From b503ed793ea9634977dd6f3c7179698739df0c88 Mon Sep 17 00:00:00 2001
From: Erick Ahmed <engineering@erickahmed.com>
Date: Wed, 17 Jun 2026 17:29:47 +0200
Subject: [PATCH] Initialize ITM debug via ST-Link and debug messages

---
 Core/Src/main.c | 29 ++++++++++++++++++++++-------
 1 file changed, 22 insertions(+), 7 deletions(-)

diff --git a/Core/Src/main.c b/Core/Src/main.c
index 7d631ed..1209067 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -91,7 +91,11 @@ 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;
+  ITM_Print("Booting system\r\n");
   /* USER CODE END 1 */
 
   /* MCU Configuration--------------------------------------------------------*/
@@ -100,6 +104,7 @@ int main(void)
   HAL_Init();
 
   /* USER CODE BEGIN Init */
+  ITM_Print("Configuring system clock\r\n");
 
   /* USER CODE END Init */
 
@@ -107,7 +112,7 @@ int main(void)
   SystemClock_Config();
 
   /* USER CODE BEGIN SysInit */
-
+  ITM_Print("Initializing configured peripherals...\r\n");
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
@@ -118,12 +123,15 @@ int main(void)
   MX_SDIO_SD_Init();
   MX_USART1_UART_Init();
   /* USER CODE BEGIN 2 */
+  ITM_Print("Initializing CAN bus logger\r\n");
   CAN_Logger_Init(&hcan1, &hcan2);
   /* USER CODE END 2 */
 
   /* Init scheduler */
   osKernelInitialize();
 
+  ITM_Print("Creating RTOS entities\r\n");
+
   /* USER CODE BEGIN RTOS_TASKS */
   const osThreadAttr_t CAN1rxAttributes = {
     .name = "CAN1rx",
@@ -183,6 +191,7 @@ int main(void)
   /* USER CODE END RTOS_EVENTS */
 
   /* Start scheduler */
+  ITM_Print("Starting RTOS init scheduler\r\n");
   osKernelStart();
 
   /* We should never get here as control is now taken by the scheduler */
@@ -194,6 +203,7 @@ int main(void)
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
+    ITM_Print("Error: RTOS scheduler crashed!\r\n");
     /* USER CODE END 3 */
   }
 }
@@ -276,7 +286,7 @@ static void MX_CAN1_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN CAN1_Init 2 */
-
+  ITM_Print("CAN1 initialized!\r\n");
   /* USER CODE END CAN1_Init 2 */
 
 }
@@ -313,7 +323,7 @@ static void MX_CAN2_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN CAN2_Init 2 */
-
+  ITM_Print("CAN2 initialized!\r\n");
   /* USER CODE END CAN2_Init 2 */
 
 }
@@ -349,7 +359,7 @@ static void MX_SDIO_SD_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN SDIO_Init 2 */
-
+  ITM_Print("SDIO initialized!\r\n");
   /* USER CODE END SDIO_Init 2 */
 
 }
@@ -382,7 +392,7 @@ static void MX_USART1_UART_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN USART1_Init 2 */
-
+  ITM_Print("USART1 initialized!\r\n");
   /* USER CODE END USART1_Init 2 */
 
 }
@@ -404,6 +414,9 @@ 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 */
+  ITM_Print("DMA initialized!\r\n");
+  /* USER CODE END MX_DMA_Init 1 */
 }
 
 /**
@@ -474,7 +487,7 @@ static void MX_GPIO_Init(void)
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
   /* USER CODE BEGIN MX_GPIO_Init_2 */
-
+  ITM_Print("GPIO initialized!\r\n");
   /* USER CODE END MX_GPIO_Init_2 */
 }
 
@@ -509,6 +522,8 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
   */
 void Error_Handler(void)
 {
+  ITM_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();