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Implement UART debugging by reusing DEBUG_PRINT when ITW not active

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Erick
2026-06-24 12:58:29 +02:00
parent 89cd1e00d0
commit 0ba8ecda64
4 changed files with 122 additions and 69 deletions
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Core/Src/canlog.c
+44 -43
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@@ -28,6 +28,9 @@ extern CAN_HandleTypeDef hcan2;
extern osThreadId_t xCAN1LedTask;
extern osThreadId_t xCAN2LedTask;
volatile uint32_t can1_rx_isr_count = 0;
volatile uint32_t can2_rx_isr_count = 0;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/**
@@ -38,22 +41,21 @@ extern osThreadId_t xCAN2LedTask;
*/
void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
{
CAN_FilterTypeDef filter = {0};
filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterScale = CAN_FILTERSCALE_32BIT;
filter.FilterIdHigh = 0x0000;
filter.FilterMaskIdHigh = 0x0000;
filter.FilterIdLow = 0x0000;
filter.FilterMaskIdLow = 0x0000;
filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
filter.FilterActivation = ENABLE;
filter.SlaveStartFilterBank = 14;
CAN_FilterTypeDef filter = {0};
filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterScale = CAN_FILTERSCALE_32BIT;
filter.FilterIdHigh = 0x0000;
filter.FilterMaskIdHigh = 0x0000;
filter.FilterIdLow = 0x0000;
filter.FilterMaskIdLow = 0x0000;
filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
filter.FilterActivation = ENABLE;
filter.SlaveStartFilterBank = 14;
filter.FilterBank = 0;
if (HAL_CAN_ConfigFilter(hcan1, &filter) != HAL_OK) Error_Handler();
filter.FilterBank = 14;
if (HAL_CAN_ConfigFilter(hcan2, &filter) != HAL_OK) Error_Handler();
filter.FilterBank = 0;
if (HAL_CAN_ConfigFilter(hcan1, &filter) != HAL_OK) Error_Handler();
filter.FilterBank = 14;
if (HAL_CAN_ConfigFilter(hcan2, &filter) != HAL_OK) Error_Handler();
}
/* END CAN_Logger_Init */
@@ -65,38 +67,38 @@ void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
*/
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CanMessage_t message;
CAN_RxHeaderTypeDef rxHeader;
uint8_t data[8];
if (hcan->Instance == CAN1) can1_rx_isr_count++;
else can2_rx_isr_count++;
osMessageQueueId_t queue;
osThreadId_t led_task;
CanMessage_t message;
CAN_RxHeaderTypeDef rxHeader;
uint8_t data[8];
// TODO: manage the case of FIFO overflow
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) return;
osMessageQueueId_t queue;
osThreadId_t led_task;
if (rxHeader.IDE == CAN_ID_EXT) message.id = rxHeader.ExtId;
else message.id = rxHeader.StdId;
message.dlc = rxHeader.DLC;
message.isExtended = (rxHeader.IDE == CAN_ID_EXT);
message.source = (hcan->Instance == CAN1) ? 1 : 2;
memcpy(message.payload, data, rxHeader.DLC);
// TODO: manage the case of FIFO overflow
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) return;
if (hcan->Instance == CAN1)
{
queue = xCAN1RxQueue;
led_task = xCAN1LedTask;
}
else
{
queue = xCAN2RxQueue;
led_task = xCAN2LedTask;
}
if (rxHeader.IDE == CAN_ID_EXT) message.id = rxHeader.ExtId;
else message.id = rxHeader.StdId;
message.dlc = rxHeader.DLC;
message.isExtended = (rxHeader.IDE == CAN_ID_EXT);
message.source = (hcan->Instance == CAN1) ? 1 : 2;
memcpy(message.payload, data, rxHeader.DLC);
if (osMessageQueuePut(queue, &message, 0U, 0U) == osOK)
{
osThreadFlagsSet(led_task, 0x01);
}
if (hcan->Instance == CAN1)
{
queue = xCAN1RxQueue;
led_task = xCAN1LedTask;
}
else
{
queue = xCAN2RxQueue;
led_task = xCAN2LedTask;
}
if (osMessageQueuePut(queue, &message, 0U, 0U) == osOK) osThreadFlagsSet(led_task, 0x01);
}
/* END HAL_CAN_RxFifo0MsgPendingCallback */
@@ -128,7 +130,6 @@ void vCANListener(void *argument)
osMessageQueuePut(xUARTQueue, &message, 0U, 0U);
}
else DEBUG_PRINT("No CAN yet!\r\n");
}
}
/* END vCANListener */