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23 lines
1.0 KiB
Markdown
23 lines
1.0 KiB
Markdown
# TACOS tasks and prototypes
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## Statemachine
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The statemachine is the core of TACOS. It is responsible for managing the state of the system and executing the threads that are registered to it. The statemachine is a singleton and can be accessed via `sta::tacos::Statemachine::instance()`.
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For further info check the file or the doxygen documentation.
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## Watchdog
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The watchdog checks if all threads are setting a flag after every func call. If a thread does not set the flag in the given interval the thread is restarted.
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The watchdog is enabled and configured with the following defines:
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```cpp
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#define STA_RTOS_WATCHDOG_ENABLE
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#define STA_TACOS_WATCHDOG_FREQUENCY 10000
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```
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## CAN Bus
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The CAN bus is used to communicate between different devices. The CAN bus task is triggered by IRQ from the transceiver or if something is inserted into it's output queue.
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This thing is a huge steaming (but functioning) pile of shit. Further documentation is on hold until rework.
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## Thread.hpp
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Here the TacosThread is defined. Very straight forward. Just take a look inside. |