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Basic working can implementation

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@CarlWachter 2024-03-08 19:03:50 +01:00
parent 7147d6de83
commit 39024e4a8c
1 changed files with 33 additions and 15 deletions
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48
src/can_bus.cpp
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@ -28,7 +28,7 @@ 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, 800); uint32_t flags = messageEvent.wait(STA_RTOS_CAN_ANY, 500);
if (flags != static_cast<uint32_t>(osErrorTimeout)) if (flags != static_cast<uint32_t>(osErrorTimeout))
{ {
@ -40,7 +40,6 @@ namespace sta
CanSysMsg msg; CanSysMsg msg;
while (CanBus::_instance->getCanBusMsg(&msg, 0)) while (CanBus::_instance->getCanBusMsg(&msg, 0))
{ {
STA_DEBUG_PRINTLN("CanBus about to send");
canBus_.send(msg); canBus_.send(msg);
} }
} }
@ -49,7 +48,7 @@ namespace sta
{ {
STA_DEBUG_PRINTLN("[event] CAN INT"); STA_DEBUG_PRINTLN("[event] CAN INT");
canBus_.processRx(); //canBus_.processRx();
} }
if (flags & STA_RTOS_CAN_FLAG_SHOW_STATS) if (flags & STA_RTOS_CAN_FLAG_SHOW_STATS)
@ -61,19 +60,37 @@ namespace sta
CanRxHeader rxHeader; //CAN Bus Receive Header CanRxHeader rxHeader; //CAN Bus Receive Header
uint8_t canRX[8] = {0,0,0,0,0,0,0,0}; //CAN Bus Receive Buffer uint8_t canRX[8] = {0,0,0,0,0,0,0,0}; //CAN Bus Receive Buffer
canBusController_->receiveFrame(CAN_RX_FIFO0, &rxHeader, canRX); bool received_ = canBusController_->receiveFrame(CAN_RX_FIFO0, &rxHeader, canRX);
if (received_){
// Create a CANSysMsg from the received data
CanSysMsg sysMsg;
sysMsg.header.sid = rxHeader.id.sid;
sysMsg.header.payloadLength = rxHeader.payloadLength;
std::memcpy(sysMsg.payload, canRX, rxHeader.payloadLength);
// Create a CANSysMsg from the received data // Append to the correct thread's queue
CanSysMsg sysMsg; for (std::shared_ptr<TacosThread> thread : Manager::instance()->getActiveThreads()){
sysMsg.header.sid = rxHeader.id.sid; if (thread->getCanID() == rxHeader.id.sid){
sysMsg.header.payloadLength = rxHeader.payloadLength; thread->CAN_queue_.put(sysMsg);
std::memcpy(sysMsg.payload, canRX, rxHeader.payloadLength); break;
}
}
}
received_ = canBusController_->receiveFrame(CAN_RX_FIFO1, &rxHeader, canRX);
if (received_){
// Create a CANSysMsg from the received data
CanSysMsg sysMsg;
sysMsg.header.sid = rxHeader.id.sid;
sysMsg.header.payloadLength = rxHeader.payloadLength;
sysMsg.header.format = 0;
std::memcpy(sysMsg.payload, canRX, rxHeader.payloadLength);
// Append to the correct thread's queue // Append to the correct thread's queue
for (std::shared_ptr<TacosThread> thread : Manager::instance()->getActiveThreads()){ for (std::shared_ptr<TacosThread> thread : Manager::instance()->getActiveThreads()){
if (thread->getCanID() == rxHeader.id.sid){ if (thread->getCanID() == rxHeader.id.sid){
thread->CAN_queue_.put(sysMsg); thread->CAN_queue_.put(sysMsg);
break; break;
}
} }
} }
@ -99,7 +116,8 @@ namespace sta
bool CanBus::queueCanBusMsg(const CanSysMsg& msg, uint32_t timeout) bool CanBus::queueCanBusMsg(const CanSysMsg& msg, uint32_t timeout)
{ {
STA_ASSERT((msg.header.sid & ~STA_CAN_SID_SYS_BITS) == 0); // This technicall should check if we are using a system message, but we just pretending that everything is one of those rn
//STA_ASSERT((msg.header.sid & ~STA_CAN_SID_SYS_BITS) == 0);
if (canBusSysQueue_.put(msg, timeout)) if (canBusSysQueue_.put(msg, timeout))
{ {