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45 lines
777 B
C++
45 lines
777 B
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 <sta/tacos.hpp>
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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, uint32_t canID)
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: TacosThread(name, osPriorityNormal)
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{
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setCanID(canID);
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}
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void CanTask::init()
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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_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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CanSysMsg msg;
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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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sta::tacos::queueCanBusMsg(msg, 0);
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STA_DEBUG_PRINTLN("Can Task sent message");
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}
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}
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} // namespace demo
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