diff --git a/Core/Inc/main.h b/Core/Inc/main.h index 8f472c0..58de877 100644 --- a/Core/Inc/main.h +++ b/Core/Inc/main.h @@ -26,11 +26,11 @@ extern "C" { /* Includes ------------------------------------------------------------------*/ #include "stm32f4xx_hal.h" -#include "canlog.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ - +#include +#include "canlog.h" /* USER CODE END Includes */ /* Exported types ------------------------------------------------------------*/ @@ -45,7 +45,13 @@ extern "C" { /* Exported macro ------------------------------------------------------------*/ /* USER CODE BEGIN EM */ - +#define DEBUG +#ifdef DEBUG +#include +#define DEBUG_PRINT(...) printf(__VA_ARGS__) +#else +#define DEBUG_PRINT(...) +#endif /* USER CODE END EM */ /* Exported functions prototypes ---------------------------------------------*/ diff --git a/Core/Src/canlog.c b/Core/Src/canlog.c index f28fd25..4909412 100644 --- a/Core/Src/canlog.c +++ b/Core/Src/canlog.c @@ -15,6 +15,7 @@ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "canlog.h" +#include "main.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "cmsis_os.h" @@ -116,13 +117,13 @@ void vCANListener(void *argument) for (;;) { - if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK) - { + if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK) + { // J1939 decoding // RELAY: Push to the UART queue - osMessageQueuePut(xUARTQueue, &message, 0U, 0U); - } + osMessageQueuePut(xUARTQueue, &message, 0U, 0U); + } } } /* END vCANListener */ diff --git a/Core/Src/cansend.c b/Core/Src/cansend.c index bab4c2e..720e4f0 100644 --- a/Core/Src/cansend.c +++ b/Core/Src/cansend.c @@ -32,7 +32,7 @@ extern osMessageQueueId_t xUARTQueue; * @param arguments: buffer, source, message * @retval None */ -static void format_can_message(char *buf, uint8_t source, const CanMessage_t *message) +static int format_can_message(char *buf, uint8_t source, const CanMessage_t *message) { const char hex[] = "0123456789ABCDEF"; @@ -72,6 +72,9 @@ static void format_can_message(char *buf, uint8_t source, const CanMessage_t *me buf[idx++] = '\r'; buf[idx++] = '\n'; + buf[idx] = '\0'; + + return idx; } /* END format_can_message */ @@ -103,11 +106,14 @@ void vUARTLogger(void *argument) for (;;) { + DEBUG_PRINT("Waiting for CAN traffic...\r\n"); if (osMessageQueueGet(xUARTQueue, &message, NULL, osWaitForever) == osOK) { + DEBUG_PRINT("CAN frame detected\r\n"); format_can_message(tx_buffer, message.source, &message); - HAL_UART_Transmit_DMA(&huart1, (uint8_t*)tx_buffer, 44); + HAL_UART_Transmit_DMA(&huart1, (uint8_t*)tx_buffer, len); osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever); + DEBUG_PRINT("CAN frame sent via UART\r\n"); } } } diff --git a/Core/Src/main.c b/Core/Src/main.c index 7d631ed..8cce2e7 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -48,9 +48,9 @@ DMA_HandleTypeDef hdma_sdio_tx; UART_HandleTypeDef huart1; /* USER CODE BEGIN PV */ -LED_Config led_can1 = {GPIOB, GPIO_PIN_2}; -LED_Config led_can2 = {GPIOB, GPIO_PIN_5}; -LED_Config led_error = {GPIOB, GPIO_PIN_3}; +LED_Config led_can1 = {GPIOB, GPIO_PIN_5}; +LED_Config led_can2 = {GPIOB, GPIO_PIN_6}; +LED_Config led_error = {GPIOB, GPIO_PIN_7}; osThreadId_t xCAN1rxTask; osThreadId_t xCAN2rxTask; @@ -76,6 +76,12 @@ static void MX_SDIO_SD_Init(void); static void MX_USART1_UART_Init(void); /* USER CODE BEGIN PFP */ +int _write(int file, char *ptr, int len) { + for (int i = 0; i < len; i++) { + ITM_SendChar((*ptr++)); + } + return len; +} /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ @@ -91,7 +97,11 @@ int main(void) { /* USER CODE BEGIN 1 */ - + CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk; + ITM->LAR = 0xC5ACCE55; + ITM->TER = 1 << 0; + ITM->TCR = ITM_TCR_ITMENA_Msk | ITM_TCR_SYNCENA_Msk | ITM_TCR_SWOENA_Msk; + DEBUG_PRINT("Booting system\r\n"); /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ @@ -100,6 +110,7 @@ int main(void) HAL_Init(); /* USER CODE BEGIN Init */ + DEBUG_PRINT("Configuring system clock\r\n"); /* USER CODE END Init */ @@ -107,7 +118,7 @@ int main(void) SystemClock_Config(); /* USER CODE BEGIN SysInit */ - + DEBUG_PRINT("Initializing configured peripherals...\r\n"); /* USER CODE END SysInit */ /* Initialize all configured peripherals */ @@ -118,12 +129,15 @@ int main(void) MX_SDIO_SD_Init(); MX_USART1_UART_Init(); /* USER CODE BEGIN 2 */ + DEBUG_PRINT("Initializing CAN bus logger\r\n"); CAN_Logger_Init(&hcan1, &hcan2); /* USER CODE END 2 */ /* Init scheduler */ osKernelInitialize(); + DEBUG_PRINT("Creating RTOS entities\r\n"); + /* USER CODE BEGIN RTOS_TASKS */ const osThreadAttr_t CAN1rxAttributes = { .name = "CAN1rx", @@ -183,6 +197,7 @@ int main(void) /* USER CODE END RTOS_EVENTS */ /* Start scheduler */ + DEBUG_PRINT("Starting RTOS init scheduler\r\n"); osKernelStart(); /* We should never get here as control is now taken by the scheduler */ @@ -194,6 +209,7 @@ int main(void) /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ + DEBUG_PRINT("ERROR: RTOS scheduler crashed!\r\n"); /* USER CODE END 3 */ } } @@ -276,7 +292,7 @@ static void MX_CAN1_Init(void) Error_Handler(); } /* USER CODE BEGIN CAN1_Init 2 */ - + DEBUG_PRINT("CAN1 initialized!\r\n"); /* USER CODE END CAN1_Init 2 */ } @@ -313,7 +329,7 @@ static void MX_CAN2_Init(void) Error_Handler(); } /* USER CODE BEGIN CAN2_Init 2 */ - + DEBUG_PRINT("CAN2 initialized!\r\n"); /* USER CODE END CAN2_Init 2 */ } @@ -340,16 +356,16 @@ static void MX_SDIO_SD_Init(void) hsd.Init.BusWide = SDIO_BUS_WIDE_1B; hsd.Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE; hsd.Init.ClockDiv = 0; - if (HAL_SD_Init(&hsd) != HAL_OK) - { - Error_Handler(); - } - if (HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B) != HAL_OK) - { - Error_Handler(); - } + //if (HAL_SD_Init(&hsd) != HAL_OK) + //{ + // Error_Handler(); + //} + //if (HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B) != HAL_OK) + //{ + // Error_Handler(); + //} /* USER CODE BEGIN SDIO_Init 2 */ - + //DEBUG_PRINT("SDIO initialized!\r\n"); /* USER CODE END SDIO_Init 2 */ } @@ -382,7 +398,7 @@ static void MX_USART1_UART_Init(void) Error_Handler(); } /* USER CODE BEGIN USART1_Init 2 */ - + DEBUG_PRINT("USART1 initialized!\r\n"); /* USER CODE END USART1_Init 2 */ } @@ -404,6 +420,9 @@ static void MX_DMA_Init(void) HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn); + /* USER CODE BEGIN MX_DMA_Init 1 */ + DEBUG_PRINT("DMA initialized!\r\n"); + /* USER CODE END MX_DMA_Init 1 */ } /** @@ -426,7 +445,7 @@ static void MX_GPIO_Init(void) __HAL_RCC_GPIOD_CLK_ENABLE(); /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5, GPIO_PIN_RESET); + HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET); /*Configure GPIO pins : PC13 PC14 PC15 PC0 PC1 PC2 PC3 PC4 @@ -446,35 +465,33 @@ static void MX_GPIO_Init(void) /*Configure GPIO pins : PA0 PA1 PA2 PA3 PA4 PA5 PA6 PA7 - PA8 PA11 PA12 PA13 - PA14 PA15 */ + PA8 PA11 PA12 PA15 */ GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3 |GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7 - |GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_13 - |GPIO_PIN_14|GPIO_PIN_15; + |GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_15; GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); /*Configure GPIO pins : PB0 PB1 PB2 PB10 - PB11 PB14 PB15 PB6 - PB7 */ + PB11 PB14 PB15 PB3 + PB4 */ GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10 - |GPIO_PIN_11|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_6 - |GPIO_PIN_7; + |GPIO_PIN_11|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_3 + |GPIO_PIN_4; GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - /*Configure GPIO pins : PB3 PB4 PB5 */ - GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5; + /*Configure GPIO pins : PB5 PB6 PB7 */ + GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /* USER CODE BEGIN MX_GPIO_Init_2 */ - + DEBUG_PRINT("GPIO initialized!\r\n"); /* USER CODE END MX_GPIO_Init_2 */ } @@ -509,6 +526,8 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) */ void Error_Handler(void) { + DEBUG_PRINT("ERROR: entering error handler\r\n"); + /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); diff --git a/can_logger.ioc b/can_logger.ioc index 29ccd68..d6945da 100644 --- a/can_logger.ioc +++ b/can_logger.ioc @@ -70,22 +70,24 @@ Mcu.Name=STM32F405RGTx Mcu.Package=LQFP64 Mcu.Pin0=PB12 Mcu.Pin1=PB13 -Mcu.Pin10=PB3 -Mcu.Pin11=PB4 +Mcu.Pin10=PC12 +Mcu.Pin11=PD2 Mcu.Pin12=PB5 -Mcu.Pin13=PB8 -Mcu.Pin14=PB9 -Mcu.Pin15=VP_FREERTOS_VS_CMSIS_V2 -Mcu.Pin16=VP_SYS_VS_tim6 +Mcu.Pin13=PB6 +Mcu.Pin14=PB7 +Mcu.Pin15=PB8 +Mcu.Pin16=PB9 +Mcu.Pin17=VP_FREERTOS_VS_CMSIS_V2 +Mcu.Pin18=VP_SYS_VS_tim6 Mcu.Pin2=PC8 Mcu.Pin3=PC9 Mcu.Pin4=PA9 Mcu.Pin5=PA10 -Mcu.Pin6=PC10 -Mcu.Pin7=PC11 -Mcu.Pin8=PC12 -Mcu.Pin9=PD2 -Mcu.PinsNb=17 +Mcu.Pin6=PA13 +Mcu.Pin7=PA14 +Mcu.Pin8=PC10 +Mcu.Pin9=PC11 +Mcu.PinsNb=19 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32F405RGTx @@ -113,18 +115,22 @@ NVIC.TimeBaseIP=TIM6 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false PA10.Mode=Asynchronous PA10.Signal=USART1_RX +PA13.Mode=Serial_Wire +PA13.Signal=SYS_JTMS-SWDIO +PA14.Mode=Serial_Wire +PA14.Signal=SYS_JTCK-SWCLK PA9.Mode=Asynchronous PA9.Signal=USART1_TX PB12.Mode=CAN_Activate PB12.Signal=CAN2_RX PB13.Mode=CAN_Activate PB13.Signal=CAN2_TX -PB3.Locked=true -PB3.Signal=GPIO_Output -PB4.Locked=true -PB4.Signal=GPIO_Output PB5.Locked=true PB5.Signal=GPIO_Output +PB6.Locked=true +PB6.Signal=GPIO_Output +PB7.Locked=true +PB7.Signal=GPIO_Output PB8.Mode=CAN_Activate PB8.Signal=CAN1_RX PB9.Locked=true