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WIP: Reworking can for TACOS compatibility

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@CarlWachter 2024-01-01 16:04:20 +01:00
parent 4ce4653f71
commit e6b8bbab9c
2 changed files with 7 additions and 145 deletions
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47
include/sta/rtos/system/can_bus.hpp
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@ -5,6 +5,8 @@
#ifndef STA_RTOS_SYSTEM_CAN_BUS_HPP #ifndef STA_RTOS_SYSTEM_CAN_BUS_HPP
#define STA_RTOS_SYSTEM_CAN_BUS_HPP #define STA_RTOS_SYSTEM_CAN_BUS_HPP
// TODO REMOVE
#define STA_RTOS_CAN_BUS_ENABLE
/** /**
* @defgroup STA_RTOS_CanBus CAN driver * @defgroup STA_RTOS_CanBus CAN driver
@ -114,51 +116,6 @@ namespace sta
*/ */
extern CanController * getCanController(); extern CanController * getCanController();
/**
* @brief Send notification to CAN driver.
*
* @param flags Event flags
*/
void notifyCanBus(uint32_t flags);
/**
* @brief Place data message in CAN driver TX queue.
*
* @param msg Message to transmit
* @param timeout Timeout for placing message (0 = no wait, osWaitForever = blocking)
* @return True if message was queued successfully
*/
bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout);
/**
* @brief Place system message in CAN driver TX queue.
*
* @param msg Message to transmit
* @param timeout Timeout for placing message (0 = no wait, osWaitForever = blocking)
* @return True if message was queued successfully
*/
bool queueCanBusMsg(const CanSysMsg & msg, uint32_t timeout);
/**
* @brief Retrieve data message from CAN driver TX queue.
*
* @param[out] msg Output address for retrieved message
* @param timeout Timeout for retrieving message (0 = no wait, osWaitForever = blocking)
* @return True if message was retrieved successfully
*/
bool getCanBusMsg(CanDataMsg * msg, uint32_t timeout);
/**
* @brief Retrieve system message from CAN driver TX queue.
*
* @param[out] msg Destination for retrieved message
* @param timeout Timeout for retrieving message (0 = no wait, osWaitForever = blocking)
* @return True if message was retrieved successfully
*/
bool getCanBusMsg(CanSysMsg * msg, uint32_t timeout);
/** @} */ /** @} */
} // namespace rtos } // namespace rtos
} // namespace sta } // namespace sta

105
src/system/can_bus.cpp
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@ -2,6 +2,10 @@
* @file * @file
* @brief CAN driver thread. * @brief CAN driver thread.
*/ */
// TODO REMOVE
#define STA_RTOS_CAN_BUS_ENABLE
#include <sta/config.hpp> #include <sta/config.hpp>
#ifdef STA_RTOS_CAN_BUS_ENABLE #ifdef STA_RTOS_CAN_BUS_ENABLE
@ -42,111 +46,15 @@ namespace
uint32_t canBusStack[256]; uint32_t canBusStack[256];
} }
extern "C" void canBusTask(void *);
namespace sta namespace sta
{ {
namespace rtos namespace rtos
{ {
void initCanBus() void initCanBus()
{ {
// Create thread using static allocation tacos::Canbus::instance(getCanController()).start()
const osThreadAttr_t taskAttributes = {
.name = "sysCanBus",
.cb_mem = &canBusCB,
.cb_size = sizeof(canBusCB),
.stack_mem = &canBusStack[0],
.stack_size = sizeof(canBusStack),
.priority = (osPriority_t) osPriorityLow,
};
canBusTaskHandle = osThreadNew(canBusTask, NULL, &taskAttributes);
STA_ASSERT_MSG(canBusTaskHandle != nullptr, "System CAN task initialization failed");
// Create message queues using static allocation
const osMessageQueueAttr_t dataQueueAttributes = {
.name = "sysCanDataOut",
.attr_bits = 0,
.cb_mem = &canBusDataQueueCB,
.cb_size = sizeof(canBusDataQueueCB),
.mq_mem = &canBusDataQueueBuffer,
.mq_size = sizeof(canBusDataQueueBuffer)
};
canBusDataQueueHandle = osMessageQueueNew(queueLength, sizeof(CanDataMsg), &dataQueueAttributes);
STA_ASSERT_MSG(canBusDataQueueHandle != nullptr, "System CAN data message queue initialization failed");
const osMessageQueueAttr_t sysQueueAttributes = {
.name = "sysCanSysOut",
.attr_bits = 0,
.cb_mem = &canBusSysQueueCB,
.cb_size = sizeof(canBusSysQueueCB),
.mq_mem = &canBusSysQueueBuffer,
.mq_size = sizeof(canBusSysQueueBuffer)
};
canBusSysQueueHandle = osMessageQueueNew(queueLength, sizeof(CanSysMsg), &sysQueueAttributes);
STA_ASSERT_MSG(canBusSysQueueHandle != nullptr, "System CAN system message queue initialization failed");
// Get initialized CAN controller from application
canBusController = getCanController();
} }
void notifyCanBus(uint32_t flags)
{
// Send flags to thread
osThreadFlagsSet(canBusTaskHandle, flags);
}
bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout)
{
STA_ASSERT((msg.header.sid & STA_CAN_SID_SYS_BITS) == 0);
STA_ASSERT(msg.header.payloadLength <= sizeof(msg.payload));
if (osOK == osMessageQueuePut(canBusDataQueueHandle, &msg, 0, timeout))
{
// Signal thread
osThreadFlagsSet(canBusTaskHandle, STA_RTOS_CAN_FLAG_DATA_QUEUED);
return true;
}
else
{
return false;
}
}
bool queueCanBusMsg(const CanSysMsg & msg, uint32_t timeout)
{
STA_ASSERT((msg.header.sid & ~STA_CAN_SID_SYS_BITS) == 0);
if (osOK == osMessageQueuePut(canBusSysQueueHandle, &msg, 0, timeout))
{
// Signal thread
osThreadFlagsSet(canBusTaskHandle, STA_RTOS_CAN_FLAG_SYS_QUEUED);
return true;
}
else
{
return false;
}
}
bool getCanBusMsg(CanDataMsg * msg, uint32_t timeout)
{
return (osOK == osMessageQueueGet(canBusDataQueueHandle, msg, 0, timeout));
}
bool getCanBusMsg(CanSysMsg * msg, uint32_t timeout)
{
return (osOK == osMessageQueueGet(canBusSysQueueHandle, msg, 0, timeout));
}
} // namespace rtos } // namespace rtos
} // namespace sta } // namespace sta
@ -494,9 +402,6 @@ void canBusTask(void *)
// Setup ISO-TP transceiver // Setup ISO-TP transceiver
AlpakaCanBus canBus(canBusController, HAL_GetTick, dummy::handleSysMessage, dummy::handleDataMessage); AlpakaCanBus canBus(canBusController, HAL_GetTick, dummy::handleSysMessage, dummy::handleDataMessage);
rtos::waitForStartupEvent();
while (true) while (true)
{ {
uint32_t flags = osThreadFlagsWait(STA_RTOS_THREAD_FLAGS_VALID_BITS, osFlagsWaitAny, 50); uint32_t flags = osThreadFlagsWait(STA_RTOS_THREAD_FLAGS_VALID_BITS, osFlagsWaitAny, 50);