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Implement LED heartbeat with RTOS timers instead of threads

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- Less memory overhead (no stack allocation)
- Better timing accuracy (less jitter)
- CAN bus still has higher priority than timers
This commit is contained in:
Erick
2026-06-10 13:56:52 +02:00
parent 0c3c93040b
commit 59a58d1f1f
2 changed files with 13 additions and 34 deletions
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Core/Src/main.c
+12 -6
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@@ -56,6 +56,9 @@ DMA_HandleTypeDef hdma_sdio_tx;
LED_Config led_can1 = {GPIOB, GPIO_PIN_2};
LED_Config led_can2 = {GPIOB, GPIO_PIN_5};
LED_Config led_error = {GPIOB, GPIO_PIN_3};
osTimerId_t heartbeat_timer_can1;
osTimerId_t heartbeat_timer_can2;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -127,7 +130,11 @@ int main(void)
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
heartbeat_timer_can1 = osTimerNew(vLED_Heartbeat, osTimerPeriodic, &led_can1, NULL);
if (heartbeat_timer_can1 != NULL) osTimerStart(heartbeat_timer_can1, 250U);
heartbeat_timer_can2 = osTimerNew(vLED_Heartbeat, osTimerPeriodic, &led_can2, NULL);
if (heartbeat_timer_can2 != NULL) osTimerStart(heartbeat_timer_can2, 250U);
/* USER CODE END RTOS_TIMERS */
/* USER CODE BEGIN RTOS_QUEUES */
@@ -137,8 +144,6 @@ int main(void)
/* USER CODE BEGIN RTOS_THREADS */
vCAN1_rx = osThreadNew(vCAN_Logger_Listen, &hcan1, &vCAN1_rx_attributes);
vCAN2_rx = osThreadNew(vCAN_Logger_Listen, &hcan2, &vCAN2_rx_attributes);
vLED_CAN1_Heartbeat = osThreadNew(vLED_Heartbeat, &led_can1, &vLED_CAN1_Heartbeat_attributes);
vLED_CAN2_Heartbeat = osThreadNew(vLED_Heartbeat, &led_can2, &vLED_CAN2_Heartbeat_attributes);
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS */
@@ -446,10 +451,11 @@ void Error_Handler(void)
//TODO: check if it is necessary to stop FreeRTOS
uint32_t error_code;
uint32_t error_code_can1;
uint32_t error_code_can2;
if (HAL_CAN_GetState(&hcan1) != HAL_CAN_STATE_READY) error_code = HAL_CAN_GetError(&hcan1);
if (HAL_CAN_GetState(&hcan2) != HAL_CAN_STATE_READY) error_code = HAL_CAN_GetError(&hcan2);
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