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Better way to avoid race condition, only notification lives in CAN task

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- Runs only once
- Only critical notification is inside task
- CAN message during boot will not be lost, instead put inside FIFO0
This commit is contained in:
Erick
2026-06-15 14:30:35 +02:00
parent 975acb8c3e
commit 2c14d095f7
2 changed files with 5 additions and 10 deletions
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Core/Src/canlog.c
+4 -9
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@@ -47,14 +47,11 @@ void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
filter.FilterBank = 0;
if (HAL_CAN_ConfigFilter(hcan1, &filter) != HAL_OK) Error_Handler();
if (HAL_CAN_Start(hcan1) != HAL_OK) Error_Handler();
filter.FilterBank = 14;
if (HAL_CAN_ConfigFilter(hcan2, &filter) != HAL_OK) Error_Handler();
if (HAL_CAN_Start(hcan1) != HAL_OK) Error_Handler();
if (HAL_CAN_Start(hcan2) != HAL_OK) Error_Handler();
if (HAL_CAN_ActivateNotification(hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) Error_Handler();
if (HAL_CAN_ActivateNotification(hcan2, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) Error_Handler();
}
/* END CAN_Logger_Init */
@@ -102,12 +99,10 @@ void vCANLoggerListen(void *argument)
{
/* CODE BEGIN */
CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
osMessageQueueId_t queue;
osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
CanMessage_t message;
CAN_Logger_Init(&hcan1, &hcan2);
queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
for (;;)
{