1.0 KiB
TACOS tasks and prototypes
Statemachine
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().
For further info check the file or the doxygen documentation.
Watchdog
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.
The watchdog is enabled and configured with the following defines:
#define STA_RTOS_WATCHDOG_ENABLE
#define STA_TACOS_WATCHDOG_FREQUENCY 10000
CAN Bus
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.
This thing is a huge steaming (but functioning) pile of shit. Further documentation is on hold until rework.
Thread.hpp
Here the TacosThread is defined. Very straight forward. Just take a look inside.