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feat(can): tx callback

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This commit is contained in:
CarlWachter 2024-10-02 10:11:34 +02:00
parent 6c92ad7735
commit 0b24d78835
2 changed files with 18 additions and 1 deletions
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5
include/sta/tacos/can_bus.hpp
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@ -79,6 +79,11 @@ namespace sta
*/ */
void canCallback(uint32_t fifo); void canCallback(uint32_t fifo);
/**
* @brief Notify the system that a message was transmitted. Used to avoid overwriting the message buffer.
*/
void txCallback();
void init() override; void init() override;
void func() override; void func() override;

14
src/can_bus.cpp
View File

@ -35,7 +35,7 @@ namespace sta
void CanBus::func() void CanBus::func()
{ {
messageEvent.clear(STA_RTOS_CAN_ANY); messageEvent.clear(STA_RTOS_CAN_ANY);
uint32_t flags = messageEvent.wait(STA_RTOS_CAN_ANY, osWaitForever); uint32_t flags = messageEvent.wait(STA_RTOS_CAN_FLAG_SYS_QUEUED | STA_RTOS_CAN_FLAG_MSG_AVAIL, osWaitForever);
if (flags != static_cast<uint32_t>(osErrorTimeout)) if (flags != static_cast<uint32_t>(osErrorTimeout))
{ {
@ -47,6 +47,8 @@ namespace sta
CanSysMsg msg; CanSysMsg msg;
while (CanBus::_instance->getCanBusMsg(&msg, 0)) while (CanBus::_instance->getCanBusMsg(&msg, 0))
{ {
// wait for the mailbox to be free, but only for a very short time
messageEvent.wait(STA_RTOS_TX_MAILBOX_COMPLETE, 1);
canBus_.send(msg); canBus_.send(msg);
} }
} }
@ -132,6 +134,11 @@ namespace sta
return (canBusSysQueue_.get(msg, timeout)); return (canBusSysQueue_.get(msg, timeout));
} }
void CanBus::txCallback()
{
messageEvent.set(STA_RTOS_TX_MAILBOX_COMPLETE);
}
CanBus *CanBus::_instance = nullptr; CanBus *CanBus::_instance = nullptr;
RtosEvent CanBus::messageEvent; RtosEvent CanBus::messageEvent;
@ -147,6 +154,11 @@ namespace sta
sta::tacos::CanBus::instance()->canCallback(fifo); sta::tacos::CanBus::instance()->canCallback(fifo);
} }
void CanBus_TxMailboxCompleteCallback()
{
sta::tacos::CanBus::instance()->txCallback();
}
namespace tacos namespace tacos
{ {
STA_WEAK STA_WEAK