Streamline code

Northeastern-Electric-Racing · Feb 13, 2024 · ad90886 · ad90886
1 parent 7ee7d92
commit ad90886
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Showing 4 changed files with 10 additions and 6 deletions.
diff --git a/MSB/api/msb_can.h b/MSB/api/msb_can.h
@@ -2,8 +2,6 @@
 #ifndef MSB_CAN_H
 #define MSB_CAN_H
 
-void loop_publish_can();
-
 void start_can_publisher();
 
 void stop_can_publisher();

diff --git a/MSB/api/msb_common.h b/MSB/api/msb_common.h
@@ -2,6 +2,6 @@
 #ifndef MSB_COMMON_H
 #define MSB_COMMON_H
 
-void push_can_queue(char* message);
+short push_can_queue(char* message);
 
 #endif
diff --git a/MSB/msb_can.c b/MSB/msb_can.c
@@ -2,7 +2,9 @@
 #include "api/msb_common.h"
 #include "api/msb_can.h"
 
-char* queue[25];
+#define MAX_SIZE 25
+
+char* queue[MAX_SIZE];
 int queue_index;
 int running = 0;
 
@@ -22,6 +24,9 @@ void stop_can_publisher() {
     running = 0;
 }
 
-void push_can_queue(char* message) {
+short push_can_queue(char* message) {
+    if (queue_index == MAX_SIZE) return 0;
+
     queue[queue_index++] = message;
+    return 1;
 }
diff --git a/MSB/msb_main.c b/MSB/msb_main.c
@@ -1,8 +1,9 @@
 
 #include "api/msb_main.h"
 #include "api/msb_can.h"
+#include "cmsis_os.h"
 
-//osThreadId_t canTaskHandle;
+osThreadId_t canTaskHandle;
 
 void init_msb() {
     // spawn CAN output thread