Heinz/can rx#9
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* init: SPI Task Object created * feat: init logic to read SPI input * fix: refactor to test debug and pass in hspi_ * fix: decouple pedal reading from print statement * feat: Add dedicated SPI_TASK_DELAY * fix: add while(1) loop in task * fix: Nathan fixes. Read data scaled wrong * fix: readData bit masking * feat: print pedal percentage --------- Co-authored-by: Heinzino <heinzveintimilla@hotmail.com>
cjchanx
reviewed
Feb 10, 2025
| } | ||
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| //-- CAN Commands -- | ||
| else if (strcmp(msg, "can_lights_input") == 0) { |
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You'll likely have to increase DEBUG_RX_BUFFER_SZ_BYTES
cjchanx
reviewed
Feb 10, 2025
| // Echo the message (without the 'echo') | ||
| CUBE_PRINT("\n%s", &msg[5]); | ||
| } | ||
| else if (strncmp(msg, "readAccel ", 5) == 0) { |
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The strncmp section is mainly for when there's something to be read after the first part of the command.
Here the third arg to strncmp is the length of bytes to compare, e.g. if you have "readAccel x" as a input, then it should be 10 (strlen("readAccel "))
cjchanx
reviewed
Feb 10, 2025
| CANRxTask(); // Private constructor | ||
| CANRxTask(const CANRxTask&); // Prevent copy-construction | ||
| CANRxTask& operator=(const CANRxTask&); // Prevent assignment | ||
| Queue* CAN_RX_QUEUE; |
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Is this queue actually getting allocated? Recommend using the qEvtQueue for the primary task queue (the queue the task blocks on), since all interfaces in Task.hpp point to that
cjchanx
reviewed
Feb 10, 2025
| HI = HIGH, | ||
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| INPUT = 1, | ||
| INPUT = 2, |
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Does this work? Should break the register alignment
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-Overwrote the callback function in CanRx
-In CanRX added a new queue to push these commands
-For now, when we receive a command it prints that we received it on the serial. Will have to adjust later once we know the format of the CAN message