void StartupTask( void ) {
pi_printf("infor: start up\r\n");
bcm2835_read_mac_address();
parse_config();
printf("ACT LED on GPIO %d\r\n", act_led_gpio);
printf("CAN bus frequency %d MHz\r\n", MCP2515_FREQUENCY_MHz);
EcuM_StartupTwo();
// Startup CanIf due to ComM is missing in this example
CanIf_SetControllerMode(CANIF_CanIfCtrlCfg, CANIF_CS_STARTED);
CanIf_SetPduMode(CANIF_CanIfCtrlCfg, CANIF_SET_ONLINE);
/** Setup Com stack with necessary parameters**/
Com_IpduGroupVector groupVector;
Com_ClearIpduGroupVector(groupVector);
//Start the IPDU group
Com_SetIpduGroup(groupVector, COM_PDU_GROUP_ID_TXIPDUGROUP, TRUE);
Com_SetIpduGroup(groupVector, COM_PDU_GROUP_ID_RXIPDUGROUP, TRUE);
Com_IpduGroupControl(groupVector, TRUE);
TerminateTask();
}
// Tasks
void Task1( void ) {
EcuM_StartupTwo();
CanIf_SetControllerMode(CANIF_Controller_A, CANIF_CS_STARTED);
Com_IpduGroupStart(CanDbImportedPdus, 1);
TerminateTask();
}
void StartupTask( void ) {
pi_printf("infor: start up\r\n");
EcuM_StartupTwo();
// Startup CanIf due to ComM is missing in this example
CanIf_SetControllerMode(CANIF_CanIfCtrlCfg, CANIF_CS_STARTED);
CanIf_SetPduMode(CANIF_CanIfCtrlCfg, CANIF_SET_ONLINE);
/** Setup Com stack with necessary parameters**/
Com_IpduGroupVector groupVector;
//Start the IPDU group
Com_ClearIpduGroupVector(groupVector);
//Start the IPDU group
Com_SetIpduGroup(groupVector, COM_PDU_GROUP_ID_TXCOMIPDUGROUP, TRUE);
Com_SetIpduGroup(groupVector, COM_PDU_GROUP_ID_RXCOMIPDUGROUP, TRUE);
Com_IpduGroupControl(groupVector, TRUE);
TerminateTask();
}