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