Working CAN sending on TACOS via user space

App/Inc/sta/config.hpp

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+/*
+ * Configuration file for STA-Core.
+ *
+ *  Created on: Aug 30, 2023
+ *      Author: Dario
+ */
+
+#ifndef INC_STA_CONFIG_HPP_
+#define INC_STA_CONFIG_HPP_
+
+#include <sta/devices/stm32/mcu/common.hpp>
+
+// Doesn't really do too much right now. Has to be added for successful compilation.
+#define STA_PRINTF_USE_STDLIB
+
+#define STA_MCU_LITTLE_ENDIAN
+#define STA_PLATFORM_STM32
+
+// Enable debug serial output and assertions.
+#define STA_ASSERT_FORCE
+#define STA_DEBUGGING_ENABLED
+
+// Activate the timer for microsecond delays.
+// #define STA_STM32_DELAY_ENABLE
+// #define STA_STM32_DELAY_US_TIM htim1
+
+// Settings for the rtos-utils
+#define STA_RTOS_SYSTEM_EVENTS_ENABLE
+// #define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
+// #define STA_RTOS_WATCHDOG_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.
+#define STA_TACOS_NUM_STATES 3
+#define STA_TACOS_INITIAL_STATE 0
+
+#endif /* INC_STA_CONFIG_HPP_ */

App/Inc/tasks/can_task.hpp

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+/*
+ * can_task.hpp
+ *
+ *  Created on: 10 Dec 2023
+ *      Author: Carl
+ */
+
+#ifndef INC_TASKS_CANTASK_HPP_
+#define INC_TASKS_CANTASK_HPP_
+
+#include <sta/tacos/thread.hpp>
+#include <sta/devices/stm32/can.hpp>
+
+namespace demo
+{
+	class CanTask : public sta::tacos::TacosThread {
+	public:
+		CanTask(const char* name, CAN_HandleTypeDef * handle);
+
+		void init() override;
+
+		void func() override;
+
+	private:
+
+		uint8_t payload[8];
+		sta::STM32CanController canController;
+		sta::CanTxHeader txHeader;
+	};
+} // namespace demo
+
+#endif /* INC_TASKS_CANTASK_HPP_ */

App/Src/startup.cpp

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+/*
+ * printable.cpp
+ *
+ *  Created on: Aug 30, 2023
+ *      Author: Dario
+ */
+
+
+#include <sta/tacos/startup.hpp>
+#include <sta/debug/debug.hpp>
+#include <tasks/can_task.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 <memory>
+
+extern CAN_HandleTypeDef hcan1;
+
+namespace sta
+{
+	namespace tacos
+	{
+		void onStatemachineInit()
+		{
+
+		}
+
+		void onManagerInit()
+		{
+			// ###### 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});
+
+			STA_DEBUG_PRINTF("The answer to everything is %d", 42);
+
+			STA_DEBUG_HEAP_STATS();
+		}
+	} // namespace tacos
+} // namespace sta
+

App/Src/tasks/can_task.cpp

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+/*
+ * can_task.cpp
+ *
+ *  Created on: 10 Dec 2023
+ *      Author: Carl
+ */
+
+#include <tasks/can_task.hpp>
+#include <sta/debug/debug.hpp>
+
+#include <cmsis_os2.h>
+
+namespace demo
+{
+	CanTask::CanTask(const char* name, CAN_HandleTypeDef * handle)
+		: TacosThread(name, osPriorityNormal), canController(handle)
+	{
+
+	}
+
+	void CanTask::init()
+	{
+
+		canController.start();
+
+		txHeader.id.format = sta::CanIdFormat::STD; // Set to EXT for extended ID
+		txHeader.id.sid = 0x30; // 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()
+	{
+		canController.sendFrame(txHeader, payload);
+		HAL_Delay(1000);
+	}
+} // namespace demo
+