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Print messages on CAN error and disable IRQ

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This commit is contained in:
Erick
2026-07-05 22:30:14 +02:00
parent 79ef4c5fdb
commit d5fd649325
1 changed files with 13 additions and 10 deletions
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Core/Src/main.c
+13 -10
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@@ -557,18 +557,21 @@ void Error_Handler(void)
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
if (HAL_CAN_GetState(&hcan1) != HAL_CAN_STATE_READY)
{
DEBUG_PRINT("[E] CAN1 error code: 0x%08lX\r\n", (unsigned long)HAL_CAN_GetError(&hcan1));
}
if (HAL_CAN_GetState(&hcan2) != HAL_CAN_STATE_READY)
{
DEBUG_PRINT("[E] CAN2 error code: 0x%08lX\r\n", (unsigned long)HAL_CAN_GetError(&hcan2));
}
// TODO: write error to SD
/* Disabling interrupts here (after reporting above) freezes the FreeRTOS
scheduler for good, since it relies on SysTick/PendSV. */
__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);