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https://git.intern.spaceteamaachen.de/ALPAKA/CAN-Demo.git
synced 2025-06-10 02:55:59 +00:00
Addapted to reduced CAN task
This commit is contained in:
@CarlWachter
parent
29c12b00cd
commit
7732fa2823
@ -5,7 +5,7 @@
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@ -29,7 +29,7 @@
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#define STA_RTOS_SYSTEM_EVENTS_ENABLE
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// #define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
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// #define STA_RTOS_WATCHDOG_ENABLE
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// #define STA_CAN_BUS_ENABLE
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#define STA_CAN_BUS_ENABLE
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// Uses the default configuration for TACOS.
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#include<sta/tacos/configs/default.hpp>
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@ -15,18 +15,12 @@ namespace demo
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{
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class CanTask : public sta::tacos::TacosThread {
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public:
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CanTask(const char* name, CAN_HandleTypeDef * handle);
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CanTask(const char* name, uint32_t canID);
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void init() override;
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void func() override;
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void unpackValues(uint8_t packedByte, uint8_t* type_id, uint8_t* sensor_ID, uint8_t* value, uint8_t* include);
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private:
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uint8_t payload[8];
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sta::STM32CanController canController;
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sta::CanTxHeader txHeader;
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};
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} // namespace demo
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@ -10,6 +10,9 @@
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#include <sta/tacos/thread.hpp>
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#include <sta/devices/stm32/can.hpp>
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#include <sta/rtos/mutex.hpp>
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#include <sta/MAX31855.hpp>
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#include <sta/devices/stm32/bus/spi.hpp>
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#include <gpio.h>
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#include <spi.h>
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@ -30,7 +33,7 @@ namespace demo
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sta::STM32SPI* spi2;
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sta::STM32SPIDevice* device_;
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sta::MAX31855 tc*;
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sta::MAX31855* tc;
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};
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} // namespace demo
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@ -8,11 +8,11 @@
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#include <sta/debug/debug.hpp>
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#include <tasks/can_task.hpp>
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#include <tasks/thermo.hpp>
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#include <sta/tacos/manager.hpp>
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#include <sta/tacos/statemachine.hpp>
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#include <sta/devices/stm32/gpio_pin.hpp>
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#include <sta/rtos/debug/heap_stats.hpp>
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#include <sta/tacos.hpp>
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#include <memory>
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@ -32,8 +32,7 @@ namespace sta
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// ###### Register different threads for different states here. ######
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// The dummy task runs for state 0.
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Manager::instance()->registerThread(std::make_shared<demo::CanTask>("CAN SPAM", &hcan1), {0});
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Manager::instance()->registerThread(std::make_shared<demo::ThermoTask>(), {0});
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Manager::instance()->registerThread(std::make_shared<demo::CanTask>("CAN test", 0x22), {ALL_STATES});
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STA_DEBUG_PRINTF("The answer to everything is %d", 42);
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@ -9,102 +9,36 @@
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#include <sta/debug/debug.hpp>
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#include <sta/rtos/debug/heap_stats.hpp>
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#include "can.h"
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#include <sta/tacos.hpp>
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#include <cmsis_os2.h>
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namespace demo
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{
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CanTask::CanTask(const char* name, CAN_HandleTypeDef * handle)
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: TacosThread(name, osPriorityNormal), canController(handle)
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CanTask::CanTask(const char* name, uint32_t canID)
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: TacosThread(name, osPriorityNormal)
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{
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setCanID(canID);
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}
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void CanTask::init()
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{
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canController.start();
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txHeader.id.format = sta::CanIdFormat::STD; // Set to EXT for extended ID
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txHeader.id.sid = 0x040; // Set the standard ID or extended ID
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txHeader.payloadLength = 8; // Set the payload length (max 8 bytes)
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// Create your message payload
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for (int i = 0; i < 8; ++i) {
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payload[i] = i + 1;
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}
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}
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void CanTask::func()
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{
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//STA_DEBUG_HEAP_STATS();
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canController.sendFrame(txHeader, payload);
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//STA_DEBUG_HEAP_STATS();
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STA_DEBUG_PRINTLN("Can Task awaiting message");
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if (CAN_queue_.available() > 0)
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{
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// Receiving message
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CanSysMsg msg;
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CAN_queue_.get(&msg);
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STA_DEBUG_PRINTLN("Can Task received message");
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CAN_RxHeaderTypeDef rxHeader; //CAN Bus Receive Header
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uint8_t canRX[8] = {0,0,0,0,0,0,0,0}; //CAN Bus Receive Buffer
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STA_DEBUG_PRINTLN("WAITING");
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HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &rxHeader, canRX);
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uint8_t type_id, sensor_ID, value, include;
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unpackValues(canRX[0], &type_id, &sensor_ID, &value, &include);
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if (type_id == 0){
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if (sensor_ID == 1){
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STA_DEBUG_PRINTLN("Relay 1 triggered");
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if(value == 1){
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HAL_GPIO_WritePin(GPIOA,GPIO_PIN_2, GPIO_PIN_SET);
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} else if(value == 0){
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HAL_GPIO_WritePin(GPIOA,GPIO_PIN_2, GPIO_PIN_RESET);
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// Sending it back
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sta::tacos::queueCanBusMsg(msg, 0);
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STA_DEBUG_PRINTLN("Can Task sent message");
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}
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}else if (sensor_ID == 2){
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STA_DEBUG_PRINTLN("Relay 2 triggered");
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if(value == 1){
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HAL_GPIO_WritePin(GPIOA,GPIO_PIN_1, GPIO_PIN_SET);
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} else if(value == 0){
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HAL_GPIO_WritePin(GPIOA,GPIO_PIN_1, GPIO_PIN_RESET);
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}
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}else if (sensor_ID == 3){
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STA_DEBUG_PRINTLN("Relay 3 triggered");
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if(value == 1){
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HAL_GPIO_WritePin(GPIOA,GPIO_PIN_0, GPIO_PIN_SET);
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} else if(value == 0){
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HAL_GPIO_WritePin(GPIOA,GPIO_PIN_0, GPIO_PIN_RESET);
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}
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}else if (sensor_ID == 4){
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STA_DEBUG_PRINTLN("Relay 4 triggered");
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if(value == 1){
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HAL_GPIO_WritePin(GPIOA,GPIO_PIN_3, GPIO_PIN_SET);
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} else if(value == 0){
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HAL_GPIO_WritePin(GPIOA,GPIO_PIN_3, GPIO_PIN_RESET);
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}
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}else if (sensor_ID == 5){
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STA_DEBUG_PRINTLN("Relay 5 triggered");
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if(value == 1){
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HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6, GPIO_PIN_SET);
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} else if(value == 0){
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HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6, GPIO_PIN_RESET);
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}
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}
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}
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HAL_Delay(1000);
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}
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void CanTask::unpackValues(uint8_t packedByte, uint8_t* type_id, uint8_t* sensor_ID, uint8_t* value, uint8_t* include) {
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*type_id = (packedByte >> 6) & 0x03; // Extracting two bits for type_id
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*sensor_ID = (packedByte >> 3) & 0x07; // Extracting three bits for sensorID
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*include = (packedByte >> 2) & 0x01; // Extracting the flag for included value
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*value = (packedByte >> 1) & 0x01; // Extracting one bit for value
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}
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} // namespace demo
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@ -28,10 +28,10 @@ namespace demo
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void ThermoTask::init()
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{
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mutex = new sta::RtosMutex("spi2");
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spi2 = new sta::STM32SPI(&hspi2, 16000000, &mutex);
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spi2 = new sta::STM32SPI(&hspi2, 16000000, mutex);
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device_ = new sta::STM32SPIDevice(spi2, &cs_pin);
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tc = new sta::MAX31855(&device_); //create driver object
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tc = new sta::MAX31855(device_); //create driver object
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}
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void ThermoTask::func()
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@ -1 +1 @@
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Subproject commit 16b2ed5a20df1c04b9bbcf5e12101d5e822e45d2
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Subproject commit 7147d6de8308110eace178b11ab88548ca29177a
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