added handling of CanData To Tasks

2024-02-04 23:38:22 +01:00
parent 0a72c8b553
commit bfc28e6c94
16 changed files with 2658 additions and 148 deletions
--- a/Application/Tasks/CanDataTask.c
+++ b/Application/Tasks/CanDataTask.c
@@ -0,0 +1,108 @@
+#include "cmsis_os2.h"  // CMSIS-RTOS2 header file
+#include "CanDataTask.h"
+#include "fdcan.h"
+#include "CanDataHandler.h"
+#include "FreeRTOS.h"
+
+
+// Define thread flags
+#define FLAG_FDCAN_RX_FIFO0  (1<<0)
+#define FLAG_FDCAN_RX_FIFO1  (1<<1)
+
+
+// Memory for the task
+StaticTask_t CanDataTask_cb;
+uint32_t CanDataTask_stk[512];
+// Attributes for the task
+osThreadId_t CanDataTask_id;
+const osThreadAttr_t CanDataTask_attr = {
+  .name = "CanDataTask",
+  .attr_bits = 0U,
+  .cb_mem = &CanDataTask_cb,
+  .cb_size = sizeof(CanDataTask_cb),
+  .stack_mem = CanDataTask_stk,
+  .stack_size = sizeof(CanDataTask_stk),
+  .priority = osPriorityNormal,
+  .tz_module = 0U,
+  .reserved = 0U
+};
+
+
+uint32_t dlcDecode(uint32_t dlcCode) {
+    switch(dlcCode) {
+        case FDCAN_DLC_BYTES_0:  return 0;
+        case FDCAN_DLC_BYTES_1:  return 1;
+        case FDCAN_DLC_BYTES_2:  return 2;
+        case FDCAN_DLC_BYTES_3:  return 3;
+        case FDCAN_DLC_BYTES_4:  return 4;
+        case FDCAN_DLC_BYTES_5:  return 5;
+        case FDCAN_DLC_BYTES_6:  return 6;
+        case FDCAN_DLC_BYTES_7:  return 7;
+        case FDCAN_DLC_BYTES_8:  return 8;
+        case FDCAN_DLC_BYTES_12: return 12;
+        case FDCAN_DLC_BYTES_16: return 16;
+        case FDCAN_DLC_BYTES_20: return 20;
+        case FDCAN_DLC_BYTES_24: return 24;
+        case FDCAN_DLC_BYTES_32: return 32;
+        case FDCAN_DLC_BYTES_48: return 48;
+        case FDCAN_DLC_BYTES_64: return 64;
+        default: return 0; // Return 0 for unknown dlc
+    }
+}
+
+
+void CanDataTask_func(void *argument);
+
+void CanDataTask_start() {
+  // Task functionality here
+   CanDataTask_id = osThreadNew(CanDataTask_func, NULL, &CanDataTask_attr);
+}
+
+static FDCAN_RxHeaderTypeDef RxHeader;
+static uint8_t RxData[8];
+void CanDataTask_HandleFifo(uint32_t fifo) {
+    while (HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0) > 0 ) {
+        if (HAL_FDCAN_GetRxMessage(&hfdcan1, fifo, &RxHeader, RxData) != HAL_OK) {
+            Error_Handler();
+        } else {
+            CanData_canFifo0RxCallback(RxHeader.Identifier,RxData, dlcDecode(RxHeader.DataLength));
+        }
+    }
+}
+
+// Function for the task
+void CanDataTask_func(void *argument) {
+    /* Configure global filter on FDCAN instanc:
+       Filter all remote frames with STD and EXT ID
+       Reject non matching frames with STD ID and EXT ID */
+    if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK) {
+        Error_Handler();
+    }
+
+    /* Start the FDCAN module */
+    if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK){
+        Error_Handler();
+    }
+
+
+    for(;;) {
+        // wait for interrupt event on any fifo
+        uint32_t flags = osThreadFlagsWait(FLAG_FDCAN_RX_FIFO0 | FLAG_FDCAN_RX_FIFO1, osFlagsWaitAny, osWaitForever);
+
+        // check the fifos for data and handle it if nessessay
+        CanDataTask_HandleFifo(FDCAN_RX_FIFO0);
+        CanDataTask_HandleFifo(FDCAN_RX_FIFO1);
+    }   
+
+}
+
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) {
+    // Notify the thread
+    osThreadFlagsSet(CanDataTask_id, FLAG_FDCAN_RX_FIFO0);
+}
+
+void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) {
+    // Notify the thread
+    osThreadFlagsSet(CanDataTask_id, FLAG_FDCAN_RX_FIFO1);
+}