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https://git.intern.spaceteamaachen.de/ALPAKA/CAN-Demo.git
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79 lines
1.9 KiB
C++
79 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 <sta/tacos.hpp>
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#include <sta/tacos/manager.hpp>
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#include <cmsis_os2.h>
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namespace tasks
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{
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CanTask::CanTask(uint32_t canID)
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: TacosThread("SYS_MSG_HANDLE", 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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CanSysMsg msg;
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if (CAN_queue_.get(&msg, osWaitForever))
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{
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// Interpret received
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uint8_t type_id, sensor_ID, value, include;
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unpackValues(msg.payload[0], &type_id, &sensor_ID, &value, &include);
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// Reformat for internal use
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msg.header.payloadLength = 2;
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msg.payload[0] = sensor_ID; // First Byte determines sensor number
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msg.payload[1] = value; // Second Byte determines value
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uint32_t target_ID;
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switch (type_id){
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case 0: // Relay
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target_ID = SYSTEM_CAN_RELAY;
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break;
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case 1: // Thermocouple
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target_ID = SYSTEM_CAN_THERMO;
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break;
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case 2: // V_IN
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target_ID = SYSTEM_CAN_V_IN;
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break;
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default:
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target_ID = SYSTEM_CAN_ERROR;
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}
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// Append to the correct thread's queue
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for (std::shared_ptr<TacosThread> thread : sta::tacos::Manager::instance()->getActiveThreads()){
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if (thread->getCanID() == target_ID){
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thread->CAN_queue_.put(msg);
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break;
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}
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}
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}
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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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