From 7da60dc85ed63d4ae934ca9e3575ea125ad30142 Mon Sep 17 00:00:00 2001
From: "@CarlWachter" <carlwachter@web.de>
Date: Fri, 16 Feb 2024 14:44:29 +0100
Subject: [PATCH] CAN Bus shifted to TACOS from rtos

---
 README.md                     |  2 +-
 include/sta/tacos/can_bus.hpp |  4 +--
 src/can_bus.cpp               | 17 ++-----------
 src/startup.cpp               | 48 +++++++++++++++++++++++++----------
 4 files changed, 40 insertions(+), 31 deletions(-)

diff --git a/README.md b/README.md
index a765ae6..c99602f 100644
--- a/README.md
+++ b/README.md
@@ -50,7 +50,7 @@ In order to use TACOS, you need to provide a configuration file in the path `sta
 #define STA_RTOS_SYSTEM_EVENTS_ENABLE
 // #define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
 // #define STA_RTOS_WATCHDOG_ENABLE
-#define STA_RTOS_CAN_BUS_ENABLE
+#define STA_CAN_BUS_ENABLE
 
 // Statemachine settings.
 #define STA_TACOS_NUM_STATES 3
diff --git a/include/sta/tacos/can_bus.hpp b/include/sta/tacos/can_bus.hpp
index aac82fd..82a9cd8 100644
--- a/include/sta/tacos/can_bus.hpp
+++ b/include/sta/tacos/can_bus.hpp
@@ -3,7 +3,7 @@
 
 #include <sta/config.hpp>
 
-#ifdef STA_RTOS_CAN_BUS_ENABLE
+#ifdef STA_CAN_BUS_ENABLE
 
 #include <sta/tacos/thread.hpp>
 #include <sta/rtos/queue.hpp>
@@ -127,5 +127,5 @@ namespace sta
 
 } /* namespace sta */
 
-#endif /* STA_RTOS_CAN_BUS_ENABLE */
+#endif /* STA_CAN_BUS_ENABLE */
 #endif /* INCLUDE_TACOS_CAN_BUS_HPP_ */
diff --git a/src/can_bus.cpp b/src/can_bus.cpp
index 48ecfa2..c06a947 100644
--- a/src/can_bus.cpp
+++ b/src/can_bus.cpp
@@ -1,24 +1,11 @@
 #include <sta/config.hpp>
-#ifdef STA_RTOS_CAN_BUS_ENABLE
+#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>
 
-namespace sta
-{
-	namespace rtos
-	{
-
-		void initCanBus()
-		{
-			sta::tacos::CanBus::instance(getCanController())->start();
-		}
-
-	} // namespace rtos
-} // namespace sta
-
 namespace sta
 {
 	namespace tacos
@@ -206,4 +193,4 @@ namespace sta {
 	} // namespace tacos
 } // namespace sta
 
-#endif // STA_RTOS_CAN_BUS_ENABLE
\ No newline at end of file
+#endif // STA_CAN_BUS_ENABLE
\ No newline at end of file
diff --git a/src/startup.cpp b/src/startup.cpp
index 0fda9b3..46f8490 100644
--- a/src/startup.cpp
+++ b/src/startup.cpp
@@ -29,7 +29,10 @@
 #include <sta/tacos/manager.hpp>
 #include <sta/tacos/statemachine.hpp>
 #include <sta/tacos/watchdog.hpp>
+#include <sta/tacos/can_bus.hpp>
 
+// TODO: WHY DO I HAVE TO PUT THIS HERE???? DO YOU THINK YOU ARE SPECIAL, HUH MR. HCAN1? WHY CAN'T YOU BE NORMAL LIKE HUART
+extern CAN_HandleTypeDef hcan1;
 
 // The UART mutex defined in freertos.c
 extern osMutexId_t uartMutexHandle;
@@ -39,12 +42,6 @@ extern osMutexId_t uartMutexHandle;
  * @ingroup tacos
  * @brief Functions that are called during startup.
  */
-
-// CAN Handle
-#ifdef STA_RTOS_CAN_BUS_ENABLE
-	extern CAN_HandleTypeDef hcan1;
-#endif /* STA_RTOS_CAN_BUS_ENABLE */
-
 namespace sta
 {
 #ifdef STA_DEBUGGING_ENABLED
@@ -63,6 +60,18 @@ namespace sta
 			return &STA_STM32_USART_HANDLE;
 		}
 
+#if defined(STA_CAN_BUS_ENABLE) || defined(DOXYGEN)
+		/**
+		 * @brief Function that returns the CAN handle used for the CAN bus. Override it in userspace to adjust.
+		 *
+		 * @ingroup tacos_startup
+		 */
+		STA_WEAK
+		CAN_HandleTypeDef * getCanController(){
+			return &STA_STM32_CAN_HANDLE;
+		}
+#endif /* STA_CAN_BUS_ENABLE */
+
 		/**
 		 * @brief Function that initializes the printable object given by getUARThandle().
 		 * 
@@ -134,6 +143,23 @@ namespace sta
 			extern CAN_HandleTypeDef hcan1;
 			return new STM32CanController(&hcan1);
 		}
+		/**
+		 * @brief Function that is called before the Can Bus task is started. Override it to adjust 
+		 * the Can bus to your specifications.
+		 * 
+		 * @ingroup tacos_startup
+		 */
+		STA_WEAK
+		void onCanBusInit()
+		{}
+
+		void initCanBus()
+		{
+			onCanBusInit();
+
+			CanBus::instance(getCanController())->start();
+		}
+
 	}  // namespace tacos
 
 
@@ -153,15 +179,11 @@ namespace sta
 #ifdef STA_TACOS_WATCHDOG_ENABLED
 			tacos::initWatchdog();
 #endif // STA_TACOS_WATCHDOG_ENABLED
-		}
 
-#ifdef STA_RTOS_CAN_BUS_ENABLE
-		STA_WEAK
-		CAN_HandleTypeDef * getCanController(){
-			return &hcan1;
+#ifdef STA_CAN_BUS_ENABLE
+			tacos::initCanBus();
+#endif // STA_CAN_BUS_ENABLE
 		}
-#endif /* STA_RTOS_CAN_BUS_ENABLE */
-
 	} // namespace rtos
 } // namespace sta