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Can bus start without handle

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This commit is contained in:
@CarlWachter
2024-02-16 17:43:28 +01:00
parent bfba17245f
commit 16b2ed5a20
5 changed files with 30 additions and 17 deletions
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28
src/can_bus.cpp
View File

@@ -2,17 +2,16 @@
#ifdef STA_CAN_BUS_ENABLE
#include <sta/tacos/can_bus.hpp>
#include <sta/rtos/system/can_bus.hpp>
#include <sta/debug/debug.hpp>
#include <sta/debug/assert.hpp>
// TODO fix this shit
extern CAN_HandleTypeDef hcan1;
namespace sta
{
namespace tacos
{
CanBus::CanBus(CAN_HandleTypeDef * controller)
CanBus::CanBus()
: TacosThread{"Can Bus", STA_TACOS_CAN_BUS_PRIORITY},
canBusController_(new STM32CanController(controller)),
canBusController_(new STM32CanController(&STA_STM32_CAN_HANDLE)),
canBusSysQueue_(STA_RTOS_CAN_BUS_QUEUE_LENGTH),
canBusDataQueue_(STA_RTOS_CAN_BUS_QUEUE_LENGTH),
canBus_{canBusController_, HAL_GetTick, sta::tacos::handleSysMessage, sta::tacos::handleDataMessage}
@@ -26,8 +25,10 @@ namespace sta
void CanBus::func()
{
uint32_t flags = osThreadFlagsWait(STA_RTOS_THREAD_FLAGS_VALID_BITS, osFlagsWaitAny, 50);
messageEvent.clear(STA_RTOS_CAN_ANY);
uint32_t flags = messageEvent.wait(STA_RTOS_CAN_ANY, osWaitForever);
STA_DEBUG_PRINTLN("CanBus received Flag");
if (flags != static_cast<uint32_t>(osErrorTimeout))
{
STA_ASSERT_MSG((flags & osStatusReserved) == flags, "Unexpected error occurred in wait");
@@ -38,6 +39,7 @@ namespace sta
CanSysMsg msg;
while (CanBus::_instance->getCanBusMsg(&msg, 0))
{
STA_DEBUG_PRINTLN("CanBus about to send");
canBus_.send(msg);
}
}
@@ -76,8 +78,9 @@ namespace sta
if (canBusDataQueue_.put(msg, timeout))
{
// Signal thread
notify(STA_RTOS_CAN_FLAG_DATA_QUEUED);
// Signal task
messageEvent.set(STA_RTOS_CAN_FLAG_DATA_QUEUED);
messageEvent.clear(STA_RTOS_CAN_ANY);
return true;
}
else
@@ -92,8 +95,9 @@ namespace sta
if (canBusSysQueue_.put(msg, timeout))
{
// Signal thread
notify(STA_RTOS_CAN_FLAG_SYS_QUEUED);
// Signal tasek
messageEvent.set(STA_RTOS_CAN_FLAG_SYS_QUEUED);
messageEvent.clear(STA_RTOS_CAN_ANY);
return true;
}
else
@@ -115,6 +119,8 @@ namespace sta
CanBus* CanBus::_instance = nullptr;
RtosEvent CanBus::messageEvent;
} /* namespace tacos */
} /* namespace sta */
@@ -193,4 +199,4 @@ namespace sta {
} // namespace tacos
} // namespace sta
#endif // STA_CAN_BUS_ENABLE
#endif // STA_CAN_BUS_ENABLE

2
src/startup.cpp
View File

@@ -154,7 +154,7 @@ namespace sta
{
onCanBusInit();
CanBus::instance(getCanController())->start();
CanBus::instance()->start();
}
#endif //STA_CAN_BUS_ENABLE
} // namespace tacos

6
src/tacos.cpp
View File

@@ -7,7 +7,6 @@
#include <sta/tacos.hpp>
namespace sta
{
namespace tacos
@@ -26,6 +25,11 @@ namespace sta
{
Statemachine::instance()->requestTimedStateTransition(from, to, millis, lockout);
}
/*bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout){
//extern CAN_HandleTypeDef hcan1;
//return CanBus::instance(STA_STM32_CAN_HANDLE)->queueCanBusMsg(msg, timeout);
return false;
}*/
} // namespace tacos
} // namespace sta