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https://git.intern.spaceteamaachen.de/ALPAKA/CAN-Demo.git
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Working CAN communication with forwarding to tasks
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@CarlWachter
parent
7732fa2823
commit
fd7c123a5e
44
.mxproject
44
.mxproject
File diff suppressed because one or more lines are too long
@ -1,5 +1,5 @@
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635E684B79701B039C64EA45C3F84D30=44DBEC1DE4EBA9B0485911FBE58BFC80
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66BE74F758C12D739921AEA421D593D3=3
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8DF89ED150041C4CBC7CB9A9CAA90856=7B5B92F1162457C6ECACD202698061B0
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DC22A860405A8BF2F2C095E5B6529F12=3C8525AE6BF206AA629BF4979058680C
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DC22A860405A8BF2F2C095E5B6529F12=7B5B92F1162457C6ECACD202698061B0
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eclipse.preferences.version=1
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@ -32,7 +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 test", 0x22), {ALL_STATES});
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Manager::instance()->registerThread(std::make_shared<demo::CanTask>("CAN test", 0x123), {ALL_STATES});
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STA_DEBUG_PRINTF("The answer to everything is %d", 42);
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@ -27,7 +27,7 @@ namespace demo
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void CanTask::func()
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{
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STA_DEBUG_PRINTLN("Can Task awaiting message");
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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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@ -35,9 +35,16 @@ namespace demo
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CAN_queue_.get(&msg);
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STA_DEBUG_PRINTLN("Can Task received message");
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// Sending it back
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// Sending it back with one changed bit
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msg.payload[1] = 3;
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msg.header.sid = getCanID();
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msg.header.eid = 0;
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msg.header.format = 0;
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sta::tacos::queueCanBusMsg(msg, 0);
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STA_DEBUG_PRINTLN("Can Task sent message");
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HAL_Delay(500);
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}
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}
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} // namespace demo
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@ -40,7 +40,7 @@
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<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
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<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
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<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
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<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{"fVersion":1,"fItems":[{"fDisplayName":"Reset","fIsSuppressible":false,"fResetAttribute":"Software system reset","fResetStrategies":[{"fDisplayName":"Software system reset","fLaunchAttribute":"system_reset","fGdbCommands":["monitor reset\n"],"fCmdOptions":["-g"]},{"fDisplayName":"Hardware reset","fLaunchAttribute":"hardware_reset","fGdbCommands":["monitor reset hardware\n"],"fCmdOptions":["-g"]},{"fDisplayName":"Core reset","fLaunchAttribute":"core_reset","fGdbCommands":["monitor reset core\n"],"fCmdOptions":["-g"]},{"fDisplayName":"None","fLaunchAttribute":"no_reset","fGdbCommands":[],"fCmdOptions":["-g"]}],"fGdbCommandGroup":{"name":"Additional commands","commands":[]},"fStartApplication":true}]}"/>
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<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{"fVersion":1,"fItems":[{"fDisplayName":"Reset","fIsSuppressible":false,"fResetAttribute":"Software system reset","fResetStrategies":[{"fDisplayName":"Software system reset","fLaunchAttribute":"system_reset","fGdbCommands":["monitor reset\r\n"],"fCmdOptions":["-g"]},{"fDisplayName":"Hardware reset","fLaunchAttribute":"hardware_reset","fGdbCommands":["monitor reset hardware\r\n"],"fCmdOptions":["-g"]},{"fDisplayName":"Core reset","fLaunchAttribute":"core_reset","fGdbCommands":["monitor reset core\r\n"],"fCmdOptions":["-g"]},{"fDisplayName":"None","fLaunchAttribute":"no_reset","fGdbCommands":[],"fCmdOptions":["-g"]}],"fGdbCommandGroup":{"name":"Additional commands","commands":[]},"fStartApplication":true}]}"/>
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<booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
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<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
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<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="threadx"/>
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@ -11,11 +11,13 @@ CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Presca
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CAN1.NART=ENABLE
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CAN1.Prescaler=8
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CAN1.SJW=CAN_SJW_1TQ
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FREERTOS.IPParameters=Tasks01,configRECORD_STACK_HIGH_ADDRESS,configTIMER_TASK_PRIORITY,configUSE_NEWLIB_REENTRANT,configTOTAL_HEAP_SIZE
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FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
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FREERTOS.IPParameters=Tasks01,configRECORD_STACK_HIGH_ADDRESS,configTIMER_TASK_PRIORITY,configUSE_NEWLIB_REENTRANT,configTOTAL_HEAP_SIZE,configMINIMAL_STACK_SIZE,configCHECK_FOR_STACK_OVERFLOW
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FREERTOS.Tasks01=defaultTask,24,512,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
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FREERTOS.configCHECK_FOR_STACK_OVERFLOW=2
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FREERTOS.configMINIMAL_STACK_SIZE=512
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FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
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FREERTOS.configTIMER_TASK_PRIORITY=55
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FREERTOS.configTOTAL_HEAP_SIZE=20360
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FREERTOS.configTOTAL_HEAP_SIZE=30360
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FREERTOS.configUSE_NEWLIB_REENTRANT=1
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File.Version=6
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GPIO.groupedBy=Group By Peripherals
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@ -67,13 +67,14 @@
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#define configCPU_CLOCK_HZ ( SystemCoreClock )
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#define configTICK_RATE_HZ ((TickType_t)1000)
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#define configMAX_PRIORITIES ( 56 )
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#define configMINIMAL_STACK_SIZE ((uint16_t)128)
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#define configTOTAL_HEAP_SIZE ((size_t)20360)
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#define configMINIMAL_STACK_SIZE ((uint16_t)512)
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#define configTOTAL_HEAP_SIZE ((size_t)30360)
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#define configMAX_TASK_NAME_LEN ( 16 )
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#define configUSE_TRACE_FACILITY 1
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#define configUSE_16_BIT_TICKS 0
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#define configUSE_MUTEXES 1
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#define configQUEUE_REGISTRY_SIZE 8
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#define configCHECK_FOR_STACK_OVERFLOW 2
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#define configUSE_RECURSIVE_MUTEXES 1
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#define configUSE_COUNTING_SEMAPHORES 1
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#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
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@ -92,7 +93,7 @@
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#define configUSE_TIMERS 1
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#define configTIMER_TASK_PRIORITY ( 55 )
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#define configTIMER_QUEUE_LENGTH 10
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#define configTIMER_TASK_STACK_DEPTH 256
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#define configTIMER_TASK_STACK_DEPTH 1024
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/* The following flag must be enabled only when using newlib */
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#define configUSE_NEWLIB_REENTRANT 1
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@ -51,7 +51,7 @@ typedef StaticSemaphore_t osStaticMutexDef_t;
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osThreadId_t defaultTaskHandle;
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const osThreadAttr_t defaultTask_attributes = {
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.name = "defaultTask",
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.stack_size = 128 * 4,
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.stack_size = 512 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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@ -64,6 +64,18 @@ void StartDefaultTask(void *argument);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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/* Hook prototypes */
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void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
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/* USER CODE BEGIN 4 */
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void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
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{
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/* Run time stack overflow checking is performed if
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configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
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called if a stack overflow is detected. */
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}
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/* USER CODE END 4 */
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/**
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* @brief FreeRTOS initialization
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* @param None
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@ -1 +1 @@
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Subproject commit 7147d6de8308110eace178b11ab88548ca29177a
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Subproject commit 39024e4a8c53ed19f9313a1d52adff763d06ba75
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@ -1 +1 @@
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Subproject commit 1925a1668e847e048423499f523f3293ea9d923a
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Subproject commit a6704f4c45a82cf607907854a0005d6450cb0f06
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