mirror of
https://github.com/adrigongv23/G26---Telemetry-Software.git
synced 2026-05-25 12:31:27 +02:00
49 lines
1.2 KiB
C++
49 lines
1.2 KiB
C++
#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
|