
 {
 	class CanTask : public sta::tacos::TacosThread {
 	public:
-		CanTask(const char* name, CAN_HandleTypeDef * handle);
+		CanTask(const char* name, uint32_t canID);
 
 		void init() override;
 
 		void func() override;
-
-		void unpackValues(uint8_t packedByte, uint8_t* type_id, uint8_t* sensor_ID, uint8_t* value, uint8_t* include);
 	private:
-
-		uint8_t payload[8];
-		sta::STM32CanController canController;
-		sta::CanTxHeader txHeader;
 	};
 } // namespace demo
 

App/Inc/tasks/thermo.hpp

@@ -10,6 +10,9 @@
 
 #include <sta/tacos/thread.hpp>
 #include <sta/devices/stm32/can.hpp>
+#include <sta/rtos/mutex.hpp>
+#include <sta/MAX31855.hpp>
+#include <sta/devices/stm32/bus/spi.hpp>
 #include <gpio.h>
 #include <spi.h>
 
@@ -30,7 +33,7 @@ namespace demo
 	sta::STM32SPI* spi2;
 	sta::STM32SPIDevice* device_;
 
-	sta::MAX31855 tc*;
+	sta::MAX31855* tc;
 
 	};
 } // namespace demo

App/Src/startup.cpp

@@ -8,11 +8,11 @@
 #include <sta/debug/debug.hpp>
 #include <tasks/can_task.hpp>
 #include <tasks/thermo.hpp>
-#include <sta/tacos/manager.hpp>
-#include <sta/tacos/statemachine.hpp>
 #include <sta/devices/stm32/gpio_pin.hpp>
 #include <sta/rtos/debug/heap_stats.hpp>
 
+#include <sta/tacos.hpp>
+
 
 #include <memory>
 
@@ -32,8 +32,7 @@ namespace sta
 			// ###### Register different threads for different states here. ######
 
 			// The dummy task runs for state 0.
-			Manager::instance()->registerThread(std::make_shared<demo::CanTask>("CAN SPAM", &hcan1), {0});
+			Manager::instance()->registerThread(std::make_shared<demo::CanTask>("CAN test", 0x22), {ALL_STATES});
-			Manager::instance()->registerThread(std::make_shared<demo::ThermoTask>(), {0});
 
 			STA_DEBUG_PRINTF("The answer to everything is %d", 42);
 

App/Src/tasks/can_task.cpp

@@ -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)
+	CanTask::CanTask(const char* name, uint32_t canID)
-		: TacosThread(name, osPriorityNormal), canController(handle)
+		: 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();
+		STA_DEBUG_PRINTLN("Can Task awaiting message");
-		canController.sendFrame(txHeader, payload);
+		if (CAN_queue_.available() > 0)
-		//STA_DEBUG_HEAP_STATS();
+		{
-
+			// Receiving message
-		CAN_RxHeaderTypeDef rxHeader;			//CAN Bus Receive Header
+			CanSysMsg msg;
-		uint8_t canRX[8] = {0,0,0,0,0,0,0,0};  	//CAN Bus Receive Buffer
+			CAN_queue_.get(&msg);
-
+			STA_DEBUG_PRINTLN("Can Task received message");
-		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);
-				}
-			}
 
+			// 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
 

App/Src/tasks/thermo.cpp

@@ -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()

Libs/TACOS

@@ -1 +1 @@
-Subproject commit 16b2ed5a20df1c04b9bbcf5e12101d5e822e45d2
+Subproject commit 7147d6de8308110eace178b11ab88548ca29177a