mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/CAN-Demo.git
synced 2025-06-10 19:15:59 +00:00
111 lines
2.9 KiB
C++
111 lines
2.9 KiB
C++
/*
|
|
* can_task.cpp
|
|
*
|
|
* Created on: 10 Dec 2023
|
|
* Author: Carl
|
|
*/
|
|
|
|
#include <tasks/can_task.hpp>
|
|
#include <sta/debug/debug.hpp>
|
|
#include <sta/rtos/debug/heap_stats.hpp>
|
|
#include "can.h"
|
|
|
|
#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 = 0x040; // 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()
|
|
{
|
|
//STA_DEBUG_HEAP_STATS();
|
|
//canController.sendFrame(txHeader, payload);
|
|
//STA_DEBUG_HEAP_STATS();
|
|
|
|
CAN_RxHeaderTypeDef rxHeader; //CAN Bus Receive Header
|
|
uint8_t canRX[8] = {0,0,0,0,0,0,0,0}; //CAN Bus Receive Buffer
|
|
|
|
STA_DEBUG_PRINTLN("WAITING");
|
|
HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &rxHeader, canRX);
|
|
|
|
uint8_t type_id, sensor_ID, value, include;
|
|
|
|
unpackValues(canRX[0], &type_id, &sensor_ID, &value, &include);
|
|
|
|
if (type_id == 0){
|
|
if (sensor_ID == 1){
|
|
|
|
STA_DEBUG_PRINTLN("Relay 1 triggered");
|
|
if(value == 1){
|
|
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_2, GPIO_PIN_SET);
|
|
} else if(value == 0){
|
|
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_2, GPIO_PIN_RESET);
|
|
}
|
|
|
|
}else if (sensor_ID == 2){
|
|
|
|
STA_DEBUG_PRINTLN("Relay 2 triggered");
|
|
if(value == 1){
|
|
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_1, GPIO_PIN_SET);
|
|
} else if(value == 0){
|
|
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_1, GPIO_PIN_RESET);
|
|
}
|
|
}else if (sensor_ID == 3){
|
|
|
|
STA_DEBUG_PRINTLN("Relay 3 triggered");
|
|
if(value == 1){
|
|
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_0, GPIO_PIN_SET);
|
|
} else if(value == 0){
|
|
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_0, GPIO_PIN_RESET);
|
|
}
|
|
}else if (sensor_ID == 4){
|
|
|
|
STA_DEBUG_PRINTLN("Relay 4 triggered");
|
|
if(value == 1){
|
|
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_3, GPIO_PIN_SET);
|
|
} else if(value == 0){
|
|
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_3, GPIO_PIN_RESET);
|
|
}
|
|
}else if (sensor_ID == 5){
|
|
|
|
STA_DEBUG_PRINTLN("Relay 5 triggered");
|
|
if(value == 1){
|
|
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6, GPIO_PIN_SET);
|
|
} else if(value == 0){
|
|
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6, GPIO_PIN_RESET);
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
HAL_Delay(1000);
|
|
}
|
|
|
|
void CanTask::unpackValues(uint8_t packedByte, uint8_t* type_id, uint8_t* sensor_ID, uint8_t* value, uint8_t* include) {
|
|
*type_id = (packedByte >> 6) & 0x03; // Extracting two bits for type_id
|
|
*sensor_ID = (packedByte >> 3) & 0x07; // Extracting three bits for sensorID
|
|
*include = (packedByte >> 2) & 0x01; // Extracting the flag for included value
|
|
*value = (packedByte >> 1) & 0x01; // Extracting one bit for value
|
|
}
|
|
} // namespace demo
|
|
|