static void appTaskCanReceive(void *pdata) {
uint8_t error;
canMessage_t msg;
/* Install the CAN interrupt handler and start the OS ticker
* (must be done in the highest priority task)
*/
canRxInterrupt(canHandler);
osStartTick();
/*
* Now execute the main task loop for this task
*/
while ( true ) {
OSSemPend(can1RxSem, 0, &error);
msg = can1RxBuf;
interfaceLedToggle(D1_LED);
OSMutexPend(displayMutex, 0, &error);
lcdSetTextPos(2,1);
lcdWrite("ID : %08x", msg.id);
lcdSetTextPos(2,2);
lcdWrite("LEN : %08x", msg.len);
lcdSetTextPos(2,3);
lcdWrite("DATA_A : %08x", msg.dataA);
lcdSetTextPos(2,4);
lcdWrite("DATA_B : %08x", msg.dataB);
error = OSMutexPost(displayMutex);
}
}
/*
* appTaskEmergencyStop - Emergency stop task
* This task handles the emergency stop and stop tasks in
* the robot 2 subsystem.
*/
static void appTaskEmergencyStop(void *pdata)
{
/* Start the OS ticker
* (must be done in the highest priority task)
*/
osStartTick();
canRxInterrupt(canHandler);
while(true)
{
if(emergencyStop)
{
ledToggle(USB_LINK_LED);
} else if (stopped) {
ledToggle(USB_CONNECT_LED);
} else {
OSTimeDlyHMSM(0,0,0,500);
}
}
}
static void appTaskCANRead(void *pdata) {
canRxInterrupt(canHandler); // configure CAN to interrupt on message reception
while ( true ) {
if (can2RxDone) { // could be handled better with a semaphore
can2RxDone = false;
lcdSetTextPos(2,1);
lcdWrite("ID : %x", can2RxBuffer.id);
lcdSetTextPos(2,2);
lcdWrite("LEN : %x", can2RxBuffer.len);
lcdSetTextPos(2,3);
lcdWrite("DATA_A: %x", can2RxBuffer.dataA);
lcdSetTextPos(2,4);
lcdWrite("DATA_B: %x", can2RxBuffer.dataB);
rxCount += 1;
}
OSTimeDly(100);
}
}
/* Emergency Stop Task
* This task handles the pause, stop and emergency stop functions
* in the system.
*/
static void appTaskEmergencyStop(void *pdata)
{
// Start the OS ticker
osStartTick();
canRxInterrupt(canHandler);
while(true)
{
if(emergencyStop)
{
ledToggle(USB_LINK_LED);
conveyorSetState(CONVEYOR_OFF);
} else if(paused){
pausedState = conveyorGetState();
conveyorSetState(CONVEYOR_OFF);
} else if (stopped){
ledToggle(USB_CONNECT_LED);
}
else{
OSTimeDlyHMSM(0,0,0,500);
}
}
}