mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/CAN-Demo.git
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94 lines
2.2 KiB
C++
94 lines
2.2 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/thermo.hpp>
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#include <sta/debug/debug.hpp>
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#include <gpio.h>
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#include <spi.h>
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#include <sta/MAX31855.hpp>
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#include <sta/devices/stm32/bus/spi.hpp>
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#include <sta/tacos.hpp>
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#include <sta/rtos/mutex.hpp>
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#include <cmsis_os2.h>
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namespace tasks
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{
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ThermoTask::ThermoTask(uint32_t canID)
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: TacosThread("Thermo", osPriorityNormal)
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{
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setCanID(canID);
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}
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void ThermoTask::init()
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{
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mutex = new sta::RtosMutex("spi2");
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spi2 = new sta::STM32SPI(&hspi2, 16000000, mutex);
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// Init cs pins
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cs_pin[0] = new sta::STM32GpioPin(GPIOE, GPIO_PIN_12);
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cs_pin[1] = new sta::STM32GpioPin(GPIOB, GPIO_PIN_10);
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cs_pin[2] = new sta::STM32GpioPin(GPIOE, GPIO_PIN_15);
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cs_pin[3] = new sta::STM32GpioPin(GPIOE, GPIO_PIN_14);
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cs_pin[4] = new sta::STM32GpioPin(GPIOE, GPIO_PIN_13);
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// init devices
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for (uint8_t i = 0; i < 5; i++){
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device_[i] = new sta::STM32SPIDevice(spi2, cs_pin[i]);
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}
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// init drivers
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for (uint8_t i = 0; i < 5; i++){
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tc_[i] = new sta::MAX31855(device_[i]); //create driver object
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}
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}
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void ThermoTask::func()
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{
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// Receiving polling message
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CanSysMsg msg;
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if (CAN_queue_.get(&msg, osWaitForever))
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{
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//fuck off other pins
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/*HAL_GPIO_WritePin(GPIOE,GPIO_PIN_12, GPIO_PIN_SET);
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HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10, GPIO_PIN_SET);
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HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15, GPIO_PIN_SET);
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HAL_GPIO_WritePin(GPIOE,GPIO_PIN_14, GPIO_PIN_SET);*/
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uint8_t dev = msg.payload[0] - 1; // -1 to offset start from 0
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//float temp = tc_[dev]->measureTemp();
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tc_[dev]->update(); // update internal values
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float temp = tc_[dev]->getTemp(); //read out temperature in degrees Celsius
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uint8_t* bytePointer = reinterpret_cast<uint8_t*>(&temp);
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for(uint8_t i = 0; i < 4; i++){
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msg.payload[i] = bytePointer[i]; // first four bytes are float of Temperature in Celcius
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}
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//msg.payload[4] = tc_[dev]->getStatus(); // Followed by status
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msg.header.sid = getCanID();
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msg.header.payloadLength = 5;
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msg.header.eid = 0;
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msg.header.format = 0;
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// Send it out
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sta::tacos::queueCanBusMsg(msg, 0);
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}
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}
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} // namespace demo
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