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Merge pull request 'Small bugfix and adapted naming' (#29) from fix/can-less into main

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Reviewed-on: https://git.intern.spaceteamaachen.de/ALPAKA/TACOS/pulls/29
Reviewed-by: carlwachter <carlwachter@noreply.git.intern.spaceteamaachen.de>
This commit is contained in:
carlwachter 2024-05-22 13:33:13 +00:00
commit ad93e99cc0
5 changed files with 12 additions and 6 deletions
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2
README.md
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@ -72,7 +72,7 @@ To enable the CAN Bus two things need to be done:
1. Enable CAN in the IOC with the RX0 and RX1 Interrupts enabled.
2. Add the following code to the `sta/config.hpp` file:
```
#define STA_CAN_BUS_ENABLE
#define STA_TACOS_CAN_BUS_ENABLE
```
PS: For not officially supported chips add this:
```

3
include/sta/tacos.hpp
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@ -78,6 +78,7 @@ namespace sta
return thread_ptr;
}
#ifdef STA_TACOS_CAN_BUS_ENABLED
/**
* @brief Queue a message to be sent over the CAN bus.
*
@ -102,7 +103,7 @@ namespace sta
* @ingroup tacos_api
*/
bool publishState(uint32_t from, uint32_t to, uint32_t lockout = 0);
#endif // STA_TACOS_CAN_BUS_ENABLED
} // namespace tacos
}

7
include/sta/tacos/can_bus.hpp
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@ -3,7 +3,7 @@
#include <sta/config.hpp>
#ifdef STA_CAN_BUS_ENABLE
#ifdef STA_TACOS_CAN_BUS_ENABLED
#include <sta/rtos/queue.hpp>
#include <sta/rtos/system/can_bus.hpp>
@ -13,6 +13,9 @@
#include <sta/tacos/thread.hpp>
#include <sta/tacos/statemachine.hpp>
#ifndef STA_STM32_CAN_ENABLED
# error "CAN has to be enabled in the IOC first"
#endif // STA_STM32_CAN_ENABLED
/**
* @defgroup tacos_can_bus Can Bus Task
@ -117,5 +120,5 @@ namespace sta
} /* namespace sta */
#endif /* STA_CAN_BUS_ENABLE */
#endif /* STA_TACOS_CAN_BUS_ENABLED */
#endif /* INCLUDE_TACOS_CAN_BUS_HPP_ */

4
src/can_bus.cpp
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@ -1,5 +1,5 @@
#include <sta/config.hpp>
#ifdef STA_CAN_BUS_ENABLE
#ifdef STA_TACOS_CAN_BUS_ENABLED
#include <sta/tacos/can_bus.hpp>
#include <sta/debug/assert.hpp>
@ -161,4 +161,4 @@ namespace sta {
} // namespace tacos
} // namespace sta
#endif // STA_CAN_BUS_ENABLE
#endif // STA_TACOS_CAN_BUS_ENABLED

2
src/tacos.cpp
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@ -26,6 +26,7 @@ namespace sta
Statemachine::instance()->requestTimedStateTransition(from, to, millis, lockout);
}
#ifdef STA_TACOS_CAN_BUS_ENABLED
bool queueCanBusMsg(CanSysMsg & msg, uint32_t timeout){
return CanBus::instance()->queueCanBusMsg(msg, timeout);
}
@ -42,6 +43,7 @@ namespace sta
return CanBus::instance()->queueCanBusMsg(msg, lockout);
}
#endif // STA_TACOS_CAN_BUS_ENABLED
} // namespace tacos
} // namespace sta