From 13de1b6c47af85d9700a922ddaf5f391cf386ee8 Mon Sep 17 00:00:00 2001
From: Erick Ahmed <engineering@erickahmed.com>
Date: Mon, 8 Jun 2026 22:50:07 +0200
Subject: [PATCH] Initialize CAN related tasks for logging and signaling

Initialize tasks for:
- CAN log incoming frames
- CAN blink on CANrx
---
 Core/Src/canlog.c | 29 +++++++++++++++++++++++++----
 Core/Src/main.c   | 45 ++++++++++++++++++++++++++++++++++++++++++---
 2 files changed, 67 insertions(+), 7 deletions(-)

diff --git a/Core/Src/canlog.c b/Core/Src/canlog.c
index b9ccf76..a04a0dd 100644
--- a/Core/Src/canlog.c
+++ b/Core/Src/canlog.c
@@ -24,14 +24,15 @@ const osThreadAttr_t canBus2Listen_attributes = {
 void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2){}
 static void CAN_Listen(void *argument){}
 
-/* BEGIN Header_CAN_Listen */
+
+
+/* BEGIN vCAN_log */
 /**
-  * @brief  Function implementing the canBus0Listen thread.
+  * @brief  Log incoming CAN bus traffic.
   * @param  argument: Not used
   * @retval None
   */
-/* END Header_CAN_Listen */
-void CAN_Listen(void *argument)
+void vCAN_log(void *argument)
 {
   /* CODE BEGIN */
   /* Infinite loop */
@@ -41,3 +42,23 @@ void CAN_Listen(void *argument)
   }
   /* CODE END */
 }
+/* END vCAN_log */
+
+
+/* BEGIN vLED_HeartbeatOnCanRx */
+/**
+  * @brief  Blink a LED in heartbeat mode when there is CAN traffic detected.
+  * @param  argument: Not used
+  * @retval None
+  */
+void vLED_HeartbeatOnCanRx(void *argument)
+{
+  /* CODE BEGIN */
+  /* Infinite loop */
+  for(;;)
+  {
+    osDelay(1);
+  }
+  /* CODE END */
+}
+/* vLED_HeartbeatOnCanRx */
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 51368a2..1f64c8a 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -18,8 +18,8 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
-#include "canlog.h"
 #include "cmsis_os.h"
+#include "canlog.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -49,6 +49,40 @@ SD_HandleTypeDef hsd;
 DMA_HandleTypeDef hdma_sdio_rx;
 DMA_HandleTypeDef hdma_sdio_tx;
 
+/* FreeRTOS task definitions */
+
+/* Definitions for CAN1rx incoming */
+osThreadId_t vCAN1_rx;
+const osThreadAttr_t vCAN1_rx_attributes = {
+  .name = "vCAN1_rx",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityRealtime1,
+};
+
+/* Definitions for CAN2rx incoming*/
+osThreadId_t vCAN2_rx;
+const osThreadAttr_t vCAN2_rx_attributes = {
+  .name = "vCAN2_rx",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityRealtime,
+};
+
+/* Definitions for CAN1 LED heartbeat */
+osThreadId_t vLED_CAN1_Heartbeat;
+const osThreadAttr_t vLED_CAN1_Heartbeat_attributes = {
+  .name = "vLED_CAN1_HeartbeatTask",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityLow1,
+};
+
+/* Definitions for CAN2 LED heartbeat */
+osThreadId_t vLED_CAN2_Heartbeat;
+const osThreadAttr_t vLED_CAN2_Heartbeat_attributes = {
+  .name = "vLED_CAN2_HeartbeatTask",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityLow,
+};
+
 /* USER CODE BEGIN PV */
 
 /* USER CODE END PV */
@@ -60,6 +94,7 @@ static void MX_DMA_Init(void);
 static void MX_CAN1_Init(void);
 static void MX_CAN2_Init(void);
 static void MX_SDIO_SD_Init(void);
+void vLED_HeartbeatOnCanRx(void *argument);
 
 /* USER CODE BEGIN PFP */
 
@@ -129,6 +164,12 @@ int main(void)
   /* add queues, ... */
   /* USER CODE END RTOS_QUEUES */
 
+  /* Create the thread(s) */
+  vCAN1_rx = osThreadNew(vCAN_log, NULL, &vCAN1_rx_attributes);
+  vCAN2_rx = osThreadNew(vCAN_log, NULL, &vCAN2_rx_attributes);
+  vLED_CAN1_Heartbeat = osThreadNew(vLED_HeartbeatOnCanRx, NULL, &vLED_CAN1_Heartbeat_attributes);
+  vLED_CAN2_Heartbeat = osThreadNew(vLED_HeartbeatOnCanRx, NULL, &vLED_CAN2_Heartbeat_attributes);
+
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
@@ -404,8 +445,6 @@ static void MX_GPIO_Init(void)
 
 /* USER CODE END 4 */
 
-
-
 /**
   * @brief  Period elapsed callback in non blocking mode
   * @note   This function is called  when TIM6 interrupt took place, inside