ALPAKA/CAN-Demo
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can task

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This commit is contained in:
CarlWachter 2024-03-11 14:42:35 +01:00
parent 28937bb199
commit c688f08966
1 changed files with 6 additions and 7 deletions
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13
App/Src/tasks/can_task.cpp
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@ -10,6 +10,7 @@
#include <sta/rtos/debug/heap_stats.hpp> #include <sta/rtos/debug/heap_stats.hpp>
#include "can.h" #include "can.h"
#include <sta/tacos.hpp> #include <sta/tacos.hpp>
#include <sta/tacos/manager.hpp>
#include <cmsis_os2.h> #include <cmsis_os2.h>
@ -27,15 +28,13 @@ namespace tasks
void CanTask::func() void CanTask::func()
{ {
if (CAN_queue_.available() > 0) CanSysMsg msg;
if (CAN_queue_.get(&msg, osWaitForever))
{ {
// Receiving message
CanSysMsg msg;
CAN_queue_.get(&msg);
// Interpret received // Interpret received
uint8_t type_id, sensor_ID, value, include; uint8_t type_id, sensor_ID, value, include;
unpackValues(canRX[0], &type_id, &sensor_ID, &value, &include); unpackValues(msg.payload[0], &type_id, &sensor_ID, &value, &include);
// Reformat for internal use // Reformat for internal use
msg.header.payloadLength = 2; msg.header.payloadLength = 2;
@ -60,9 +59,9 @@ namespace tasks
} }
// Append to the correct thread's queue // Append to the correct thread's queue
for (std::shared_ptr<TacosThread> thread : Manager::instance()->getActiveThreads()){ for (std::shared_ptr<TacosThread> thread : sta::tacos::Manager::instance()->getActiveThreads()){
if (thread->getCanID() == target_ID){ if (thread->getCanID() == target_ID){
thread->CAN_queue_.put(sysMsg); thread->CAN_queue_.put(msg);
break; break;
} }
} }