testing commit

Northeastern-Electric-Racing · Feb 22, 2024 · 5427ef5 · 5427ef5
1 parent 56e6ec0
commit 5427ef5
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Showing 5 changed files with 274 additions and 3 deletions.
diff --git a/.idea/misc.xml b/.idea/misc.xml
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
diff --git a/MSB/.idea/workspace.xml b/MSB/.idea/workspace.xml
diff --git a/MSB/msb_main.c b/MSB/msb_main.c
@@ -3,13 +3,18 @@
 #include "api/msb_can.h"
 #include "cmsis_os.h"
 
+//Thread ID identifies the thread.
 osThreadId_t canTaskHandle;
 
 void init_msb() {
-    // spawn CAN output thread
-    start_can_publisher();
+    // Create a thread to run start_can_publisher
+    canTaskHandle = osThreadNew(start_can_publisher, NULL, NULL);
+    if (canTaskHandle == NULL) {
+        // Handle error, need implementation in the future
+    }
 }
 
+// test
 void start_msb() {
 
     init_msb();
@@ -21,5 +26,9 @@ void start_msb() {
 }
 
 void stop_msb() {
-
+    if (canTaskHandle != NULL) {
+        osThreadTerminate(canTaskHandle);
+        //put Null for now, implementation in the future
+        canTaskHandle = NULL;
+    }
 }