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Constructor for CanBus

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This commit is contained in:
@CarlWachter 2024-01-03 11:00:19 +01:00
parent ebc0383b61
commit 2dc3299186
1 changed files with 12 additions and 4 deletions
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16
src/can_bus.cpp
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@ -1,4 +1,8 @@
#include <sta/config.hpp>
#ifdef STA_RTOS_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>
@ -8,10 +12,10 @@ namespace sta
{
CanBus::CanBus(CAN_HandleTypeDef * controller)
: TacosThread{"Can Bus", STA_TACOS_CAN_BUS_PRIORITY},
canBusController_(controller),
canBusSysQueue_{STA_RTOS_CAN_BUS_QUEUE_LENGTH},
canBusDataQueue_{STA_RTOS_CAN_BUS_QUEUE_LENGTH},
canBus_{&canBusController_, HAL_GetTick, dummy::handleSysMessage, dummy::handleDataMessage}
canBusController_(new STM32CanController(controller)),
canBusSysQueue_(STA_RTOS_CAN_BUS_QUEUE_LENGTH),
canBusDataQueue_(STA_RTOS_CAN_BUS_QUEUE_LENGTH),
canBus_{canBusController_, HAL_GetTick, dummy::handleSysMessage, dummy::handleDataMessage}
{
}
@ -109,5 +113,9 @@ namespace sta
return (canBusSysQueue_.get(msg, timeout));
}
CanBus* CanBus::_instance = nullptr;
} /* namespace tacos */
} /* namespace sta */
#endif // STA_RTOS_CAN_BUS_ENABLE