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adrigongv23 2025-12-04 09:00:43 +01:00
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include/can.hpp Normal file
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#ifndef CAN_HPP
#define CAN_HPP
#define RX_PIN 13
#define TX_PIN 38
#define POLLING_RATE_MS 1000
#define TRANSMIT_RATE_MS 1000
#include "driver/twai.h"
#include "common/common_libraries.hpp"
#include "data_processor.hpp"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "freertos/task.h"
class CAN {
public:
CAN(): _mutex(xSemaphoreCreateMutex()), _listen_task_handle(NULL), _should_stop_listening(false) {}
~CAN();
void start();
void listen();
void start_listening_task();
void stop_listening_task();
void send_frame(twai_message_t message);
twai_message_t createBoolMessage(bool b0, bool b1, bool b2, bool b3, bool b4, bool b5, bool b6, bool b7);
void set_data_proccessor(DataProcessor *data_processor) {
_data_processor = data_processor;
}
SemaphoreHandle_t get_mutex() {
return _mutex;
}
static void listenTask(void *arg) {
CAN *controller = static_cast<CAN*>(arg);
controller->listen();
}
private:
twai_message_t _rx_message;
DataProcessor *_data_processor;
SemaphoreHandle_t _mutex;
TaskHandle_t _listen_task_handle;
volatile bool _should_stop_listening;
int test = 0;
};
#endif