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https://git.intern.spaceteamaachen.de/ALPAKA/TACOS.git
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121 lines
3.1 KiB
C++
121 lines
3.1 KiB
C++
#ifndef INCLUDE_TACOS_CAN_BUS_HPP_
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#define INCLUDE_TACOS_CAN_BUS_HPP_
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#include <sta/config.hpp>
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#ifdef STA_RTOS_CAN_BUS_ENABLE
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#include <sta/tacos/thread.hpp>
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#include <sta/rtos/queue.hpp>
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#include <sta/rtos/system/can_bus.hpp>
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/**
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* @defgroup tacos_can_bus Can Bus Task
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* @ingroup tacos
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* @brief Can Bus task for TACOS.
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*/
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namespace sta
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{
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namespace tacos
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{
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/**
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* @brief Can Bus implementation for Tacos.
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*
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* @ingroup tacos_can_bus
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*/
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class CanBus : public TacosThread
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{
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public:
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CanBus(CAN_HandleTypeDef * controller);
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/**
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* @brief Getter function for the singleton instance.
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*/
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static CanBus* instance(CAN_HandleTypeDef * handle)
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{
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static CGuard g;
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if (!_instance)
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{
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// Create the can bus singleton instance.
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CanBus::_instance = new CanBus(handle);
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}
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return _instance;
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}
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/**
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* @brief Place data message in CAN driver TX queue.
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*
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* @param msg Message to transmit
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* @param timeout Timeout for placing message (0 = no wait, osWaitForever = blocking)
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* @return True if message was queued successfully
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*/
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bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout);
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/**
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* @brief Place system message in CAN driver TX queue.
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*
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* @param msg Message to transmit
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* @param timeout Timeout for placing message (0 = no wait, osWaitForever = blocking)
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* @return True if message was queued successfully
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*/
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bool queueCanBusMsg(const CanSysMsg & msg, uint32_t timeout);
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/**
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* @brief Retrieve data message from CAN driver TX queue.
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*
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* @param[out] msg Output address for retrieved message
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* @param timeout Timeout for retrieving message (0 = no wait, osWaitForever = blocking)
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* @return True if message was retrieved successfully
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*/
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bool getCanBusMsg(CanDataMsg * msg, uint32_t timeout);
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/**
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* @brief Retrieve system message from CAN driver TX queue.
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*
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* @param[out] msg Destination for retrieved message
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* @param timeout Timeout for retrieving message (0 = no wait, osWaitForever = blocking)
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* @return True if message was retrieved successfully
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*/
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bool getCanBusMsg(CanSysMsg * msg, uint32_t timeout);
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void init() override;
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void func() override;
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private:
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static CanBus * _instance;
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class CGuard
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{
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public:
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~CGuard()
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{
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if( NULL != CanBus::_instance )
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{
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delete CanBus::_instance;
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CanBus::_instance = NULL;
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}
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}
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};
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RtosQueue<CanDataMsg> canBusDataQueue_;
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RtosQueue<CanDataMsg> canBusSysQueue_;
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CanDataMsg canBusDataQueueBuffer_[STA_RTOS_CAN_BUS_QUEUE_LENGTH];
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CanSysMsg canBusSysQueueBuffer_[STA_RTOS_CAN_BUS_QUEUE_LENGTH];
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uint32_t canBusStack[256];
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sta::STM32CanController * canBusController_;
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AlpakaCanBus canBus_;
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};
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} /* namespace tacos */
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} /* namespace sta */
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#endif /* STA_RTOS_CAN_BUS_ENABLE */
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#endif /* INCLUDE_TACOS_CAN_BUS_HPP_ */
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