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removed tacos dependencies from rtos2-utils

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This commit is contained in:
@CarlWachter 2024-01-05 15:28:02 +01:00
parent 4a7b426bbc
commit 7e0d3bfd19
2 changed files with 97 additions and 1 deletions
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8
include/sta/tacos/can_bus.hpp
View File

@ -8,6 +8,9 @@
#include <sta/tacos/thread.hpp>
#include <sta/rtos/queue.hpp>
#include <sta/rtos/system/can_bus.hpp>
#include <sta/debug/debug.hpp>
#include <sta/tacos/statemachine.hpp>
/**
@ -115,6 +118,11 @@ namespace sta
};
void handleSysMessage(const sta::CanRxHeader & header, const uint8_t * payload);
void handleDataMessage(const sta::IsotpMessage & msg);
} /* namespace tacos */
} /* namespace sta */

90
src/can_bus.cpp
View File

@ -6,6 +6,19 @@
#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
@ -15,7 +28,7 @@ namespace sta
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}
canBus_{canBusController_, HAL_GetTick, sta::tacos::handleSysMessage, sta::tacos::handleDataMessage}
{
}
@ -118,4 +131,79 @@ namespace sta
} /* namespace tacos */
} /* namespace sta */
namespace sta {
namespace tacos
{
void handleSysMessage(const sta::CanRxHeader & header, const uint8_t * payload)
{
// Write frame payload to DebugSerial
STA_DEBUG_PRINTLN("[event] RX sys frame");
debug::printFrameID(header.id);
debug::printPayloadHex(payload, header.payloadLength);
// Sysmessage is mainly only state change from GRSM
// TODO add other cases
// 0 is from state, 1 is to state, 2 is lockout, 3 is failsafe (-1 if inactive)
if(payload[1] > 0 && payload[1] < STA_TACOS_NUM_STATES){
if(payload[3] == -1){
sta::tacos::Statemachine::instance()->requestStateTransition(payload[0], payload[1], payload[2]);
}
else{
sta::tacos::Statemachine::instance()->requestTimedStateTransition(payload[0], payload[1], payload[2], payload[3]);
}
}
}
void handleDataMessage(const sta::IsotpMessage & msg)
{
STA_ASSERT(msg.buffer != nullptr);
STA_ASSERT(msg.size != 0);
STA_DEBUG_PRINTLN("[event] RX data message");
debug::printFrameID(msg.frameID);
// TODO Forward message to other threads
// if (buffer[0] == DEMO_BMP_PACKET_ID)
// {
// BmpPacket packet;
// if (unpack(buffer + 1, size - 1, &packet))
// {
// STA_DEBUG_PRINTLN();
// STA_DEBUG_PRINTLN("# ############");
// STA_DEBUG_PRINTLN("# ## BMP380 ##");
// STA_DEBUG_PRINTLN("# ############");
// STA_DEBUG_PRINTLN("#");
//
// STA_DEBUG_PRINT("# temperature: ");
// STA_DEBUG_PRINT(packet.temperature);
// STA_DEBUG_PRINTLN(" *C");
// STA_DEBUG_PRINT("# pressure: ");
// STA_DEBUG_PRINT(packet.pressure);
// STA_DEBUG_PRINTLN(" Pa");
// STA_DEBUG_PRINT("# altitude: ");
// STA_DEBUG_PRINT(packet.altitude);
// STA_DEBUG_PRINTLN(" m");
// STA_DEBUG_PRINTLN();
// }
// else
// {
// STA_DEBUG_PRINTLN("[error] BMP unpack failed");
// }
// }
// else
{
STA_DEBUG_PRINT("ID: ");
STA_DEBUG_PRINTLN(msg.buffer[0], sta::IntegerBase::HEX);
STA_DEBUG_PRINT("size: ");
STA_DEBUG_PRINTLN(msg.size);
}
}
} // namespace tacos
} // namespace sta
#endif // STA_RTOS_CAN_BUS_ENABLE