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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,11 @@ | ||
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| #ifndef MSB_CAN_H | ||
| #define MSB_CAN_H | ||
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| void loop_publish_can(); | ||
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| void start_can_publisher(); | ||
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| void stop_can_publisher(); | ||
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| #endif |
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| @@ -0,0 +1,15 @@ | ||
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| #ifndef MSB_CENTRAL_H | ||
| #define MSB_CENTRAL_H | ||
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| #include "api/msb_common.h" | ||
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| typedef struct msb_central { | ||
| const short id; | ||
| } msb_central_t; | ||
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| void monitor_strain_gauge(msb_central_t* msb); | ||
| void monitor_potentiometer(msb_central_t* msb); | ||
| void monitor_tof(msb_central_t* msb); | ||
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| #endif |
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| @@ -0,0 +1,7 @@ | ||
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| #ifndef MSB_COMMON_H | ||
| #define MSB_COMMON_H | ||
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| void push_can_queue(string message); | ||
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| #endif |
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| @@ -0,0 +1,13 @@ | ||
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| #ifndef MSB_KNUCKLE_H | ||
| #define MSB_KNUCKLE_H | ||
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| #include "api/msb_common.h" | ||
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| typedef struct msb_knuckle { | ||
| const short id; | ||
| } msb_knuckle_t; | ||
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| void monitor_imu(msb_knuckle_t* msb); | ||
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| #endif |
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| @@ -0,0 +1,7 @@ | ||
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| #ifndef MSB_MAIN_H | ||
| #define MSB_MAIN_H | ||
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| void start_msb(); | ||
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| #endif |
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| @@ -0,0 +1,13 @@ | ||
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| #ifndef MSB_TEMP_H | ||
| #define MSB_TEMP_H | ||
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| #include "api/msb_common.h" | ||
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| typedef struct msb_temp { | ||
| const short id; | ||
| } msb_temp_t; | ||
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| void monitor_temp(msb_temp_t* msb); | ||
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| #endif |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,27 @@ | ||
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| #include "api/msb_common.h" | ||
| #include "api/msb_can.h" | ||
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| char* queue[25]; | ||
| int queue_index; | ||
| int running = 0; | ||
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| void loop_publish_can() { | ||
| while (running) { | ||
| // every x amount of time, output queue to can | ||
| // for now just print each string | ||
| } | ||
| } | ||
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| void start_can_publisher() { | ||
| running = 1; | ||
| loop_publish_can(); | ||
| } | ||
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| void stop_can_publisher() { | ||
| running = 0; | ||
| } | ||
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| void push_can_queue(string message) { | ||
| queue[queue_index++] = message; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,22 @@ | ||
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| #include "api/msb_main.h" | ||
| #include "api/msb_can.h" | ||
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| osThreadId_t canTaskHandle; | ||
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| void init_msb() { | ||
| // spawn CAN output thread | ||
| // canTaskHandle = osThreadNew(start_can_publisher, NULL, NULL); | ||
| start_can_publisher(); | ||
| } | ||
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| void start_msb() { | ||
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| init_msb(); | ||
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| while (1) { | ||
| // loop query tasks | ||
| } | ||
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| } | ||
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