From 388ae8bb21a722f5e845a5ff3da707d70b40e1b3 Mon Sep 17 00:00:00 2001
From: sourland <jem2010@windowslive.com>
Date: Thu, 25 Jan 2024 13:54:51 +0200
Subject: [PATCH] fix can

---
 src/FreeRTOSTasks/CANTestTask.cpp   | 7 ++++---
 src/Platform/CAN/Driver.cpp         | 9 +++++----
 src/Platform/TaskInitialization.cpp | 4 ++--
 src/main.cpp                        | 4 ++--
 4 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/src/FreeRTOSTasks/CANTestTask.cpp b/src/FreeRTOSTasks/CANTestTask.cpp
index abfd436..0247bf5 100644
--- a/src/FreeRTOSTasks/CANTestTask.cpp
+++ b/src/FreeRTOSTasks/CANTestTask.cpp
@@ -7,9 +7,10 @@ void CANTestTask::execute() {
         frame.data.at(i) = i;
     }
 
+    String<ECSSMaxMessageSize> testPayload("WHO LIVES IN A PINEAPPLE UNDER THE SEA?");
     while (true) {
-        CAN::Application::sendPingMessage(CAN::ADCS, false);
-        canGatekeeperTask->send(frame);
-        vTaskDelay(pdMS_TO_TICKS(2000));
+        CAN::Application::createLogMessage(CAN::NodeIDs::OBC, false, testPayload.data(), false);
+        xTaskNotify(canGatekeeperTask->taskHandle, 0, eNoAction);
+        vTaskDelay(pdMS_TO_TICKS(1000));
     }
 }
\ No newline at end of file
diff --git a/src/Platform/CAN/Driver.cpp b/src/Platform/CAN/Driver.cpp
index c0fa1fd..f46736e 100644
--- a/src/Platform/CAN/Driver.cpp
+++ b/src/Platform/CAN/Driver.cpp
@@ -150,18 +150,19 @@ void CAN::Driver::send(const CAN::Frame &message) {
 
     memset(&Driver::txFifo, 0, MCAN1_TX_FIFO_BUFFER_ELEMENT_SIZE);
 
-    Driver::txFifo.brs = 1;
+    Driver::txFifo.brs = 0;
     Driver::txFifo.fdf = 1;
     Driver::txFifo.xtd = 0;
     Driver::txFifo.id = Driver::writeId(message.id);
     Driver::txFifo.dlc = Driver::convertLengthToDLC(message.data.size());
 
     std::copy(message.data.begin(), message.data.end(), Driver::txFifo.data);
-
+    MCAN1_MessageTransmitFifo(1, &Driver::txFifo);
+    MCAN0_MessageTransmitFifo(1, &Driver::txFifo);
     if (AcubeSATParameters::obcCANBUSActive.getValue() == Main) {
-        MCAN0_MessageTransmitFifo(1, &Driver::txFifo);
+
     } else {
-        MCAN1_MessageTransmitFifo(1, &Driver::txFifo);
+
     }
 }
 
diff --git a/src/Platform/TaskInitialization.cpp b/src/Platform/TaskInitialization.cpp
index 37354f4..33031d7 100644
--- a/src/Platform/TaskInitialization.cpp
+++ b/src/Platform/TaskInitialization.cpp
@@ -3,11 +3,11 @@
 void initializeTasks() {
     uartGatekeeperTask.emplace();
     timeKeepingTask.emplace();
-    ambientTemperatureTask.emplace();
+//    ambientTemperatureTask.emplace();
     watchdogTask.emplace();
     mcuTemperatureTask.emplace();
 
-    ambientTemperatureTask->createTask();
+//    ambientTemperatureTask->createTask();
     mcuTemperatureTask->createTask();
     timeKeepingTask->createTask();
     uartGatekeeperTask->createTask();
diff --git a/src/main.cpp b/src/main.cpp
index 678b1aa..ad0a2d1 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -39,14 +39,14 @@ extern "C" void main_cpp() {
     housekeepingTask.emplace();
     canGatekeeperTask.emplace();
     canTestTask.emplace();
-    nandTask.emplace();
+//    nandTask.emplace();
     mramTask.emplace();
 
     tcHandlingTask->createTask();
     housekeepingTask->createTask();
     canGatekeeperTask->createTask();
     canTestTask->createTask();
-    nandTask->createTask();
+//    nandTask->createTask();
     mramTask->createTask();
 
     vTaskStartScheduler();