Merge pull request 'Implement CAN read RTOS' (#14) from j1939 into main
This commit is contained in:
+3
-1
@@ -8,4 +8,6 @@
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.metadata
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.metadata
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||||||
Core/Src/Backup/
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Core/Src/Backup/
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||||||
Core/Inc/Backup/
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Core/Inc/Backup/
|
||||||
Debug
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.bak
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||||||
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.gitignore
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||||||
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can_logger Debug.launch
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||||||
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|||||||
@@ -1,7 +1,53 @@
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|||||||
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/* USER CODE BEGIN Header */
|
||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
* @file : canlog.h
|
||||||
|
* @brief : Header for canlog.c file.
|
||||||
|
* This file contains the defines related to SAE J1939 CAN.
|
||||||
|
******************************************************************************
|
||||||
|
* @attention
|
||||||
|
*
|
||||||
|
* Copyright (c) 2026 Erick Ahmed.
|
||||||
|
*
|
||||||
|
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||||
|
*
|
||||||
|
******************************************************************************
|
||||||
|
*/
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||||||
|
/* USER CODE END Header */
|
||||||
|
|
||||||
|
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||||
#ifndef CANLOG_H
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#ifndef CANLOG_H
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||||||
#define CANLOG_H
|
#define CANLOG_H
|
||||||
|
|
||||||
#include "main.h"
|
#include "main.h"
|
||||||
|
#include "cmsis_os.h"
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||||||
|
|
||||||
|
extern osMessageQueueId_t xCAN1RxQueue;
|
||||||
|
extern osMessageQueueId_t xCAN2RxQueue;
|
||||||
|
extern osSemaphoreId_t xSemaphoreCAN1;
|
||||||
|
extern osSemaphoreId_t xSemaphoreCAN2;
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||||||
|
|
||||||
|
/* USER CODE BEGIN PTD */
|
||||||
|
typedef struct {
|
||||||
|
GPIO_TypeDef* port;
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||||||
|
uint16_t pin;
|
||||||
|
} LED_Config;
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||||||
|
|
||||||
|
typedef struct {
|
||||||
|
uint32_t id;
|
||||||
|
uint8_t payload[8];
|
||||||
|
uint8_t dlc;
|
||||||
|
uint8_t isExtended;
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||||||
|
//uint32_t timestamp; //Enable TIM2: 42 MHz / (41+1) = 1 MHz → 1 µs tick; 32bit autoreload freerunning
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||||||
|
// this is for getting timestamps on can messages
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||||||
|
} CanMessage_t;
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||||||
|
|
||||||
|
typedef struct {
|
||||||
|
LED_Config *led;
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||||||
|
osSemaphoreId_t semaphore;
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||||||
|
osTimerId_t timer;
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||||||
|
} LEDContext;
|
||||||
|
/* USER CODE END PTD */
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief Initializes the CAN logger modules, OS threads, queues, and hardware.
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* @brief Initializes the CAN logger modules, OS threads, queues, and hardware.
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||||||
@@ -9,5 +55,8 @@
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|||||||
* @param hcan2 Pointer to the CAN2 handle
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* @param hcan2 Pointer to the CAN2 handle
|
||||||
*/
|
*/
|
||||||
void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2);
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void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2);
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||||||
|
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
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||||||
|
void vCANLoggerListen(void *argument);
|
||||||
|
void vLEDHeartbeat(void *argument);
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||||||
|
|
||||||
#endif /* CANLOG_H */
|
#endif /* CANLOG_H */
|
||||||
|
|||||||
+3
-4
@@ -8,11 +8,9 @@
|
|||||||
* @attention
|
* @attention
|
||||||
*
|
*
|
||||||
* Copyright (c) 2026 STMicroelectronics.
|
* Copyright (c) 2026 STMicroelectronics.
|
||||||
* All rights reserved.
|
* Copyright (c) 2026 Erick Ahmed.
|
||||||
*
|
*
|
||||||
* This software is licensed under terms that can be found in the LICENSE file
|
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||||
* in the root directory of this software component.
|
|
||||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
|
||||||
*
|
*
|
||||||
******************************************************************************
|
******************************************************************************
|
||||||
*/
|
*/
|
||||||
@@ -28,6 +26,7 @@ extern "C" {
|
|||||||
|
|
||||||
/* Includes ------------------------------------------------------------------*/
|
/* Includes ------------------------------------------------------------------*/
|
||||||
#include "stm32f4xx_hal.h"
|
#include "stm32f4xx_hal.h"
|
||||||
|
#include "canlog.h"
|
||||||
|
|
||||||
/* Private includes ----------------------------------------------------------*/
|
/* Private includes ----------------------------------------------------------*/
|
||||||
/* USER CODE BEGIN Includes */
|
/* USER CODE BEGIN Includes */
|
||||||
|
|||||||
@@ -1,435 +0,0 @@
|
|||||||
/**
|
|
||||||
******************************************************************************
|
|
||||||
* @file newlib_lock_glue.c
|
|
||||||
* @author STMicroelectronics
|
|
||||||
* @brief Implementation of newlib lock interface
|
|
||||||
*
|
|
||||||
* @details This file implements locking glue necessary to protect C library
|
|
||||||
* functions and initialization of local static objects in C++.
|
|
||||||
* Lock strategies are defined in stm32_lock.h that implements
|
|
||||||
* different level of thread-safety.
|
|
||||||
*
|
|
||||||
* For more information about which C functions need which of these
|
|
||||||
* low level functions, please consult the newlib libc manual,
|
|
||||||
* see https://sourceware.org/newlib/libc.html
|
|
||||||
*
|
|
||||||
* For more information about the one-time construction API for C++,
|
|
||||||
* see https://itanium-cxx-abi.github.io/cxx-abi/abi.html#once-ctor
|
|
||||||
*
|
|
||||||
******************************************************************************
|
|
||||||
* @attention
|
|
||||||
*
|
|
||||||
* Copyright (c) 2026 STMicroelectronics.
|
|
||||||
* All rights reserved.
|
|
||||||
*
|
|
||||||
* This software is licensed under terms that can be found in the LICENSE file
|
|
||||||
* in the root directory of this software component.
|
|
||||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
|
||||||
*
|
|
||||||
******************************************************************************
|
|
||||||
*/
|
|
||||||
|
|
||||||
#if !defined (__GNUC__) || defined (__CC_ARM)
|
|
||||||
#error "newlib_lock_glue.c" should be used with GNU Compilers only
|
|
||||||
#endif /* !defined (__GNUC__) || defined (__CC_ARM) */
|
|
||||||
|
|
||||||
/* Includes ------------------------------------------------------------------*/
|
|
||||||
#include <cmsis_compiler.h>
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|
||||||
|
|
||||||
/* Private functions prototypes ----------------------------------------------*/
|
|
||||||
__WEAK void Error_Handler(void);
|
|
||||||
/* Private functions ---------------------------------------------------------*/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Global Error_Handler
|
|
||||||
*/
|
|
||||||
__WEAK void Error_Handler(void)
|
|
||||||
{
|
|
||||||
/* Not used if it exists in project */
|
|
||||||
while (1);
|
|
||||||
}
|
|
||||||
|
|
||||||
#ifdef __SINGLE_THREAD__
|
|
||||||
#warning C library is in single-threaded mode. Please take care when using C library functions in threaded contexts
|
|
||||||
#else
|
|
||||||
|
|
||||||
/* Includes ------------------------------------------------------------------*/
|
|
||||||
#include <newlib.h>
|
|
||||||
#include <stdatomic.h>
|
|
||||||
#include "stm32_lock.h"
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @defgroup _newlib_lock_functions newlib library locks
|
|
||||||
* @see https://sourceware.org/newlib/libc.html
|
|
||||||
* @{
|
|
||||||
*/
|
|
||||||
|
|
||||||
#if __NEWLIB__ >= 3 && defined (_RETARGETABLE_LOCKING)
|
|
||||||
#include <errno.h>
|
|
||||||
#include <stdlib.h>
|
|
||||||
#include <sys/lock.h>
|
|
||||||
|
|
||||||
/* Private macros ------------------------------------------------------------*/
|
|
||||||
/** See struct __lock definition */
|
|
||||||
#define STM32_LOCK_PARAMETER(lock) (&(lock)->lock_data)
|
|
||||||
|
|
||||||
/* shared variables for bare metal allow lock ------------------------------------------------------*/
|
|
||||||
#if defined(STM32_THREAD_SAFE_BAREMETAL_ALLOW_LOCKS) && (STM32_THREAD_SAFE_BAREMETAL_ALLOW_LOCKS != 0)
|
|
||||||
uint32_t gflag = 0;
|
|
||||||
uint32_t call_counter = 0;
|
|
||||||
#endif /* defined(STM32_THREAD_SAFE_BAREMETAL_ALLOW_LOCKS) && (STM32_THREAD_SAFE_BAREMETAL_ALLOW_LOCKS != 0) */
|
|
||||||
|
|
||||||
/* Private variables ---------------------------------------------------------*/
|
|
||||||
struct __lock
|
|
||||||
{
|
|
||||||
LockingData_t lock_data; /**< The STM32 lock instance */
|
|
||||||
};
|
|
||||||
|
|
||||||
/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
|
|
||||||
struct __lock __lock___sinit_recursive_mutex = { LOCKING_DATA_INIT };
|
|
||||||
|
|
||||||
/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
|
|
||||||
struct __lock __lock___sfp_recursive_mutex = { LOCKING_DATA_INIT };
|
|
||||||
|
|
||||||
/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
|
|
||||||
struct __lock __lock___atexit_recursive_mutex = { LOCKING_DATA_INIT };
|
|
||||||
|
|
||||||
/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
|
|
||||||
struct __lock __lock___at_quick_exit_mutex = { LOCKING_DATA_INIT };
|
|
||||||
|
|
||||||
/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
|
|
||||||
struct __lock __lock___malloc_recursive_mutex = { LOCKING_DATA_INIT };
|
|
||||||
|
|
||||||
/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
|
|
||||||
struct __lock __lock___env_recursive_mutex = { LOCKING_DATA_INIT };
|
|
||||||
|
|
||||||
/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
|
|
||||||
struct __lock __lock___tz_mutex = { LOCKING_DATA_INIT };
|
|
||||||
|
|
||||||
/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
|
|
||||||
struct __lock __lock___dd_hash_mutex = { LOCKING_DATA_INIT };
|
|
||||||
|
|
||||||
/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
|
|
||||||
struct __lock __lock___arc4random_mutex = { LOCKING_DATA_INIT };
|
|
||||||
|
|
||||||
/* Private functions ---------------------------------------------------------*/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Initialize lock
|
|
||||||
* @param lock The lock
|
|
||||||
*/
|
|
||||||
void __retarget_lock_init(_LOCK_T *lock)
|
|
||||||
{
|
|
||||||
__retarget_lock_init_recursive(lock);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Initialize recursive lock
|
|
||||||
* @param lock The lock
|
|
||||||
*/
|
|
||||||
void __retarget_lock_init_recursive(_LOCK_T *lock)
|
|
||||||
{
|
|
||||||
if (lock == NULL)
|
|
||||||
{
|
|
||||||
errno = EINVAL;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
*lock = (_LOCK_T)malloc(sizeof(struct __lock));
|
|
||||||
if (*lock != NULL)
|
|
||||||
{
|
|
||||||
stm32_lock_init(STM32_LOCK_PARAMETER(*lock));
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Unable to allocate memory */
|
|
||||||
STM32_LOCK_BLOCK();
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Close lock
|
|
||||||
* @param lock The lock
|
|
||||||
*/
|
|
||||||
void __retarget_lock_close(_LOCK_T lock)
|
|
||||||
{
|
|
||||||
__retarget_lock_close_recursive(lock);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Close recursive lock
|
|
||||||
* @param lock The lock
|
|
||||||
*/
|
|
||||||
void __retarget_lock_close_recursive(_LOCK_T lock)
|
|
||||||
{
|
|
||||||
free(lock);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Acquire lock
|
|
||||||
* @param lock The lock
|
|
||||||
*/
|
|
||||||
void __retarget_lock_acquire(_LOCK_T lock)
|
|
||||||
{
|
|
||||||
STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(lock);
|
|
||||||
stm32_lock_acquire(STM32_LOCK_PARAMETER(lock));
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Acquire recursive lock
|
|
||||||
* @param lock The lock
|
|
||||||
*/
|
|
||||||
void __retarget_lock_acquire_recursive(_LOCK_T lock)
|
|
||||||
{
|
|
||||||
STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(lock);
|
|
||||||
stm32_lock_acquire(STM32_LOCK_PARAMETER(lock));
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Try acquire lock
|
|
||||||
* @param lock The lock
|
|
||||||
* @return 0 always
|
|
||||||
*/
|
|
||||||
int __retarget_lock_try_acquire(_LOCK_T lock)
|
|
||||||
{
|
|
||||||
__retarget_lock_acquire(lock);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Try acquire recursive lock
|
|
||||||
* @param lock The lock
|
|
||||||
* @return 0 always
|
|
||||||
*/
|
|
||||||
int __retarget_lock_try_acquire_recursive(_LOCK_T lock)
|
|
||||||
{
|
|
||||||
__retarget_lock_acquire_recursive(lock);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Release lock
|
|
||||||
* @param lock The lock
|
|
||||||
*/
|
|
||||||
void __retarget_lock_release(_LOCK_T lock)
|
|
||||||
{
|
|
||||||
STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(lock);
|
|
||||||
stm32_lock_release(STM32_LOCK_PARAMETER(lock));
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Release recursive lock
|
|
||||||
* @param lock The lock
|
|
||||||
*/
|
|
||||||
void __retarget_lock_release_recursive(_LOCK_T lock)
|
|
||||||
{
|
|
||||||
STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(lock);
|
|
||||||
stm32_lock_release(STM32_LOCK_PARAMETER(lock));
|
|
||||||
}
|
|
||||||
|
|
||||||
#else
|
|
||||||
#warning This makes malloc, env, and TZ calls thread-safe, not the entire newlib
|
|
||||||
|
|
||||||
/* Includes ------------------------------------------------------------------*/
|
|
||||||
#include <reent.h>
|
|
||||||
|
|
||||||
/* Private variables ---------------------------------------------------------*/
|
|
||||||
/** Mutex used in __malloc_lock and __malloc_unlock */
|
|
||||||
static LockingData_t __lock___malloc_recursive_mutex = LOCKING_DATA_INIT;
|
|
||||||
|
|
||||||
/** Mutex used in __env_lock and __env_unlock */
|
|
||||||
static LockingData_t __lock___env_recursive_mutex = LOCKING_DATA_INIT;
|
|
||||||
|
|
||||||
/** Mutex used in __tz_lock and __tz_unlock */
|
|
||||||
static LockingData_t __lock___tz_mutex = LOCKING_DATA_INIT;
|
|
||||||
|
|
||||||
/* Private functions ---------------------------------------------------------*/
|
|
||||||
|
|
||||||
#if __STD_C
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Acquire malloc lock
|
|
||||||
* @param reent The reentrance struct
|
|
||||||
*/
|
|
||||||
void __malloc_lock(struct _reent *reent)
|
|
||||||
{
|
|
||||||
STM32_LOCK_UNUSED(reent);
|
|
||||||
stm32_lock_acquire(&__lock___malloc_recursive_mutex);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Release malloc lock
|
|
||||||
* @param reent The reentrance struct
|
|
||||||
*/
|
|
||||||
void __malloc_unlock(struct _reent *reent)
|
|
||||||
{
|
|
||||||
STM32_LOCK_UNUSED(reent);
|
|
||||||
stm32_lock_release(&__lock___malloc_recursive_mutex);
|
|
||||||
}
|
|
||||||
|
|
||||||
#else
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Acquire malloc lock
|
|
||||||
*/
|
|
||||||
void __malloc_lock()
|
|
||||||
{
|
|
||||||
stm32_lock_acquire(&__lock___malloc_recursive_mutex);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Release malloc lock
|
|
||||||
*/
|
|
||||||
void __malloc_unlock()
|
|
||||||
{
|
|
||||||
stm32_lock_release(&__lock___malloc_recursive_mutex);
|
|
||||||
}
|
|
||||||
#endif /* __STD_C */
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Acquire env lock
|
|
||||||
* @param reent The reentrance struct
|
|
||||||
*/
|
|
||||||
void __env_lock(struct _reent *reent)
|
|
||||||
{
|
|
||||||
STM32_LOCK_UNUSED(reent);
|
|
||||||
stm32_lock_acquire(&__lock___env_recursive_mutex);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Release env lock
|
|
||||||
* @param reent The reentrance struct
|
|
||||||
*/
|
|
||||||
void __env_unlock(struct _reent *reent)
|
|
||||||
{
|
|
||||||
STM32_LOCK_UNUSED(reent);
|
|
||||||
stm32_lock_release(&__lock___env_recursive_mutex);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Acquire tz lock
|
|
||||||
*/
|
|
||||||
void __tz_lock()
|
|
||||||
{
|
|
||||||
stm32_lock_acquire(&__lock___tz_mutex);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Release tz lock
|
|
||||||
*/
|
|
||||||
void __tz_unlock()
|
|
||||||
{
|
|
||||||
stm32_lock_release(&__lock___tz_mutex);
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif /* __NEWLIB__ >= 3 && defined (_RETARGETABLE_LOCKING) */
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @}
|
|
||||||
*/
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @defgroup __cxa_guard_ GNU C++ one-time construction API
|
|
||||||
* @see https://itanium-cxx-abi.github.io/cxx-abi/abi.html#once-ctor
|
|
||||||
*
|
|
||||||
* When building for C++, please make sure that <tt>-fno-threadsafe-statics</tt> is not passed to the compiler
|
|
||||||
* @{
|
|
||||||
*/
|
|
||||||
|
|
||||||
/* Private typedef -----------------------------------------------------------*/
|
|
||||||
/** The guard object is created by the C++ compiler and is 32 bit for ARM EABI. */
|
|
||||||
typedef struct
|
|
||||||
{
|
|
||||||
atomic_uchar initialized; /**< Indicate if object is initialized */
|
|
||||||
uint8_t acquired; /**< Ensure non-recursive lock */
|
|
||||||
uint16_t unused; /**< Padding */
|
|
||||||
} __attribute__((packed)) CxaGuardObject_t;
|
|
||||||
|
|
||||||
/* Private variables ---------------------------------------------------------*/
|
|
||||||
/** Mutex used in __cxa_guard_acquire, __cxa_guard_release and __cxa_guard_abort */
|
|
||||||
static LockingData_t __cxa_guard_mutex = LOCKING_DATA_INIT;
|
|
||||||
|
|
||||||
/* Private functions prototype ---------------------------------------------------------*/
|
|
||||||
int __cxa_guard_acquire(CxaGuardObject_t *guard_object);
|
|
||||||
void __cxa_guard_abort(CxaGuardObject_t *guard_object);
|
|
||||||
void __cxa_guard_release(CxaGuardObject_t *guard_object);
|
|
||||||
/* Private functions ---------------------------------------------------------*/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Acquire __cxa_guard mutex
|
|
||||||
* @param guard_object Guard object
|
|
||||||
* @return 0 if object is initialized, else initialization of object required
|
|
||||||
*/
|
|
||||||
int __cxa_guard_acquire(CxaGuardObject_t *guard_object)
|
|
||||||
{
|
|
||||||
STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(guard_object);
|
|
||||||
|
|
||||||
if (atomic_load(&guard_object->initialized) == 0)
|
|
||||||
{
|
|
||||||
/* Object needs initialization, lock threading context */
|
|
||||||
stm32_lock_acquire(&__cxa_guard_mutex);
|
|
||||||
if (atomic_load(&guard_object->initialized) == 0)
|
|
||||||
{
|
|
||||||
/* Object needs initialization */
|
|
||||||
if (guard_object->acquired)
|
|
||||||
{
|
|
||||||
/* Object initialization already in progress */
|
|
||||||
STM32_LOCK_BLOCK();
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Lock acquired */
|
|
||||||
guard_object->acquired = 1;
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
/* Object initialized in another thread */
|
|
||||||
stm32_lock_release(&__cxa_guard_mutex);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Object already initialized */
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Abort __cxa_guard mutex
|
|
||||||
* @param guard_object Guard object
|
|
||||||
*/
|
|
||||||
void __cxa_guard_abort(CxaGuardObject_t *guard_object)
|
|
||||||
{
|
|
||||||
STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(guard_object);
|
|
||||||
|
|
||||||
if (guard_object->acquired)
|
|
||||||
{
|
|
||||||
/* Release lock */
|
|
||||||
guard_object->acquired = 0;
|
|
||||||
stm32_lock_release(&__cxa_guard_mutex);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
/* Trying to release non-acquired lock */
|
|
||||||
STM32_LOCK_BLOCK();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Release __cxa_guard mutex
|
|
||||||
* @param guard_object Guard object
|
|
||||||
*/
|
|
||||||
void __cxa_guard_release(CxaGuardObject_t *guard_object)
|
|
||||||
{
|
|
||||||
STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(guard_object);
|
|
||||||
|
|
||||||
/* Object initialized */
|
|
||||||
atomic_store(&guard_object->initialized, 1);
|
|
||||||
|
|
||||||
/* Release lock */
|
|
||||||
__cxa_guard_abort(guard_object);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @}
|
|
||||||
*/
|
|
||||||
|
|
||||||
#endif /* __SINGLE_THREAD__ */
|
|
||||||
+127
-24
@@ -1,40 +1,143 @@
|
|||||||
|
/* USER CODE BEGIN Header */
|
||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
* @file : canlog.c
|
||||||
|
* @brief : SAE J1939 CAN Real Time listening and decoding
|
||||||
|
******************************************************************************
|
||||||
|
* @attention
|
||||||
|
*
|
||||||
|
* Copyright (c) 2026 Erick Ahmed.
|
||||||
|
*
|
||||||
|
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||||
|
*
|
||||||
|
******************************************************************************
|
||||||
|
*/
|
||||||
|
/* USER CODE END Header */
|
||||||
|
/* Includes ------------------------------------------------------------------*/
|
||||||
#include "canlog.h"
|
#include "canlog.h"
|
||||||
|
/* Private includes ----------------------------------------------------------*/
|
||||||
|
/* USER CODE BEGIN Includes */
|
||||||
#include "cmsis_os.h"
|
#include "cmsis_os.h"
|
||||||
#include <string.h>
|
#include <string.h>
|
||||||
|
/* USER CODE END Includes */
|
||||||
|
|
||||||
/* Definitions for canBus1Listen */
|
extern CAN_HandleTypeDef hcan1;
|
||||||
osThreadId_t canBus1ListenHandle;
|
extern CAN_HandleTypeDef hcan2;
|
||||||
const osThreadAttr_t canBus1Listen_attributes = {
|
|
||||||
.name = "canBus1Listen",
|
|
||||||
.stack_size = 128 * 4,
|
|
||||||
.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,
|
|
||||||
};
|
|
||||||
|
|
||||||
/* Private function prototypes -----------------------------------------------*/
|
/* Private function prototypes -----------------------------------------------*/
|
||||||
void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2){}
|
/* USER CODE BEGIN FunctionPrototypes */
|
||||||
static void CAN_Listen(void *argument){}
|
/* BEGIN CAN_Logger_Init */
|
||||||
|
|
||||||
/* BEGIN Header_CAN_Listen */
|
|
||||||
/**
|
/**
|
||||||
* @brief Function implementing the canBus0Listen thread.
|
* @brief Initialize CAN bus logger.
|
||||||
|
* @param argument: hcan1, hcan2
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
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;
|
||||||
|
|
||||||
|
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();
|
||||||
|
|
||||||
|
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 */
|
||||||
|
|
||||||
|
/* BEGIN HAL_CAN_RxFifo0MsgPendingCallback */
|
||||||
|
/**
|
||||||
|
* @brief ISR for CAN message pending in FIFO0
|
||||||
|
* @param argument: Can handle hcan (hcan1 or hcan2)
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
|
||||||
|
{
|
||||||
|
/* CODE BEGIN */
|
||||||
|
CanMessage_t message;
|
||||||
|
CAN_RxHeaderTypeDef rxHeader;
|
||||||
|
uint8_t data[8];
|
||||||
|
|
||||||
|
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) Error_Handler();
|
||||||
|
|
||||||
|
message.id = rxHeader.ExtId;
|
||||||
|
message.dlc = rxHeader.DLC;
|
||||||
|
message.isExtended = (rxHeader.IDE == CAN_ID_EXT);
|
||||||
|
memcpy(message.payload, data, rxHeader.DLC);
|
||||||
|
|
||||||
|
osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
|
||||||
|
if (osMessageQueuePut(queue, &message, 0U, 0U) != osOK)
|
||||||
|
{
|
||||||
|
// TODO: better handling: flash error_led on osTimeout, call Error_Handler() when other errors
|
||||||
|
|
||||||
|
// send errors like queue full via UART
|
||||||
|
}
|
||||||
|
/* CODE END */
|
||||||
|
}
|
||||||
|
/* END HAL_CAN_RxFifo0MsgPendingCallback */
|
||||||
|
|
||||||
|
/* BEGIN vCANLoggerListen */
|
||||||
|
/**
|
||||||
|
* @brief Log incoming CAN bus traffic in FIFO buffer
|
||||||
* @param argument: Not used
|
* @param argument: Not used
|
||||||
* @retval None
|
* @retval None
|
||||||
*/
|
*/
|
||||||
/* END Header_CAN_Listen */
|
void vCANLoggerListen(void *argument)
|
||||||
void CAN_Listen(void *argument)
|
{
|
||||||
|
/* CODE BEGIN */
|
||||||
|
CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
|
||||||
|
osMessageQueueId_t queue;
|
||||||
|
CanMessage_t message;
|
||||||
|
|
||||||
|
queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
|
||||||
|
|
||||||
|
for (;;)
|
||||||
|
{
|
||||||
|
if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
|
||||||
|
{
|
||||||
|
osSemaphoreRelease( (hcan->Instance == CAN1) ? xSemaphoreCAN1 : xSemaphoreCAN2 );
|
||||||
|
// TODO: use this semaphore
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
/* CODE END */
|
||||||
|
}
|
||||||
|
/* END vCANLoggerListen */
|
||||||
|
|
||||||
|
/* BEGIN vLEDHeartbeat */
|
||||||
|
/**
|
||||||
|
* @brief Blink a LED in heartbeat mode when CAN traffic is detected
|
||||||
|
* @param argument: LED GPIO (port and pin)
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
void vLEDHeartbeat(void *argument)
|
||||||
{
|
{
|
||||||
/* CODE BEGIN */
|
/* CODE BEGIN */
|
||||||
/* Infinite loop */
|
LEDContext *context = (LEDContext*)argument;
|
||||||
for(;;)
|
|
||||||
|
if (osSemaphoreAcquire(context->semaphore, 0U) == osOK)
|
||||||
{
|
{
|
||||||
osDelay(1);
|
HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_SET);
|
||||||
|
osTimerStart(context->timer, 25U);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_RESET);
|
||||||
}
|
}
|
||||||
/* CODE END */
|
/* CODE END */
|
||||||
}
|
}
|
||||||
|
/* END vLEDHeartbeat */
|
||||||
|
/* USER CODE END FunctionPrototypes */
|
||||||
|
|||||||
@@ -1,59 +0,0 @@
|
|||||||
/* USER CODE BEGIN Header */
|
|
||||||
/**
|
|
||||||
******************************************************************************
|
|
||||||
* File Name : freertos.c
|
|
||||||
* Description : Code for freertos applications
|
|
||||||
******************************************************************************
|
|
||||||
* @attention
|
|
||||||
*
|
|
||||||
* Copyright (c) 2026 STMicroelectronics.
|
|
||||||
* All rights reserved.
|
|
||||||
*
|
|
||||||
* This software is licensed under terms that can be found in the LICENSE file
|
|
||||||
* in the root directory of this software component.
|
|
||||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
|
||||||
*
|
|
||||||
******************************************************************************
|
|
||||||
*/
|
|
||||||
/* USER CODE END Header */
|
|
||||||
|
|
||||||
/* Includes ------------------------------------------------------------------*/
|
|
||||||
#include "FreeRTOS.h"
|
|
||||||
#include "task.h"
|
|
||||||
#include "main.h"
|
|
||||||
|
|
||||||
/* Private includes ----------------------------------------------------------*/
|
|
||||||
/* USER CODE BEGIN Includes */
|
|
||||||
|
|
||||||
/* USER CODE END Includes */
|
|
||||||
|
|
||||||
/* Private typedef -----------------------------------------------------------*/
|
|
||||||
/* USER CODE BEGIN PTD */
|
|
||||||
|
|
||||||
/* USER CODE END PTD */
|
|
||||||
|
|
||||||
/* Private define ------------------------------------------------------------*/
|
|
||||||
/* USER CODE BEGIN PD */
|
|
||||||
|
|
||||||
/* USER CODE END PD */
|
|
||||||
|
|
||||||
/* Private macro -------------------------------------------------------------*/
|
|
||||||
/* USER CODE BEGIN PM */
|
|
||||||
|
|
||||||
/* USER CODE END PM */
|
|
||||||
|
|
||||||
/* Private variables ---------------------------------------------------------*/
|
|
||||||
/* USER CODE BEGIN Variables */
|
|
||||||
|
|
||||||
/* USER CODE END Variables */
|
|
||||||
|
|
||||||
/* Private function prototypes -----------------------------------------------*/
|
|
||||||
/* USER CODE BEGIN FunctionPrototypes */
|
|
||||||
|
|
||||||
/* USER CODE END FunctionPrototypes */
|
|
||||||
|
|
||||||
/* Private application code --------------------------------------------------*/
|
|
||||||
/* USER CODE BEGIN Application */
|
|
||||||
|
|
||||||
/* USER CODE END Application */
|
|
||||||
|
|
||||||
+526
-460
@@ -1,460 +1,526 @@
|
|||||||
/* USER CODE BEGIN Header */
|
/* USER CODE BEGIN Header */
|
||||||
/**
|
/**
|
||||||
******************************************************************************
|
******************************************************************************
|
||||||
* @file : main.c
|
* @file : main.c
|
||||||
* @brief : Main program body
|
* @brief : Main program body
|
||||||
******************************************************************************
|
******************************************************************************
|
||||||
* @attention
|
* @attention
|
||||||
*
|
* Copyright (c) 2026 STMicroelectronics.
|
||||||
* Copyright (c) 2026 STMicroelectronics.
|
* Copyright (c) 2026 Erick Ahmed.
|
||||||
* All rights reserved.
|
*
|
||||||
*
|
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||||
* This software is licensed under terms that can be found in the LICENSE file
|
*
|
||||||
* in the root directory of this software component.
|
******************************************************************************
|
||||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
*/
|
||||||
*
|
/* USER CODE END Header */
|
||||||
******************************************************************************
|
/* Includes ------------------------------------------------------------------*/
|
||||||
*/
|
#include "main.h"
|
||||||
/* USER CODE END Header */
|
#include "cmsis_os.h"
|
||||||
/* Includes ------------------------------------------------------------------*/
|
|
||||||
#include "main.h"
|
/* Private includes ----------------------------------------------------------*/
|
||||||
#include "canlog.h"
|
/* USER CODE BEGIN Includes */
|
||||||
#include "cmsis_os.h"
|
#include "canlog.h"
|
||||||
|
/* USER CODE END Includes */
|
||||||
/* Private includes ----------------------------------------------------------*/
|
|
||||||
/* USER CODE BEGIN Includes */
|
/* Private typedef -----------------------------------------------------------*/
|
||||||
|
/* USER CODE BEGIN PTD */
|
||||||
/* USER CODE END Includes */
|
/* USER CODE END PTD */
|
||||||
|
|
||||||
/* Private typedef -----------------------------------------------------------*/
|
/* Private define ------------------------------------------------------------*/
|
||||||
/* USER CODE BEGIN PTD */
|
/* USER CODE BEGIN PD */
|
||||||
|
|
||||||
/* USER CODE END PTD */
|
/* USER CODE END PD */
|
||||||
|
|
||||||
/* Private define ------------------------------------------------------------*/
|
/* Private macro -------------------------------------------------------------*/
|
||||||
/* USER CODE BEGIN PD */
|
/* USER CODE BEGIN PM */
|
||||||
|
|
||||||
/* USER CODE END PD */
|
/* USER CODE END PM */
|
||||||
|
|
||||||
/* Private macro -------------------------------------------------------------*/
|
/* Private variables ---------------------------------------------------------*/
|
||||||
/* USER CODE BEGIN PM */
|
CAN_HandleTypeDef hcan1;
|
||||||
|
CAN_HandleTypeDef hcan2;
|
||||||
/* USER CODE END PM */
|
|
||||||
|
SD_HandleTypeDef hsd;
|
||||||
/* Private variables ---------------------------------------------------------*/
|
DMA_HandleTypeDef hdma_sdio_rx;
|
||||||
CAN_HandleTypeDef hcan1;
|
DMA_HandleTypeDef hdma_sdio_tx;
|
||||||
CAN_HandleTypeDef hcan2;
|
|
||||||
|
/* USER CODE BEGIN PV */
|
||||||
SD_HandleTypeDef hsd;
|
LED_Config led_can1 = {GPIOB, GPIO_PIN_2};
|
||||||
DMA_HandleTypeDef hdma_sdio_rx;
|
LED_Config led_can2 = {GPIOB, GPIO_PIN_5};
|
||||||
DMA_HandleTypeDef hdma_sdio_tx;
|
LED_Config led_error = {GPIOB, GPIO_PIN_3};
|
||||||
|
|
||||||
/* USER CODE BEGIN PV */
|
LEDContext ledContextCAN1;
|
||||||
|
LEDContext ledContextCAN2;
|
||||||
/* USER CODE END PV */
|
|
||||||
|
osSemaphoreId_t xSemaphoreCAN1;
|
||||||
/* Private function prototypes -----------------------------------------------*/
|
osSemaphoreId_t xSemaphoreCAN2;
|
||||||
void SystemClock_Config(void);
|
|
||||||
static void MX_GPIO_Init(void);
|
osTimerId_t xHeartbeatTimerCAN1;
|
||||||
static void MX_DMA_Init(void);
|
osTimerId_t xHeartbeatTimerCAN2;
|
||||||
static void MX_CAN1_Init(void);
|
|
||||||
static void MX_CAN2_Init(void);
|
osMessageQueueId_t xCAN1RxQueue;
|
||||||
static void MX_SDIO_SD_Init(void);
|
osMessageQueueId_t xCAN2RxQueue;
|
||||||
|
/* USER CODE END PV */
|
||||||
/* USER CODE BEGIN PFP */
|
|
||||||
|
/* Private function prototypes -----------------------------------------------*/
|
||||||
/* USER CODE END PFP */
|
void SystemClock_Config(void);
|
||||||
|
static void MX_GPIO_Init(void);
|
||||||
/* Private user code ---------------------------------------------------------*/
|
static void MX_DMA_Init(void);
|
||||||
/* USER CODE BEGIN 0 */
|
static void MX_CAN1_Init(void);
|
||||||
|
static void MX_CAN2_Init(void);
|
||||||
/* USER CODE END 0 */
|
static void MX_SDIO_SD_Init(void);
|
||||||
|
|
||||||
/**
|
/* USER CODE BEGIN PFP */
|
||||||
* @brief The application entry point.
|
/* USER CODE END PFP */
|
||||||
* @retval int
|
|
||||||
*/
|
/* Private user code ---------------------------------------------------------*/
|
||||||
int main(void)
|
/* USER CODE BEGIN 0 */
|
||||||
{
|
|
||||||
|
/* USER CODE END 0 */
|
||||||
/* USER CODE BEGIN 1 */
|
|
||||||
|
/**
|
||||||
/* USER CODE END 1 */
|
* @brief The application entry point.
|
||||||
|
* @retval int
|
||||||
/* MCU Configuration--------------------------------------------------------*/
|
*/
|
||||||
|
int main(void)
|
||||||
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
|
{
|
||||||
HAL_Init();
|
|
||||||
|
/* USER CODE BEGIN 1 */
|
||||||
/* USER CODE BEGIN Init */
|
|
||||||
|
/* USER CODE END 1 */
|
||||||
/* USER CODE END Init */
|
|
||||||
|
/* MCU Configuration--------------------------------------------------------*/
|
||||||
/* Configure the system clock */
|
|
||||||
SystemClock_Config();
|
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
|
||||||
|
HAL_Init();
|
||||||
/* USER CODE BEGIN SysInit */
|
|
||||||
|
/* USER CODE BEGIN Init */
|
||||||
/* USER CODE END SysInit */
|
|
||||||
|
/* USER CODE END Init */
|
||||||
/* Initialize all configured peripherals */
|
|
||||||
MX_GPIO_Init();
|
/* Configure the system clock */
|
||||||
MX_DMA_Init();
|
SystemClock_Config();
|
||||||
MX_CAN1_Init();
|
|
||||||
MX_CAN2_Init();
|
/* USER CODE BEGIN SysInit */
|
||||||
MX_SDIO_SD_Init();
|
|
||||||
/* USER CODE BEGIN 2 */
|
/* USER CODE END SysInit */
|
||||||
|
|
||||||
// Initialize CAN1 and CAN2
|
/* Initialize all configured peripherals */
|
||||||
CAN_Logger_Init(&hcan1, &hcan2);
|
MX_GPIO_Init();
|
||||||
|
MX_DMA_Init();
|
||||||
/* USER CODE END 2 */
|
MX_CAN1_Init();
|
||||||
|
MX_CAN2_Init();
|
||||||
/* Init scheduler */
|
MX_SDIO_SD_Init();
|
||||||
osKernelInitialize();
|
|
||||||
|
/* USER CODE BEGIN 2 */
|
||||||
/* USER CODE BEGIN RTOS_MUTEX */
|
CAN_Logger_Init(&hcan1, &hcan2);
|
||||||
/* add mutexes, ... */
|
/* USER CODE END 2 */
|
||||||
/* USER CODE END RTOS_MUTEX */
|
|
||||||
|
/* Init scheduler */
|
||||||
/* USER CODE BEGIN RTOS_SEMAPHORES */
|
osKernelInitialize();
|
||||||
/* add semaphores, ... */
|
|
||||||
/* USER CODE END RTOS_SEMAPHORES */
|
/* USER CODE BEGIN RTOS_TASKS */
|
||||||
|
osThreadId_t xCAN1rx;
|
||||||
/* USER CODE BEGIN RTOS_TIMERS */
|
const osThreadAttr_t CAN1rxAttributes = {
|
||||||
/* start timers, add new ones, ... */
|
.name = "CAN1rx",
|
||||||
/* USER CODE END RTOS_TIMERS */
|
.stack_size = 128 * 4,
|
||||||
|
.priority = (osPriority_t) osPriorityRealtime1,
|
||||||
/* USER CODE BEGIN RTOS_QUEUES */
|
};
|
||||||
/* add queues, ... */
|
osThreadId_t xCAN2rx;
|
||||||
/* USER CODE END RTOS_QUEUES */
|
const osThreadAttr_t CAN2rxAttributes = {
|
||||||
|
.name = "CAN2rx",
|
||||||
/* USER CODE BEGIN RTOS_THREADS */
|
.stack_size = 128 * 4,
|
||||||
/* add threads, ... */
|
.priority = (osPriority_t) osPriorityRealtime,
|
||||||
/* USER CODE END RTOS_THREADS */
|
};
|
||||||
|
/* USER END RTOS_TASKS */
|
||||||
/* USER CODE BEGIN RTOS_EVENTS */
|
|
||||||
/* add events, ... */
|
/* USER CODE BEGIN RTOS_MUTEX */
|
||||||
/* USER CODE END RTOS_EVENTS */
|
/* add mutexes, ... */
|
||||||
|
/* USER CODE END RTOS_MUTEX */
|
||||||
/* Start scheduler */
|
|
||||||
osKernelStart();
|
/* USER CODE BEGIN RTOS_SEMAPHORES */
|
||||||
|
xSemaphoreCAN1 = osSemaphoreNew(10, 0, NULL);
|
||||||
/* We should never get here as control is now taken by the scheduler */
|
xSemaphoreCAN2 = osSemaphoreNew(10, 0, NULL);
|
||||||
|
|
||||||
/* Infinite loop */
|
if (xSemaphoreCAN1 == NULL || xSemaphoreCAN2 == NULL) Error_Handler();
|
||||||
/* USER CODE BEGIN WHILE */
|
|
||||||
while (1)
|
ledContextCAN1.led = &led_can1;
|
||||||
{
|
ledContextCAN1.semaphore = xSemaphoreCAN1;
|
||||||
/* USER CODE END WHILE */
|
ledContextCAN2.led = &led_can2;
|
||||||
|
ledContextCAN2.semaphore = xSemaphoreCAN2;
|
||||||
/* USER CODE BEGIN 3 */
|
/* USER CODE END RTOS_SEMAPHORES */
|
||||||
}
|
|
||||||
/* USER CODE END 3 */
|
/* USER CODE BEGIN RTOS_TIMERS */
|
||||||
}
|
xHeartbeatTimerCAN1 = osTimerNew(vLEDHeartbeat, osTimerOnce, &ledContextCAN1, NULL);
|
||||||
|
xHeartbeatTimerCAN2 = osTimerNew(vLEDHeartbeat, osTimerOnce, &ledContextCAN2, NULL);
|
||||||
/**
|
|
||||||
* @brief System Clock Configuration
|
osTimerStart(xHeartbeatTimerCAN1, 25U);
|
||||||
* @retval None
|
osTimerStart(xHeartbeatTimerCAN2, 25U);
|
||||||
*/
|
|
||||||
void SystemClock_Config(void)
|
if (xHeartbeatTimerCAN1 == NULL || xHeartbeatTimerCAN2 == NULL) Error_Handler();
|
||||||
{
|
|
||||||
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
ledContextCAN1.timer = xHeartbeatTimerCAN1;
|
||||||
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
ledContextCAN2.timer = xHeartbeatTimerCAN2;
|
||||||
|
/* USER CODE END RTOS_TIMERS */
|
||||||
/** Configure the main internal regulator output voltage
|
|
||||||
*/
|
/* USER CODE BEGIN RTOS_QUEUES */
|
||||||
__HAL_RCC_PWR_CLK_ENABLE();
|
xCAN1RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
|
||||||
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
|
xCAN2RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
|
||||||
|
|
||||||
/** Initializes the RCC Oscillators according to the specified parameters
|
if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL) Error_Handler();
|
||||||
* in the RCC_OscInitTypeDef structure.
|
/* USER CODE END RTOS_QUEUES */
|
||||||
*/
|
|
||||||
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
|
/* USER CODE BEGIN RTOS_THREADS */
|
||||||
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
xCAN1rx = osThreadNew(vCANLoggerListen, &hcan1, &CAN1rxAttributes);
|
||||||
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
|
xCAN2rx = osThreadNew(vCANLoggerListen, &hcan2, &CAN2rxAttributes);
|
||||||
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
/* USER CODE END RTOS_THREADS */
|
||||||
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
|
|
||||||
RCC_OscInitStruct.PLL.PLLM = 16;
|
/* USER CODE BEGIN RTOS_EVENTS */
|
||||||
RCC_OscInitStruct.PLL.PLLN = 336;
|
/* add events, ... */
|
||||||
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
|
/* USER CODE END RTOS_EVENTS */
|
||||||
RCC_OscInitStruct.PLL.PLLQ = 7;
|
|
||||||
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
/* USER CODE BEGIN 3 */
|
||||||
{
|
ledContextCAN1.led = &led_can1;
|
||||||
Error_Handler();
|
ledContextCAN1.semaphore = xSemaphoreCAN1;
|
||||||
}
|
ledContextCAN1.timer = xHeartbeatTimerCAN1;
|
||||||
|
|
||||||
/** Initializes the CPU, AHB and APB buses clocks
|
ledContextCAN2.led = &led_can2;
|
||||||
*/
|
ledContextCAN2.semaphore = xSemaphoreCAN2;
|
||||||
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|
ledContextCAN2.timer = xHeartbeatTimerCAN2;
|
||||||
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
|
/* USER CODE END 3 */
|
||||||
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
|
||||||
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
/* Start scheduler */
|
||||||
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
|
osKernelStart();
|
||||||
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV4;
|
|
||||||
|
/* We should never get here as control is now taken by the scheduler */
|
||||||
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
|
|
||||||
{
|
/* Infinite loop */
|
||||||
Error_Handler();
|
/* USER CODE BEGIN WHILE */
|
||||||
}
|
while (1)
|
||||||
}
|
{
|
||||||
|
/* USER CODE END WHILE */
|
||||||
/**
|
|
||||||
* @brief CAN1 Initialization Function
|
/* USER CODE BEGIN 4 */
|
||||||
* @param None
|
}
|
||||||
* @retval None
|
/* USER CODE END 4 */
|
||||||
*/
|
}
|
||||||
static void MX_CAN1_Init(void)
|
|
||||||
{
|
/**
|
||||||
|
* @brief System Clock Configuration
|
||||||
/* USER CODE BEGIN CAN1_Init 0 */
|
* @retval None
|
||||||
|
*/
|
||||||
/* USER CODE END CAN1_Init 0 */
|
void SystemClock_Config(void)
|
||||||
|
{
|
||||||
/* USER CODE BEGIN CAN1_Init 1 */
|
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
||||||
|
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
||||||
/* USER CODE END CAN1_Init 1 */
|
|
||||||
hcan1.Instance = CAN1;
|
/** Configure the main internal regulator output voltage
|
||||||
hcan1.Init.Prescaler = 4;
|
*/
|
||||||
hcan1.Init.Mode = CAN_MODE_SILENT;
|
__HAL_RCC_PWR_CLK_ENABLE();
|
||||||
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
|
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
|
||||||
hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
|
|
||||||
hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
|
/** Initializes the RCC Oscillators according to the specified parameters
|
||||||
hcan1.Init.TimeTriggeredMode = DISABLE;
|
* in the RCC_OscInitTypeDef structure.
|
||||||
hcan1.Init.AutoBusOff = DISABLE;
|
*/
|
||||||
hcan1.Init.AutoWakeUp = DISABLE;
|
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
|
||||||
hcan1.Init.AutoRetransmission = DISABLE;
|
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
||||||
hcan1.Init.ReceiveFifoLocked = DISABLE;
|
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
|
||||||
hcan1.Init.TransmitFifoPriority = DISABLE;
|
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
||||||
if (HAL_CAN_Init(&hcan1) != HAL_OK)
|
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
|
||||||
{
|
RCC_OscInitStruct.PLL.PLLM = 16;
|
||||||
Error_Handler();
|
RCC_OscInitStruct.PLL.PLLN = 336;
|
||||||
}
|
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
|
||||||
/* USER CODE BEGIN CAN1_Init 2 */
|
RCC_OscInitStruct.PLL.PLLQ = 7;
|
||||||
|
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
||||||
/* USER CODE END CAN1_Init 2 */
|
{
|
||||||
|
Error_Handler();
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/** Initializes the CPU, AHB and APB buses clocks
|
||||||
* @brief CAN2 Initialization Function
|
*/
|
||||||
* @param None
|
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|
||||||
* @retval None
|
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
|
||||||
*/
|
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
||||||
static void MX_CAN2_Init(void)
|
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
||||||
{
|
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
|
||||||
|
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV4;
|
||||||
/* USER CODE BEGIN CAN2_Init 0 */
|
|
||||||
|
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
|
||||||
/* USER CODE END CAN2_Init 0 */
|
{
|
||||||
|
Error_Handler();
|
||||||
/* USER CODE BEGIN CAN2_Init 1 */
|
}
|
||||||
|
}
|
||||||
/* USER CODE END CAN2_Init 1 */
|
|
||||||
hcan2.Instance = CAN2;
|
/**
|
||||||
hcan2.Init.Prescaler = 8;
|
* @brief CAN1 Initialization Function
|
||||||
hcan2.Init.Mode = CAN_MODE_SILENT;
|
* @param None
|
||||||
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
|
* @retval None
|
||||||
hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
|
*/
|
||||||
hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
|
static void MX_CAN1_Init(void)
|
||||||
hcan2.Init.TimeTriggeredMode = DISABLE;
|
{
|
||||||
hcan2.Init.AutoBusOff = DISABLE;
|
|
||||||
hcan2.Init.AutoWakeUp = DISABLE;
|
/* USER CODE BEGIN CAN1_Init 0 */
|
||||||
hcan2.Init.AutoRetransmission = DISABLE;
|
|
||||||
hcan2.Init.ReceiveFifoLocked = DISABLE;
|
/* USER CODE END CAN1_Init 0 */
|
||||||
hcan2.Init.TransmitFifoPriority = DISABLE;
|
|
||||||
if (HAL_CAN_Init(&hcan2) != HAL_OK)
|
/* USER CODE BEGIN CAN1_Init 1 */
|
||||||
{
|
|
||||||
Error_Handler();
|
/* USER CODE END CAN1_Init 1 */
|
||||||
}
|
hcan1.Instance = CAN1;
|
||||||
/* USER CODE BEGIN CAN2_Init 2 */
|
hcan1.Init.Prescaler = 4;
|
||||||
|
hcan1.Init.Mode = CAN_MODE_SILENT;
|
||||||
/* USER CODE END CAN2_Init 2 */
|
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
|
||||||
|
hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
|
||||||
}
|
hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
|
||||||
|
hcan1.Init.TimeTriggeredMode = DISABLE;
|
||||||
/**
|
hcan1.Init.AutoBusOff = DISABLE;
|
||||||
* @brief SDIO Initialization Function
|
hcan1.Init.AutoWakeUp = ENABLE;
|
||||||
* @param None
|
hcan1.Init.AutoRetransmission = DISABLE;
|
||||||
* @retval None
|
hcan1.Init.ReceiveFifoLocked = DISABLE;
|
||||||
*/
|
hcan1.Init.TransmitFifoPriority = DISABLE;
|
||||||
static void MX_SDIO_SD_Init(void)
|
if (HAL_CAN_Init(&hcan1) != HAL_OK)
|
||||||
{
|
{
|
||||||
|
Error_Handler();
|
||||||
/* USER CODE BEGIN SDIO_Init 0 */
|
}
|
||||||
|
/* USER CODE BEGIN CAN1_Init 2 */
|
||||||
/* USER CODE END SDIO_Init 0 */
|
|
||||||
|
/* USER CODE END CAN1_Init 2 */
|
||||||
/* USER CODE BEGIN SDIO_Init 1 */
|
|
||||||
|
}
|
||||||
/* USER CODE END SDIO_Init 1 */
|
|
||||||
hsd.Instance = SDIO;
|
/**
|
||||||
hsd.Init.ClockEdge = SDIO_CLOCK_EDGE_RISING;
|
* @brief CAN2 Initialization Function
|
||||||
hsd.Init.ClockBypass = SDIO_CLOCK_BYPASS_DISABLE;
|
* @param None
|
||||||
hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE;
|
* @retval None
|
||||||
hsd.Init.BusWide = SDIO_BUS_WIDE_1B;
|
*/
|
||||||
hsd.Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE;
|
static void MX_CAN2_Init(void)
|
||||||
hsd.Init.ClockDiv = 0;
|
{
|
||||||
if (HAL_SD_Init(&hsd) != HAL_OK)
|
|
||||||
{
|
/* USER CODE BEGIN CAN2_Init 0 */
|
||||||
Error_Handler();
|
|
||||||
}
|
/* USER CODE END CAN2_Init 0 */
|
||||||
if (HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B) != HAL_OK)
|
|
||||||
{
|
/* USER CODE BEGIN CAN2_Init 1 */
|
||||||
Error_Handler();
|
|
||||||
}
|
/* USER CODE END CAN2_Init 1 */
|
||||||
/* USER CODE BEGIN SDIO_Init 2 */
|
hcan2.Instance = CAN2;
|
||||||
|
hcan2.Init.Prescaler = 8;
|
||||||
/* USER CODE END SDIO_Init 2 */
|
hcan2.Init.Mode = CAN_MODE_SILENT;
|
||||||
|
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
|
||||||
}
|
hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
|
||||||
|
hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
|
||||||
/**
|
hcan2.Init.TimeTriggeredMode = DISABLE;
|
||||||
* Enable DMA controller clock
|
hcan2.Init.AutoBusOff = DISABLE;
|
||||||
*/
|
hcan2.Init.AutoWakeUp = ENABLE;
|
||||||
static void MX_DMA_Init(void)
|
hcan2.Init.AutoRetransmission = DISABLE;
|
||||||
{
|
hcan2.Init.ReceiveFifoLocked = DISABLE;
|
||||||
|
hcan2.Init.TransmitFifoPriority = DISABLE;
|
||||||
/* DMA controller clock enable */
|
if (HAL_CAN_Init(&hcan2) != HAL_OK)
|
||||||
__HAL_RCC_DMA2_CLK_ENABLE();
|
{
|
||||||
|
Error_Handler();
|
||||||
/* DMA interrupt init */
|
}
|
||||||
/* DMA2_Stream3_IRQn interrupt configuration */
|
/* USER CODE BEGIN CAN2_Init 2 */
|
||||||
HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
|
|
||||||
HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
|
/* USER CODE END CAN2_Init 2 */
|
||||||
/* DMA2_Stream6_IRQn interrupt configuration */
|
|
||||||
HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
|
}
|
||||||
HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
|
|
||||||
|
/**
|
||||||
}
|
* @brief SDIO Initialization Function
|
||||||
|
* @param None
|
||||||
/**
|
* @retval None
|
||||||
* @brief GPIO Initialization Function
|
*/
|
||||||
* @param None
|
static void MX_SDIO_SD_Init(void)
|
||||||
* @retval None
|
{
|
||||||
*/
|
|
||||||
static void MX_GPIO_Init(void)
|
/* USER CODE BEGIN SDIO_Init 0 */
|
||||||
{
|
|
||||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
/* USER CODE END SDIO_Init 0 */
|
||||||
/* USER CODE BEGIN MX_GPIO_Init_1 */
|
|
||||||
|
/* USER CODE BEGIN SDIO_Init 1 */
|
||||||
/* USER CODE END MX_GPIO_Init_1 */
|
|
||||||
|
/* USER CODE END SDIO_Init 1 */
|
||||||
/* GPIO Ports Clock Enable */
|
hsd.Instance = SDIO;
|
||||||
__HAL_RCC_GPIOC_CLK_ENABLE();
|
hsd.Init.ClockEdge = SDIO_CLOCK_EDGE_RISING;
|
||||||
__HAL_RCC_GPIOH_CLK_ENABLE();
|
hsd.Init.ClockBypass = SDIO_CLOCK_BYPASS_DISABLE;
|
||||||
__HAL_RCC_GPIOA_CLK_ENABLE();
|
hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE;
|
||||||
__HAL_RCC_GPIOB_CLK_ENABLE();
|
hsd.Init.BusWide = SDIO_BUS_WIDE_1B;
|
||||||
__HAL_RCC_GPIOD_CLK_ENABLE();
|
hsd.Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE;
|
||||||
|
hsd.Init.ClockDiv = 0;
|
||||||
/*Configure GPIO pin Output Level */
|
if (HAL_SD_Init(&hsd) != HAL_OK)
|
||||||
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5, GPIO_PIN_RESET);
|
{
|
||||||
|
Error_Handler();
|
||||||
/*Configure GPIO pins : PC13 PC14 PC15 PC0
|
}
|
||||||
PC1 PC2 PC3 PC4
|
if (HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B) != HAL_OK)
|
||||||
PC5 PC6 PC7 */
|
{
|
||||||
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_0
|
Error_Handler();
|
||||||
|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4
|
}
|
||||||
|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
|
/* USER CODE BEGIN SDIO_Init 2 */
|
||||||
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
|
||||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
/* USER CODE END SDIO_Init 2 */
|
||||||
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
|
||||||
|
}
|
||||||
/*Configure GPIO pins : PH0 PH1 */
|
|
||||||
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
|
/**
|
||||||
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
* Enable DMA controller clock
|
||||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
*/
|
||||||
HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
|
static void MX_DMA_Init(void)
|
||||||
|
{
|
||||||
/*Configure GPIO pins : PA0 PA1 PA2 PA3
|
|
||||||
PA4 PA5 PA6 PA7
|
/* DMA controller clock enable */
|
||||||
PA8 PA9 PA10 PA11
|
__HAL_RCC_DMA2_CLK_ENABLE();
|
||||||
PA12 PA13 PA14 PA15 */
|
|
||||||
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3
|
/* DMA interrupt init */
|
||||||
|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7
|
/* DMA2_Stream3_IRQn interrupt configuration */
|
||||||
|GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11
|
HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
|
||||||
|GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
|
HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
|
||||||
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
/* DMA2_Stream6_IRQn interrupt configuration */
|
||||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
|
||||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
|
||||||
|
|
||||||
/*Configure GPIO pins : PB0 PB1 PB2 PB10
|
}
|
||||||
PB11 PB14 PB15 PB6
|
|
||||||
PB7 */
|
/**
|
||||||
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10
|
* @brief GPIO Initialization Function
|
||||||
|GPIO_PIN_11|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_6
|
* @param None
|
||||||
|GPIO_PIN_7;
|
* @retval None
|
||||||
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
*/
|
||||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
static void MX_GPIO_Init(void)
|
||||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
{
|
||||||
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||||||
/*Configure GPIO pins : PB3 PB4 PB5 */
|
/* USER CODE BEGIN MX_GPIO_Init_1 */
|
||||||
GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5;
|
|
||||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
/* USER CODE END MX_GPIO_Init_1 */
|
||||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
||||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
/* GPIO Ports Clock Enable */
|
||||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
__HAL_RCC_GPIOC_CLK_ENABLE();
|
||||||
|
__HAL_RCC_GPIOH_CLK_ENABLE();
|
||||||
/* USER CODE BEGIN MX_GPIO_Init_2 */
|
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||||||
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
||||||
/* USER CODE END MX_GPIO_Init_2 */
|
__HAL_RCC_GPIOD_CLK_ENABLE();
|
||||||
}
|
|
||||||
|
/*Configure GPIO pin Output Level */
|
||||||
/* USER CODE BEGIN 4 */
|
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5, GPIO_PIN_RESET);
|
||||||
|
|
||||||
/* USER CODE END 4 */
|
/*Configure GPIO pins : PC13 PC14 PC15 PC0
|
||||||
|
PC1 PC2 PC3 PC4
|
||||||
|
PC5 PC6 PC7 */
|
||||||
|
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_0
|
||||||
/**
|
|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4
|
||||||
* @brief Period elapsed callback in non blocking mode
|
|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
|
||||||
* @note This function is called when TIM6 interrupt took place, inside
|
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
||||||
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||||
* a global variable "uwTick" used as application time base.
|
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
||||||
* @param htim : TIM handle
|
|
||||||
* @retval None
|
/*Configure GPIO pins : PH0 PH1 */
|
||||||
*/
|
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
|
||||||
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
||||||
{
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||||
/* USER CODE BEGIN Callback 0 */
|
HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
|
||||||
|
|
||||||
/* USER CODE END Callback 0 */
|
/*Configure GPIO pins : PA0 PA1 PA2 PA3
|
||||||
if (htim->Instance == TIM6)
|
PA4 PA5 PA6 PA7
|
||||||
{
|
PA8 PA9 PA10 PA11
|
||||||
HAL_IncTick();
|
PA12 PA13 PA14 PA15 */
|
||||||
}
|
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3
|
||||||
/* USER CODE BEGIN Callback 1 */
|
|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7
|
||||||
|
|GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11
|
||||||
/* USER CODE END Callback 1 */
|
|GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
|
||||||
}
|
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
||||||
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||||
/**
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||||
* @brief This function is executed in case of error occurrence.
|
|
||||||
* @retval None
|
/*Configure GPIO pins : PB0 PB1 PB2 PB10
|
||||||
*/
|
PB11 PB14 PB15 PB6
|
||||||
void Error_Handler(void)
|
PB7 */
|
||||||
{
|
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10
|
||||||
/* USER CODE BEGIN Error_Handler_Debug */
|
|GPIO_PIN_11|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_6
|
||||||
/* User can add his own implementation to report the HAL error return state */
|
|GPIO_PIN_7;
|
||||||
__disable_irq();
|
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
||||||
while (1)
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||||
{
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||||
}
|
|
||||||
/* USER CODE END Error_Handler_Debug */
|
/*Configure GPIO pins : PB3 PB4 PB5 */
|
||||||
}
|
GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5;
|
||||||
#ifdef USE_FULL_ASSERT
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||||
/**
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||||
* @brief Reports the name of the source file and the source line number
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||||
* where the assert_param error has occurred.
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||||
* @param file: pointer to the source file name
|
|
||||||
* @param line: assert_param error line source number
|
/* USER CODE BEGIN MX_GPIO_Init_2 */
|
||||||
* @retval None
|
|
||||||
*/
|
/* USER CODE END MX_GPIO_Init_2 */
|
||||||
void assert_failed(uint8_t *file, uint32_t line)
|
}
|
||||||
{
|
|
||||||
/* USER CODE BEGIN 6 */
|
/* USER CODE BEGIN 5 */
|
||||||
/* User can add his own implementation to report the file name and line number,
|
|
||||||
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
|
/* USER CODE END 5 */
|
||||||
/* USER CODE END 6 */
|
|
||||||
}
|
/**
|
||||||
#endif /* USE_FULL_ASSERT */
|
* @brief Period elapsed callback in non blocking mode
|
||||||
|
* @note This function is called when TIM6 interrupt took place, inside
|
||||||
|
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
|
||||||
|
* a global variable "uwTick" used as application time base.
|
||||||
|
* @param htim : TIM handle
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
||||||
|
{
|
||||||
|
/* USER CODE BEGIN Callback 0 */
|
||||||
|
|
||||||
|
/* USER CODE END Callback 0 */
|
||||||
|
if (htim->Instance == TIM6)
|
||||||
|
{
|
||||||
|
HAL_IncTick();
|
||||||
|
}
|
||||||
|
/* USER CODE BEGIN Callback 1 */
|
||||||
|
|
||||||
|
/* USER CODE END Callback 1 */
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief This function is executed in case of error occurrence.
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
void Error_Handler(void)
|
||||||
|
{
|
||||||
|
/* USER CODE BEGIN Error_Handler_Debug */
|
||||||
|
/* User can add his own implementation to report the HAL error return state */
|
||||||
|
__disable_irq();
|
||||||
|
|
||||||
|
//TODO: check if it is necessary to stop FreeRTOS
|
||||||
|
|
||||||
|
uint32_t error_code_can1;
|
||||||
|
uint32_t error_code_can2;
|
||||||
|
|
||||||
|
if (HAL_CAN_GetState(&hcan1) != HAL_CAN_STATE_READY) error_code_can1 = HAL_CAN_GetError(&hcan1);
|
||||||
|
if (HAL_CAN_GetState(&hcan2) != HAL_CAN_STATE_READY) error_code_can2 = HAL_CAN_GetError(&hcan2);
|
||||||
|
|
||||||
|
// TODO: write error to SD and/or serial
|
||||||
|
|
||||||
|
HAL_GPIO_WritePin(led_can1.port, led_can1.pin, GPIO_PIN_RESET);
|
||||||
|
HAL_GPIO_WritePin(led_can2.port, led_can2.pin, GPIO_PIN_RESET);
|
||||||
|
|
||||||
|
while (1)
|
||||||
|
{
|
||||||
|
HAL_GPIO_TogglePin(led_error.port, led_error.pin);
|
||||||
|
HAL_Delay(250);
|
||||||
|
}
|
||||||
|
/* USER CODE END Error_Handler_Debug */
|
||||||
|
}
|
||||||
|
#ifdef USE_FULL_ASSERT
|
||||||
|
/**
|
||||||
|
* @brief Reports the name of the source file and the source line number
|
||||||
|
* where the assert_param error has occurred.
|
||||||
|
* @param file: pointer to the source file name
|
||||||
|
* @param line: assert_param error line source number
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
void assert_failed(uint8_t *file, uint32_t line)
|
||||||
|
{
|
||||||
|
/* USER CODE BEGIN 6 */
|
||||||
|
/* User can add his own implementation to report the file name and line number,
|
||||||
|
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
|
||||||
|
/* USER CODE END 6 */
|
||||||
|
}
|
||||||
|
#endif /* USE_FULL_ASSERT */
|
||||||
|
|||||||
@@ -1,38 +0,0 @@
|
|||||||
GNU GENERAL PUBLIC LICENSE
|
|
||||||
Version 3, 29 June 2007
|
|
||||||
|
|
||||||
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
|
|
||||||
Everyone is permitted to copy and distribute verbatim copies
|
|
||||||
of this license document, but changing it is not allowed.
|
|
||||||
|
|
||||||
Preamble
|
|
||||||
|
|
||||||
The GNU General Public License is a free, copyleft license for
|
|
||||||
software and other kinds of works.
|
|
||||||
|
|
||||||
The licenses for most software and other practical works are designed
|
|
||||||
to take away your freedom to share and change the works. By contrast,
|
|
||||||
the GNU General Public License is intended to guarantee your freedom to
|
|
||||||
share and change all versions of a program--to make sure it remains free
|
|
||||||
software for all its users. We, the Free Software Foundation, use the
|
|
||||||
GNU General Public License for most of our software; it applies also to
|
|
||||||
any other work released this way by its authors. You can apply it to
|
|
||||||
your programs, too.
|
|
||||||
|
|
||||||
When we speak of free software, we are referring to freedom, not
|
|
||||||
price. Our General Public Licenses are designed to make sure that you
|
|
||||||
have the freedom to distribute copies of free software (and charge for
|
|
||||||
them if you wish), that you receive source code or can get it if you
|
|
||||||
want it, that you can change the software or use pieces of it in new
|
|
||||||
free programs, and that you know you can do these things.
|
|
||||||
|
|
||||||
To protect your rights, we need to prevent others from denying you
|
|
||||||
these rights or asking you to surrender the rights. Therefore, you have
|
|
||||||
certain responsibilities if you distribute copies of the software, or if
|
|
||||||
you modify it: responsibilities to respect the freedom of others.
|
|
||||||
|
|
||||||
For example, if you distribute copies of such a program, whether
|
|
||||||
gratis or for a fee, you must pass on to the recipients the same
|
|
||||||
freedoms that you received. You must make sure that they, too, receive
|
|
||||||
or can get the source code. And you must show them these terms so they
|
|
||||||
know their rights.
|
|
||||||
Reference in New Issue
Block a user