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https://git.intern.spaceteamaachen.de/ALPAKA/CAN-Demo.git
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74 lines
1.9 KiB
C++
74 lines
1.9 KiB
C++
/*
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* can_task.cpp
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*
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* Created on: 10 Dec 2023
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* Author: Carl
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*/
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#include <tasks/can_task.hpp>
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#include <sta/debug/debug.hpp>
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#include <sta/rtos/debug/heap_stats.hpp>
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#include "can.h"
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#include <cmsis_os2.h>
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namespace demo
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{
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CanTask::CanTask(const char* name, CAN_HandleTypeDef * handle)
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: TacosThread(name, osPriorityNormal), canController(handle)
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{
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}
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void CanTask::init()
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{
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canController.start();
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txHeader.id.format = sta::CanIdFormat::STD; // Set to EXT for extended ID
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txHeader.id.sid = 0x040; // Set the standard ID or extended ID
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txHeader.payloadLength = 8; // Set the payload length (max 8 bytes)
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// Create your message payload
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for (int i = 0; i < 8; ++i) {
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payload[i] = i + 1;
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}
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}
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void CanTask::func()
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{
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//STA_DEBUG_HEAP_STATS();
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//canController.sendFrame(txHeader, payload);
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//STA_DEBUG_HEAP_STATS();
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CAN_RxHeaderTypeDef rxHeader; //CAN Bus Receive Header
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uint8_t canRX[8] = {0,0,0,0,0,0,0,0}; //CAN Bus Receive Buffer
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STA_DEBUG_PRINTLN("WAITING");
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HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &rxHeader, canRX);
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STA_DEBUG_PRINTLN("RECEIVED");
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uint8_t type_id, sensor_ID, value, include;
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unpackValues(canRX[0], &type_id, &sensor_ID, &value, &include);
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if (type_id == 0 && sensor_ID == 1){
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if (value == 0){
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HAL_GPIO_WritePin(GPIOD,GPIO_PIN_8, GPIO_PIN_RESET);
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}else{
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HAL_GPIO_WritePin(GPIOD,GPIO_PIN_8, GPIO_PIN_SET);
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}
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}
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HAL_Delay(1000);
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}
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void CanTask::unpackValues(uint8_t packedByte, uint8_t* type_id, uint8_t* sensor_ID, uint8_t* value, uint8_t* include) {
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*type_id = (packedByte >> 6) & 0x03; // Extracting two bits for type_id
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*sensor_ID = (packedByte >> 3) & 0x07; // Extracting three bits for sensorID
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*include = (packedByte >> 2) & 0x01; // Extracting the flag for included value
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*value = (packedByte >> 1) & 0x01; // Extracting one bit for value
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}
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} // namespace demo
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