TACOS

This is the Trajectory Analysis Control OS (TACOS) that serves as a starting point for developing TACOS-based projects, by implementing threads in the App directory. TACOS is a subset of the features provided by ALPAKA. In particular, TACOS consists of the STM32-specific components of sta-core, rtos-2 and rtos2-utils.

Setting Up TACOS

Add this as a library an existing CubeIDE project using FreeRTOS. Generally, we advise you to add it as a submodule. Make sure that you add the include paths for Tacos, i.e. sta-core and rtos2-utils, to the project with the following steps:

Properties -> C/C++ General -> Paths and Symbols -> Includes -> GNU C -> Add... 
Properties -> C/C++ General -> Paths and Symbols -> Includes -> GNU C++ -> Add... 
Properties -> C/C++ General -> Paths and Symbols -> Source Location -> Add Folder... 

Create a new thread via the project's IOC and call startALPAKA() from this thread. If your thread is called defaultTask, the corresponding function StartDefaultTask generated in Core/Src/freertos.c should look like this:

void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN StartDefaultTask */
	extern void startALPAKA(void *);
	startALPAKA(argument);

  /* Infinite loop */
  for(;;)
  {
    osDelay(1);
  }
  /* USER CODE END StartDefaultTask */
}

Configuring TACOS

In order to use TACOS, you need to provide a configuration file in the path sta/config.hpp. The following code is an example for a TACOS-project using default configuration:

#ifndef INC_STA_CONFIG_HPP_
#define INC_STA_CONFIG_HPP_

// Using a board with an ASEAG module present.
#define STA_STM32_ASEAG
// Use the STM32F407 microprocessor.
#include <sta/devices/stm32/mcu/STM32F407xx.hpp>

// Doesn't really do too much right now. Has to be added for successful compilation.
#define STA_PRINTF_USE_STDLIB

// Enable debug serial output and assertions.
#define STA_ASSERT_FORCE
#define STA_DEBUGGING_ENABLED

// Enable Features
#define STA_RTOS_SYSTEM_EVENTS_ENABLE
// #define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
// #define STA_RTOS_WATCHDOG_ENABLE
#define STA_CAN_BUS_ENABLE

// Statemachine settings.
#define STA_TACOS_NUM_STATES 3

// Uses the default configuration for TACOS.
#include<sta/tacos/configs/default.hpp>

#endif /* INC_STA_CONFIG_HPP_ */

PS: For not officially supported chips use this as the include:

#include <sta/devices/stm32/mcu/common.hpp>
#define STA_MCU_LITTLE_ENDIAN
#define STA_PLATFORM_STM32

Setting up the CAN Bus

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_TACOS_CAN_BUS_ENABLE

PS: For not officially supported chips add this:

#define STA_STM32_CAN_HANDLE {YOUR_HCAN_HANDLE}

After this messages will automatically be forwarded to the task with it's ID. To send messages use the interface defined in tacos.hpp.