From 1ed727fa9ed7408f9318932040105bd8a400fff8 Mon Sep 17 00:00:00 2001
From: Erick Ahmed <engineering@erickahmed.com>
Date: Wed, 3 Jun 2026 23:01:29 +0200
Subject: [PATCH] Create tasks for hcan1 and hcan2

---
 Core/Src/main.c | 34 ++++++++++++++++++++++------------
 can_logger.ioc  |  5 +++--
 2 files changed, 25 insertions(+), 14 deletions(-)

diff --git a/Core/Src/main.c b/Core/Src/main.c
index 9e0ca69..62d3832 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -48,12 +48,19 @@ SD_HandleTypeDef hsd;
 DMA_HandleTypeDef hdma_sdio_rx;
 DMA_HandleTypeDef hdma_sdio_tx;
 
-/* Definitions for defaultTask */
-osThreadId_t defaultTaskHandle;
-const osThreadAttr_t defaultTask_attributes = {
-  .name = "defaultTask",
+/* Definitions for canBus1Listen */
+osThreadId_t canBus1ListenHandle;
+const osThreadAttr_t canBus1Listen_attributes = {
+  .name = "canBus1Listen",
   .stack_size = 128 * 4,
-  .priority = (osPriority_t) osPriorityNormal,
+  .priority = (osPriority_t) osPriorityRealtime1,
+};
+/* Definitions for canBus2Listen */
+osThreadId_t canBus2ListenHandle;
+const osThreadAttr_t canBus2Listen_attributes = {
+  .name = "canBus2Listen",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityRealtime,
 };
 /* USER CODE BEGIN PV */
 
@@ -66,7 +73,7 @@ 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 StartDefaultTask(void *argument);
+void can_listen(void *argument);
 
 /* USER CODE BEGIN PFP */
 
@@ -134,8 +141,11 @@ int main(void)
   /* USER CODE END RTOS_QUEUES */
 
   /* Create the thread(s) */
-  /* creation of defaultTask */
-  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
+  /* creation of canBus1Listen */
+  canBus1ListenHandle = osThreadNew(can_listen, (void*) &hcan1, &canBus1Listen_attributes);
+
+  /* creation of canBus2Listen */
+  canBus2ListenHandle = osThreadNew(can_listen, (void*) &hcan2, &canBus2Listen_attributes);
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
@@ -412,14 +422,14 @@ static void MX_GPIO_Init(void)
 
 /* USER CODE END 4 */
 
-/* USER CODE BEGIN Header_StartDefaultTask */
+/* USER CODE BEGIN Header_can_listen */
 /**
-  * @brief  Function implementing the defaultTask thread.
+  * @brief  Function implementing the canBus0Listen thread.
   * @param  argument: Not used
   * @retval None
   */
-/* USER CODE END Header_StartDefaultTask */
-void StartDefaultTask(void *argument)
+/* USER CODE END Header_can_listen */
+void can_listen(void *argument)
 {
   /* USER CODE BEGIN 5 */
   /* Infinite loop */
diff --git a/can_logger.ioc b/can_logger.ioc
index 01b9b7e..59d20cb 100644
--- a/can_logger.ioc
+++ b/can_logger.ioc
@@ -47,8 +47,9 @@ Dma.SDIO_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_WORD
 Dma.SDIO_TX.1.PeriphInc=DMA_PINC_DISABLE
 Dma.SDIO_TX.1.Priority=DMA_PRIORITY_LOW
 Dma.SDIO_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
-FREERTOS.IPParameters=Tasks01,configUSE_NEWLIB_REENTRANT
-FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.FootprintOK=true
+FREERTOS.IPParameters=Tasks01,configUSE_NEWLIB_REENTRANT,FootprintOK
+FREERTOS.Tasks01=canBus1Listen,49,128,can_listen,Default,&hcan1,Dynamic,NULL,NULL;canBus2Listen,48,128,can_listen,Default,&hcan2,Dynamic,NULL,NULL
 FREERTOS.configUSE_NEWLIB_REENTRANT=1
 File.Version=6
 GPIO.groupedBy=