ALPAKA/rtos2-utils
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Fixed includes

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This commit is contained in:
@CarlWachter 2024-01-01 16:15:22 +01:00
parent e6b8bbab9c
commit 29ef79391a
2 changed files with 3 additions and 69 deletions
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3
include/sta/rtos/system/can_bus.hpp
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@ -29,8 +29,7 @@
#include <sta/config.hpp>
#ifdef STA_RTOS_CAN_BUS_ENABLE
#include <sta/can/controller.hpp>
#include <sta/bus/can/controller.hpp>
#include <sta/rtos/c_api/can_msg.h>
#include <cstdint>

69
src/system/can_bus.cpp
View File

@ -10,7 +10,7 @@
#ifdef STA_RTOS_CAN_BUS_ENABLE
#include <sta/assert.hpp>
#include <sta/can/subscribable.hpp>
#include <sta/bus/can/subscribable.hpp>
#include <sta/debug_serial.hpp>
#include <sta/lang.hpp>
#include <sta/proto/isotp/transmitter.hpp>
@ -18,7 +18,7 @@
#include <sta/rtos/defs.hpp>
#include <sta/rtos/system/can_bus.hpp>
#include <sta/rtos/system/events.hpp>
#include <sta/stm32/hal.hpp>
#include <sta/devices/stm32/hal.hpp>
#include <cmsis_os2.h>
#include <FreeRTOS.h>
@ -28,10 +28,6 @@
namespace
{
StaticTask_t canBusCB;
StaticQueue_t canBusDataQueueCB;
StaticQueue_t canBusSysQueueCB;
osThreadId_t canBusTaskHandle = nullptr;
osMessageQueueId_t canBusDataQueueHandle = nullptr;
osMessageQueueId_t canBusSysQueueHandle = nullptr;
@ -388,65 +384,4 @@ namespace sta
}
} // namespace sta
/**
* @brief CAN driver thread entry function.
*/
void canBusTask(void *)
{
using namespace sta;
STA_ASSERT_MSG(canBusController != nullptr, "System CAN bus not initialized");
// Setup ISO-TP transceiver
AlpakaCanBus canBus(canBusController, HAL_GetTick, dummy::handleSysMessage, dummy::handleDataMessage);
while (true)
{
uint32_t flags = osThreadFlagsWait(STA_RTOS_THREAD_FLAGS_VALID_BITS, osFlagsWaitAny, 50);
if (flags != static_cast<uint32_t>(osErrorTimeout))
{
STA_ASSERT_MSG((flags & osStatusReserved) == flags, "Unexpected error occurred in wait");
if (flags & STA_RTOS_CAN_FLAG_SYS_QUEUED)
{
// Take messages from queue until empty
CanSysMsg msg;
while (rtos::getCanBusMsg(&msg, 0))
{
canBus.send(msg);
}
}
if (flags & STA_RTOS_CAN_FLAG_DATA_QUEUED)
{
// Take messages from queue until empty
CanDataMsg msg;
while (rtos::getCanBusMsg(&msg, 0))
{
canBus.send(msg);
}
}
if (flags & STA_RTOS_CAN_FLAG_MSG_AVAIL)
{
STA_DEBUG_PRINTLN("[event] CAN INT");
canBus.processRx();
}
if (flags & STA_RTOS_CAN_FLAG_SHOW_STATS)
{
canBus.showStatistics();
}
}
// Process ISOTP transmissions
canBus.processTx();
}
}
#endif // STA_RTOS_CAN_BUS_ENABLE