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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49
App/Src/tasks/can_task.cpp
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@@ -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);