CAN TASK cpp_freertos class. More...

#include <can_task.h>

Inheritance diagram for CanTask:

Public Member Functions
	CanTask (const char *taskName, uint16_t stackSize, uint8_t priority, CanParam_t canParam)
	Construct the Can Task::CanTask object Main TASK && INIT TASK — UAVCAN. More...

Protected Member Functions
virtual void	Run ()
	RUN Task. More...

Private Types
enum	State_t { CAN_STATE_CREATE , CAN_STATE_INIT , CAN_STATE_SETUP , CAN_STATE_CHECK }
	Enum for state switch of running method. More...

Private Member Functions
void	TaskWatchDog (uint32_t millis_standby)
	local watchDog and Sleep flag Task (optional) More...

void	TaskState (uint8_t state_position, uint8_t state_subposition, task_flag state_operation)
	local suspend flag and positor running state Task (optional) More...

Static Private Member Functions
static void	HW_CAN_Power (CAN_ModePower ModeCan)
	Enable Power CAN_Circuit TJA1443. More...

static void	getUniqueID (uint8_t out[uavcan_node_GetInfo_Response_1_0_unique_id_ARRAY_CAPACITY_], uint64_t serNumb)
	Ritorna unique-ID 128-bit del nodo locale. E' utilizzato in uavcan.node.GetInfo.Response e durante plug-and-play node-ID allocation da uavcan.pnp.NodeIDAllocationData. SerialNumber, Produttore.. Dovrebbe essere verificato in uavcan.node.GetInfo.Response per la verifica non sia cambiato Nodo. Al momento vengono inseriti 2 BYTE fissi, altri eventuali, che Identificano il Tipo Modulo. More...

static CanardPortID	getModeAccessID (uint8_t modeAccessID, const char const port_name, const char const type_name)
	Legge il subjectID per il modulo corrente per la risposta al servizio di gestione dati. More...

static bool	putFlashFile (const char const file_name, const bool is_firmware, const bool rewrite, void buf, size_t count)
	Scrive dati in append su Flash per scrittura sequenziale file data remoto. More...

static bool	getFlashFwInfoFile (uint8_t module_type, uint8_t version, uint8_t revision, uint64_t len)
	GetInfo for Firmware File on Flash. More...

static void	prepareSensorsDataValue (uint8_t const sensore, const report_t report, rmap_module_Rain_1_0 rmap_data)
	Prepara il blocco messaggio dati per il modulo corrente istantaneo NB: Aggiorno solo i dati fisici in questa funzione i metadati sono esterni. More...

static void	prepareSensorsDataValue (uint8_t const sensore, const report_t report, rmap_service_module_Rain_Response_1_0 rmap_data)

static void	publish_rmap_data (canardClass &clsCanard, CanParam_t *param)
	Pubblica i dati RMAP con il metodo publisher se abilitato e configurato. More...

static void	processMessagePlugAndPlayNodeIDAllocation (canardClass &clsCanard, const uavcan_pnp_NodeIDAllocationData_1_0 *const msg)
	Plug and Play Slave, Versione 1.0 compatibile con CAN_CLASSIC MTU 8 Messaggi anonimi CAN non sono consentiti se messaggi > LUNGHEZZA MTU disponibile. More...

static uavcan_node_ExecuteCommand_Response_1_1	processRequestExecuteCommand (canardClass &clsCanard, const uavcan_node_ExecuteCommand_Request_1_1 *req, uint8_t remote_node)
	Chiamate gestioni RPC remote da master (yakut o altro servizio di controllo) More...

static rmap_service_module_Rain_Response_1_0	processRequestGetModuleData (canardClass &clsCanard, rmap_service_module_Rain_Request_1_0 req, CanParam_t param)
	Chiamate gestioni dati remote da master (yakut o altro servizio di controllo) More...

static uavcan_register_Access_Response_1_0	processRequestRegisterAccess (const uavcan_register_Access_Request_1_0 *req)
	Accesso ai registri UAVCAN risposta a richieste. More...

static uavcan_node_GetInfo_Response_1_0	processRequestNodeGetInfo ()
	Risposta a uavcan.node.GetInfo which Info Node (nome, versione, uniqueID di verifica ecc...) More...

static void	processRequestUpdateRTC (canardClass &clsCanard, const uavcan_pnp_NodeIDAllocationData_1_0 *const msg)

static void	processReceivedTransfer (canardClass &clsCanard, const CanardRxTransfer const transfer, void param)
	Canard CallBACK Receive message to Node (Solo con sottoscrizioni) More...

Private Attributes
State_t	state

CanParam_t	param

Static Private Attributes
static bootloader_t *	boot_state

static EEprom *	localEeprom

static cpp_freertos::Queue *	localSystemMessageQueue

static uint16_t	last_req_rpt_time = (REPORTS_TIME_S)

static uint16_t	last_req_obs_time = (OBSERVATIONS_TIME_S)

static CAN_ModePower	canPower

static STM32RTC &	rtc = STM32RTC::getInstance()

static EERegister *	localRegister

static cpp_freertos::BinarySemaphore *	localQspiLock

static cpp_freertos::BinarySemaphore *	localRegisterAccessLock

static Flash *	localFlash

static uint64_t	canFlashPtr = 0

static uint16_t	canFlashBlock = 0

Detailed Description

CAN TASK cpp_freertos class.

Definition at line 132 of file can_task.h.

Member Enumeration Documentation

◆ State_t

enum CanTask::State_t

private

Enum for state switch of running method.

Enumerator
CAN_STATE_CREATE
CAN_STATE_INIT
CAN_STATE_SETUP
CAN_STATE_CHECK

Definition at line 135 of file can_task.h.

Constructor & Destructor Documentation

◆ CanTask()

CanTask::CanTask	(	const char *	taskName,
		uint16_t	stackSize,
		uint8_t	priority,
		CanParam_t	canParam
	)

Construct the Can Task::CanTask object Main TASK && INIT TASK — UAVCAN.

Parameters

taskName	name of the task
stackSize	size of the stack
priority	priority of the task
canParam	parameters for the task

Definition at line 1131 of file can_task.cpp.

Member Function Documentation

◆ getFlashFwInfoFile()

bool CanTask::getFlashFwInfoFile	(	uint8_t *	module_type,
		uint8_t *	version,
		uint8_t *	revision,
		uint64_t *	len
	)

staticprivate

GetInfo for Firmware File on Flash.

Parameters

module_type	type module of firmware
version	version firmware
revision	revision firmware
len	length of file in bytes

Returns: true if exixst

Definition at line 312 of file can_task.cpp.

◆ getModeAccessID()

CanardPortID CanTask::getModeAccessID	(	uint8_t	modeAccessID,
		const char *const	port_name,
		const char *const	type_name
	)

staticprivate

Legge il subjectID per il modulo corrente per la risposta al servizio di gestione dati.

Parameters

modeAccessID	tipo di accesso
port_name	nome porta uavcan
type_name	tipo nome registro

Returns: Canard Port ID associato

Definition at line 118 of file can_task.cpp.

◆ getUniqueID()

void CanTask::getUniqueID	(	uint8_t	out[uavcan_node_GetInfo_Response_1_0_unique_id_ARRAY_CAPACITY_],
		uint64_t	serNumb
	)

staticprivate

Ritorna unique-ID 128-bit del nodo locale. E' utilizzato in uavcan.node.GetInfo.Response e durante plug-and-play node-ID allocation da uavcan.pnp.NodeIDAllocationData. SerialNumber, Produttore.. Dovrebbe essere verificato in uavcan.node.GetInfo.Response per la verifica non sia cambiato Nodo. Al momento vengono inseriti 2 BYTE fissi, altri eventuali, che Identificano il Tipo Modulo.

Parameters

out	data out UniqueID
serNumb	local Hardware Serial Number (64Bit) Already Send in PNP 1.0 Request (Hash 48Bit)

Definition at line 87 of file can_task.cpp.

◆ HW_CAN_Power()

void CanTask::HW_CAN_Power ( CAN_ModePower ModeCan )

staticprivate

Enable Power CAN_Circuit TJA1443.

Parameters

ModeCan (Mode TYPE CAN_BUS)

Definition at line 43 of file can_task.cpp.

◆ prepareSensorsDataValue() [1/2]

void CanTask::prepareSensorsDataValue	(	uint8_t const	sensore,
		const report_t *	report,
		rmap_module_Rain_1_0 *	rmap_data
	)

staticprivate

Prepara il blocco messaggio dati per il modulo corrente istantaneo NB: Aggiorno solo i dati fisici in questa funzione i metadati sono esterni.

Parameters

sensore	tipo di sensore richiesto rmap class_canard di modulo
report	report data
rmap_data	report data module output value per modulo sensore specifico publish oppure in overload metodo tramite metodo Response applucapile al servizio request

Definition at line 357 of file can_task.cpp.

◆ prepareSensorsDataValue() [2/2]

void CanTask::prepareSensorsDataValue	(	uint8_t const	sensore,
		const report_t *	report,
		rmap_service_module_Rain_Response_1_0 *	rmap_data
	)

staticprivate

Definition at line 379 of file can_task.cpp.

◆ processMessagePlugAndPlayNodeIDAllocation()

void CanTask::processMessagePlugAndPlayNodeIDAllocation	(	canardClass &	clCanard,
		const uavcan_pnp_NodeIDAllocationData_1_0 *const	msg
	)

staticprivate

Plug and Play Slave, Versione 1.0 compatibile con CAN_CLASSIC MTU 8 Messaggi anonimi CAN non sono consentiti se messaggi > LUNGHEZZA MTU disponibile.

Parameters

clCanard	classe
msg	messaggio di pubblicazione

Definition at line 471 of file can_task.cpp.

◆ processReceivedTransfer()

void CanTask::processReceivedTransfer	(	canardClass &	clCanard,
		const CanardRxTransfer *const	transfer,
		void *	param
	)

staticprivate

Canard CallBACK Receive message to Node (Solo con sottoscrizioni)

Parameters

clCanard	Classe
transfer	Transfer CanardID
param	Indirizzo di parametri esterni opzionali

Definition at line 855 of file can_task.cpp.

◆ processRequestExecuteCommand()

uavcan_node_ExecuteCommand_Response_1_1 CanTask::processRequestExecuteCommand	(	canardClass &	clCanard,
		const uavcan_node_ExecuteCommand_Request_1_1 *	req,
		uint8_t	remote_node
	)

staticprivate

Chiamate gestioni RPC remote da master (yakut o altro servizio di controllo)

Parameters

clCanard	Classe
req	richiesta
remote_node	nodo remoto

Returns: execute_command standard UAVCAN

Definition at line 506 of file can_task.cpp.

◆ processRequestGetModuleData()

rmap_service_module_Rain_Response_1_0 CanTask::processRequestGetModuleData	(	canardClass &	clCanard,
		rmap_service_module_Rain_Request_1_0 *	req,
		CanParam_t *	param
	)

staticprivate

Chiamate gestioni dati remote da master (yakut o altro servizio di controllo)

Parameters

clCanard	Classe
req	richiesta
param	parametri CAN

Returns: dati rmap_servizio di modulo

saturated uint3 get_istant = 0 Ritorna il dato come richiesto dal master

saturated uint3 test_acq = 7 (Solo x TEST)

NON Gestito, risposta error (undefined)

Definition at line 667 of file can_task.cpp.

◆ processRequestNodeGetInfo()

uavcan_node_GetInfo_Response_1_0 CanTask::processRequestNodeGetInfo ( )

staticprivate

Risposta a uavcan.node.GetInfo which Info Node (nome, versione, uniqueID di verifica ecc...)

Returns: Risposta node Get INFO UAVCAN

Definition at line 820 of file can_task.cpp.

◆ processRequestRegisterAccess()

uavcan_register_Access_Response_1_0 CanTask::processRequestRegisterAccess ( const uavcan_register_Access_Request_1_0 * req )

staticprivate

Accesso ai registri UAVCAN risposta a richieste.

Parameters

req Richiesta

Returns: register access UAVCAN

Definition at line 777 of file can_task.cpp.

◆ processRequestUpdateRTC()

static void CanTask::processRequestUpdateRTC	(	canardClass &	clsCanard,
		const uavcan_pnp_NodeIDAllocationData_1_0 *const	msg
	)

staticprivate

◆ publish_rmap_data()

void CanTask::publish_rmap_data	(	canardClass &	clCanard,
		CanParam_t *	param
	)

staticprivate

Pubblica i dati RMAP con il metodo publisher se abilitato e configurato.

Parameters

clCanard	classe
param	parametri del modulo UAVCAN

Definition at line 405 of file can_task.cpp.

◆ putFlashFile()

bool CanTask::putFlashFile	(	const char *const	file_name,
		const bool	is_firmware,
		const bool	rewrite,
		void *	buf,
		size_t	count
	)

staticprivate

Scrive dati in append su Flash per scrittura sequenziale file data remoto.

Parameters

file_name	nome del file UAVCAN
is_firmware	true se il file +-è di tipo firmware
rewrite	true se necessaria la riscrittura del file
buf	blocco dati da scrivere in formato UAVCAN [256 Bytes]
count	numero del blocco da scrivere in formato UAVCAN [Blocco x Buffer]

Returns: true if block saved OK, false on any error

Definition at line 187 of file can_task.cpp.

◆ Run()

void CanTask::Run ( )

protectedvirtual

RUN Task.

Definition at line 1294 of file can_task.cpp.

◆ TaskState()

void CanTask::TaskState	(	uint8_t	state_position,
		uint8_t	state_subposition,
		task_flag	state_operation
	)

private

local suspend flag and positor running state Task (optional)

Parameters

state_position	Sw_Position (Local STATE)
state_subposition	Sw_SubPosition (Optional Local SUB_STATE Position Monitor)
state_operation	operative mode flag status for this task

Definition at line 1279 of file can_task.cpp.

◆ TaskWatchDog()

void CanTask::TaskWatchDog ( uint32_t millis_standby )

private

local watchDog and Sleep flag Task (optional)

Parameters

millis_standby time in ms to perfor check of WDT. If longer than WDT Reset, WDT is temporanly suspend

Definition at line 1254 of file can_task.cpp.

Member Data Documentation

◆ boot_state

bootloader_t* CanTask::boot_state

inlinestaticprivate

Definition at line 176 of file can_task.h.

◆ canFlashBlock

uint16_t CanTask::canFlashBlock = 0

inlinestaticprivate

Definition at line 189 of file can_task.h.

◆ canFlashPtr

uint64_t CanTask::canFlashPtr = 0

inlinestaticprivate

Definition at line 188 of file can_task.h.

◆ canPower

CAN_ModePower CanTask::canPower

inlinestaticprivate

Definition at line 181 of file can_task.h.

◆ last_req_obs_time

uint16_t CanTask::last_req_obs_time = (OBSERVATIONS_TIME_S)

inlinestaticprivate

Definition at line 180 of file can_task.h.

◆ last_req_rpt_time

uint16_t CanTask::last_req_rpt_time = (REPORTS_TIME_S)

inlinestaticprivate

Definition at line 179 of file can_task.h.

◆ localEeprom

EEprom* CanTask::localEeprom

inlinestaticprivate

Definition at line 177 of file can_task.h.

◆ localFlash

Flash* CanTask::localFlash

inlinestaticprivate

Definition at line 187 of file can_task.h.

◆ localQspiLock

cpp_freertos::BinarySemaphore* CanTask::localQspiLock

inlinestaticprivate

Definition at line 185 of file can_task.h.

◆ localRegister

EERegister* CanTask::localRegister

inlinestaticprivate

Definition at line 184 of file can_task.h.

◆ localRegisterAccessLock

cpp_freertos::BinarySemaphore* CanTask::localRegisterAccessLock

inlinestaticprivate

Definition at line 186 of file can_task.h.

◆ localSystemMessageQueue

cpp_freertos::Queue* CanTask::localSystemMessageQueue

inlinestaticprivate

Definition at line 178 of file can_task.h.

◆ param

CanParam_t CanTask::param

private

Definition at line 173 of file can_task.h.

◆ rtc

STM32RTC& CanTask::rtc = STM32RTC::getInstance()

inlinestaticprivate

Definition at line 182 of file can_task.h.

◆ state

State_t CanTask::state

private

Definition at line 172 of file can_task.h.

The documentation for this class was generated from the following files:

/home/pat1/git/rmap/platformio/stima_v4/slave-rain/include/tasks/can_task.h
/home/pat1/git/rmap/platformio/stima_v4/slave-rain/src/tasks/can_task.cpp

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ State_t

Constructor & Destructor Documentation

◆ CanTask()

Member Function Documentation

◆ getFlashFwInfoFile()

◆ getModeAccessID()

◆ getUniqueID()

◆ HW_CAN_Power()

◆ prepareSensorsDataValue() [1/2]

◆ prepareSensorsDataValue() [2/2]

◆ processMessagePlugAndPlayNodeIDAllocation()

◆ processReceivedTransfer()

◆ processRequestExecuteCommand()

◆ processRequestGetModuleData()

◆ processRequestNodeGetInfo()

◆ processRequestRegisterAccess()

◆ processRequestUpdateRTC()

◆ publish_rmap_data()

◆ putFlashFile()

◆ Run()

◆ TaskState()

◆ TaskWatchDog()

Member Data Documentation

◆ boot_state

◆ canFlashBlock

◆ canFlashPtr

◆ canPower

◆ last_req_obs_time

◆ last_req_rpt_time

◆ localEeprom

◆ localFlash

◆ localQspiLock

◆ localRegister

◆ localRegisterAccessLock

◆ localSystemMessageQueue

◆ param

◆ rtc

◆ state