ALPAKA/CAN-Demo
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Working receive and handling of control signals

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@CarlWachter
2024-02-22 16:37:05 +01:00
parent 01e03fb667
commit 8367127c62
18 changed files with 278 additions and 111 deletions
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10
App/Inc/sta/config.hpp
View File

@@ -29,14 +29,10 @@
#define STA_RTOS_SYSTEM_EVENTS_ENABLE
// #define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
// #define STA_RTOS_WATCHDOG_ENABLE
// #define STA_CAN_BUS_ENABLE
// Settings for TACOS
#define STA_TACOS_MANAGER_PRIORITY osPriorityNormal
#define STA_TACOS_STATEMACHINE_PRIORITY osPriorityNormal
// Statemachine settings. Here, we only have a single state which is also the initial state.
// Uses the default configuration for TACOS.
#include<sta/tacos/configs/default.hpp>
#define STA_TACOS_NUM_STATES 3
#define STA_TACOS_INITIAL_STATE 0
#endif /* INC_STA_CONFIG_HPP_ */

49
App/Src/tasks/can_task.cpp
View File

@@ -46,18 +46,55 @@ namespace demo
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);
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);
}
}
}
HAL_Delay(1000);