/**
* @brief The main task for the CAN1 channel
* @param pvParameters:
* @retval None
*/
void can1Task(void *pvParameters)
{
/* Mutex semaphore to manage when it's ok to send and receive new data */
xSemaphore = xSemaphoreCreateMutex();
/* Mutex semaphore for accessing the settings for this channel */
xSettingsSemaphore = xSemaphoreCreateMutex();
/* Create software timers */
prvBuffer1ClearTimer = xTimerCreate("Buf1ClearCan1", 10, pdFALSE, 0, prvBuffer1ClearTimerCallback);
prvBuffer2ClearTimer = xTimerCreate("Buf2ClearCan1", 10, pdFALSE, 0, prvBuffer2ClearTimerCallback);
/* Initialize hardware */
prvHardwareInit();
/* Wait to make sure the SPI FLASH is initialized */
while (SPI_FLASH_Initialized() == false)
{
vTaskDelay(100 / portTICK_PERIOD_MS);
}
/* Try to read the settings from SPI FLASH */
prvReadSettingsFromSpiFlash();
can1Clear();
/* The parameter in vTaskDelayUntil is the absolute time
* in ticks at which you want to be woken calculated as
* an increment from the time you were last woken. */
TickType_t xNextWakeTime;
/* Initialize xNextWakeTime - this only needs to be done once. */
xNextWakeTime = xTaskGetTickCount();
uint8_t count = 0;
prvDoneInitializing = true;
while (1)
{
vTaskDelayUntil(&xNextWakeTime, 1000 / portTICK_PERIOD_MS);
// /* Transmit debug data */
// if (prvCurrentSettings.connection == CANConnection_Connected)
// {
// /* Set the data to be transmitted */
// uint8_t data[2] = {0xAA, count};
// can1Transmit(0x321, data, CANDataLength_2, 50);
// count++;
//
// if (count % 10 == 0)
// {
// uint8_t data2[5] = {0x72, 0x21, 0xDE, 0x03, 0xFA};
// can1Transmit(0x321, data2, CANDataLength_5, 50);
// }
// }
}
}
/**
* @brief The main task for the UART1 channel
* @param pvParameters:
* @retval None
*/
void uart1Task(void *pvParameters)
{
/* Mutex semaphore to manage when it's ok to send and receive new data */
xSemaphore = xSemaphoreCreateMutex();
/* Mutex semaphore for accessing the settings for this channel */
xSettingsSemaphore = xSemaphoreCreateMutex();
/* Create software timers */
prvBuffer1ClearTimer = xTimerCreate("Buf1ClearUart1", 10, pdFALSE, 0, prvBuffer1ClearTimerCallback);
prvBuffer2ClearTimer = xTimerCreate("Buf2ClearUart1", 10, pdFALSE, 0, prvBuffer2ClearTimerCallback);
/* Initialize hardware */
prvHardwareInit();
/* Wait to make sure the SPI FLASH is initialized */
while (SPI_FLASH_Initialized() == false)
{
vTaskDelay(100 / portTICK_PERIOD_MS);
}
/* Try to read the settings from SPI FLASH */
prvReadSettingsFromSpiFlash();
/*
* TODO: Figure out a good way to allow saved data in SPI FLASH to be read next time we wake up so that we
* don't have to do a clear every time we start up the device.
*/
uart1Clear();
// uint8_t* data = "UART1 Debug! ";
uint8_t* data = "Prevas Student Embedded Awards 2014 - ";
/* The parameter in vTaskDelayUntil is the absolute time
* in ticks at which you want to be woken calculated as
* an increment from the time you were last woken. */
TickType_t xNextWakeTime;
/* Initialize xNextWakeTime - this only needs to be done once. */
xNextWakeTime = xTaskGetTickCount();
prvDoneInitializing = true;
while (1)
{
vTaskDelayUntil(&xNextWakeTime, 1000 / portTICK_PERIOD_MS);
/* Transmit debug data if that mode is active */
if (prvCurrentSettings.connection == UARTConnection_Connected && prvCurrentSettings.mode == UARTMode_DebugTX)
uart1Transmit(data, strlen(data));
}
/* Something has gone wrong */
error:
while (1);
}
/**
* @brief The main task for the CAN2 channel
* @param pvParameters:
* @retval None
*/
void can2Task(void *pvParameters)
{
/* Mutex semaphore to manage when it's ok to send and receive new data */
xSemaphore = xSemaphoreCreateMutex();
/* Mutex semaphore for accessing the settings for this channel */
xSettingsSemaphore = xSemaphoreCreateMutex();
/* Create software timers */
prvBuffer1ClearTimer = xTimerCreate("Buf1ClearCan2", 10, pdFALSE, 0, prvBuffer1ClearTimerCallback);
prvBuffer2ClearTimer = xTimerCreate("Buf2ClearCan2", 10, pdFALSE, 0, prvBuffer2ClearTimerCallback);
/* Initialize hardware */
prvHardwareInit();
/* Wait to make sure the SPI FLASH is initialized */
while (SPI_FLASH_Initialized() == false)
{
vTaskDelay(100 / portTICK_PERIOD_MS);
}
/* Try to read the settings from SPI FLASH */
prvReadSettingsFromSpiFlash();
can2Clear();
/* The parameter in vTaskDelayUntil is the absolute time
* in ticks at which you want to be woken calculated as
* an increment from the time you were last woken. */
TickType_t xNextWakeTime;
/* Initialize xNextWakeTime - this only needs to be done once. */
xNextWakeTime = xTaskGetTickCount();
prvDoneInitializing = true;
while (1)
{
vTaskDelayUntil(&xNextWakeTime, 1000 / portTICK_PERIOD_MS);
}
}
