Use HAL WritePin func instead of TogglePin

- Better reliability in blinking LED
- Slightly more efficiency (fewer CPU clocks)

Core/Inc/canlog.h

@@ -20,7 +20,7 @@ extern const osThreadAttr_t vLED_CAN2_Heartbeat_attributes;
   * @param  hcan2 Pointer to the CAN2 handle
   */
 void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2);
-void vCAN_log(void *argument);
+void vCAN_Get(void *argument);
 void vLED_HeartbeatOnCanRx(void *argument);
 
 #endif /* CANLOG_H */

Core/Src/canlog.c

@@ -1,3 +1,4 @@
+
 #include "canlog.h"
 #include "cmsis_os.h"
 #include <string.h>
@@ -5,8 +6,7 @@
 extern CAN_HandleTypeDef hcan1;
 extern CAN_HandleTypeDef hcan2;
 
-/* FreeRTOS task definitions */
+/* USER CODE BEGIN RTOS_TASKS */
-
 /* Definitions for CAN1rx incoming */
 osThreadId_t vCAN1_rx;
 const osThreadAttr_t vCAN1_rx_attributes = {
@@ -38,18 +38,20 @@ const osThreadAttr_t vLED_CAN2_Heartbeat_attributes = {
   .stack_size = 128 * 4,
   .priority = (osPriority_t) osPriorityLow,
 };
+/* USER END RTOS_TASKS */
+
 
 /* Private function prototypes -----------------------------------------------*/
 void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2){}
 static void CAN_Listen(void *argument){}
 
-/* BEGIN vCAN_log */
+/* BEGIN vCAN_Get */
 /**
-  * @brief  Log incoming CAN bus traffic.
+  * @brief  Log incoming CAN bus traffic in FIFO buffer
   * @param  argument: Not used
   * @retval None
   */
-void vCAN_log(void *argument)
+void vCAN_Get(void *argument)
 {
   /* CODE BEGIN */
   /* Infinite loop */
@@ -59,23 +61,31 @@ void vCAN_log(void *argument)
   }
   /* CODE END */
 }
-/* END vCAN_log */
+/* END vCAN_Get */
 
 
 /* BEGIN vLED_HeartbeatOnCanRx */
 /**
-  * @brief  Blink a LED in heartbeat mode when there is CAN traffic detected.
+  * @brief  Blink a LED in heartbeat mode when there is CAN traffic detected
-  * @param  argument: Not used
+  * @param  argument: LED GPIO (port and pin)
   * @retval None
   */
 void vLED_HeartbeatOnCanRx(void *argument)
 {
   /* CODE BEGIN */
-  /* Infinite loop */
+  LED_Config *led = (LED_Config*)argument;
+
   for(;;)
   {
-    osDelay(1);
+    //HAL_GPIO_WritePin(led->port, led->pin, GPIO_PIN_RESET);
+    // if semaphore for canrx, do the rest
+
+
+    HAL_GPIO_WritePin(led->port, led->pin, GPIO_PIN_SET);
+    vTaskDelay(pdMS_TO_TICKS(100));
+    HAL_GPIO_WritePin(led->port, led->pin, GPIO_PIN_RESET);
+    vTaskDelay(pdMS_TO_TICKS(100));
   }
   /* CODE END */
 }
-/* vLED_HeartbeatOnCanRx */
+/* END vLED_HeartbeatOnCanRx */

Core/Src/main.c

@@ -1,474 +1,464 @@
-/* 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.
-  * All rights reserved.
+  * All rights reserved.
-  *
+  *
-  * This software is licensed under terms that can be found in the LICENSE file
+  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
+  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
+  *
-  ******************************************************************************
+  ******************************************************************************
-  */
+  */
-/* USER CODE END Header */
+/* USER CODE END Header */
-/* Includes ------------------------------------------------------------------*/
+/* Includes ------------------------------------------------------------------*/
-#include "main.h"
+#include "main.h"
-#include "cmsis_os.h"
+#include "cmsis_os.h"
-#include "canlog.h"
+
-
+/* Private includes ----------------------------------------------------------*/
-/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
-/* USER CODE BEGIN Includes */
+#include "canlog.h"
-
+/* USER CODE END Includes */
-/* USER CODE END Includes */
+
-
+/* Private typedef -----------------------------------------------------------*/
-/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
-/* USER CODE BEGIN PTD */
+typedef struct {
-
+    GPIO_TypeDef* port;
-typedef struct {
+    uint16_t       pin;
-    GPIO_TypeDef* port;
+} LED_Config;
-    uint16_t       pin;
+/* USER CODE END PTD */
-} LED_Config;
+
-
+/* Private define ------------------------------------------------------------*/
-/* USER CODE END PTD */
+/* USER CODE BEGIN PD */
-
+
-/* Private define ------------------------------------------------------------*/
+/* USER CODE END PD */
-/* USER CODE BEGIN PD */
+
-
+/* Private macro -------------------------------------------------------------*/
-/* USER CODE END PD */
+/* USER CODE BEGIN PM */
-
+
-/* Private macro -------------------------------------------------------------*/
+/* USER CODE END PM */
-/* USER CODE BEGIN PM */
+
-
+/* Private variables ---------------------------------------------------------*/
-/* USER CODE END PM */
+CAN_HandleTypeDef hcan1;
-
+CAN_HandleTypeDef hcan2;
-/* Private variables ---------------------------------------------------------*/
+
-CAN_HandleTypeDef hcan1;
+SD_HandleTypeDef hsd;
-CAN_HandleTypeDef hcan2;
+DMA_HandleTypeDef hdma_sdio_rx;
-
+DMA_HandleTypeDef hdma_sdio_tx;
-SD_HandleTypeDef hsd;
+
-DMA_HandleTypeDef hdma_sdio_rx;
+/* USER CODE BEGIN PV */
-DMA_HandleTypeDef hdma_sdio_tx;
+LED_Config led_can1 = {GPIOB, GPIO_PIN_2};
-
+LED_Config led_can2 = {GPIOB, GPIO_PIN_5};
-/* USER CODE BEGIN PV */
+/* USER CODE END PV */
-
+
-LED_Config led_can1 = {GPIOB, GPIO_PIN_2};
+/* Private function prototypes -----------------------------------------------*/
-LED_Config led_can2 = {GPIOB, GPIO_PIN_5};
+void SystemClock_Config(void);
-
+static void MX_GPIO_Init(void);
-/* USER CODE END PV */
+static void MX_DMA_Init(void);
-
+static void MX_CAN1_Init(void);
-/* Private function prototypes -----------------------------------------------*/
+static void MX_CAN2_Init(void);
-void SystemClock_Config(void);
+static void MX_SDIO_SD_Init(void);
-static void MX_GPIO_Init(void);
+
-static void MX_DMA_Init(void);
+/* USER CODE BEGIN PFP */
-static void MX_CAN1_Init(void);
+void vCAN_Get(void *argument);
-static void MX_CAN2_Init(void);
+void vLED_HeartbeatOnCanRx(void *argument);
-static void MX_SDIO_SD_Init(void);
+/* USER CODE END PFP */
-
+
-/* USER CODE BEGIN PFP */
+/* Private user code ---------------------------------------------------------*/
-
+/* USER CODE BEGIN 0 */
-void vCAN_log(void *argument);
+
-void vLED_HeartbeatOnCanRx(void *argument);
+/* USER CODE END 0 */
-
+
-/* USER CODE END PFP */
+/**
-
+  * @brief  The application entry point.
-/* Private user code ---------------------------------------------------------*/
+  * @retval int
-/* USER CODE BEGIN 0 */
+  */
-
+int main(void)
-/* USER CODE END 0 */
+{
-
+
-/**
+  /* USER CODE BEGIN 1 */
-  * @brief  The application entry point.
+
-  * @retval int
+  /* USER CODE END 1 */
-  */
+
-int main(void)
+  /* MCU Configuration--------------------------------------------------------*/
-{
+
-
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-  /* USER CODE BEGIN 1 */
+  HAL_Init();
-
+
-  /* USER CODE END 1 */
+  /* USER CODE BEGIN Init */
-
+
-  /* MCU Configuration--------------------------------------------------------*/
+  /* USER CODE END Init */
-
+
-  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  /* Configure the system clock */
-  HAL_Init();
+  SystemClock_Config();
-
+
-  /* USER CODE BEGIN Init */
+  /* USER CODE BEGIN SysInit */
-
+
-  /* USER CODE END Init */
+  /* USER CODE END SysInit */
-
+
-  /* Configure the system clock */
+  /* Initialize all configured peripherals */
-  SystemClock_Config();
+  MX_GPIO_Init();
-
+  MX_DMA_Init();
-  /* USER CODE BEGIN SysInit */
+  MX_CAN1_Init();
-
+  MX_CAN2_Init();
-  /* USER CODE END SysInit */
+  MX_SDIO_SD_Init();
-
+
-  /* Initialize all configured peripherals */
+  /* USER CODE BEGIN 2 */
-  MX_GPIO_Init();
+  /* Initialize CAN1 and CAN2 */
-  MX_DMA_Init();
+  CAN_Logger_Init(&hcan1, &hcan2);
-  MX_CAN1_Init();
+  /* USER CODE END 2 */
-  MX_CAN2_Init();
+
-  MX_SDIO_SD_Init();
+  /* Init scheduler */
-  /* USER CODE BEGIN 2 */
+  osKernelInitialize();
-
+
-  // Initialize CAN1 and CAN2
+  /* USER CODE BEGIN RTOS_MUTEX */
-  CAN_Logger_Init(&hcan1, &hcan2);
+  /* add mutexes, ... */
-
+  /* USER CODE END RTOS_MUTEX */
-  /* USER CODE END 2 */
+
-
+  /* USER CODE BEGIN RTOS_SEMAPHORES */
-  /* Init scheduler */
+  /* add semaphores, ... */
-  osKernelInitialize();
+  /* USER CODE END RTOS_SEMAPHORES */
-
+
-  /* USER CODE BEGIN RTOS_MUTEX */
+  /* USER CODE BEGIN RTOS_TIMERS */
-  /* add mutexes, ... */
+  /* start timers, add new ones, ... */
-  /* USER CODE END RTOS_MUTEX */
+  /* USER CODE END RTOS_TIMERS */
-
+
-  /* USER CODE BEGIN RTOS_SEMAPHORES */
+  /* USER CODE BEGIN RTOS_QUEUES */
-  /* add semaphores, ... */
+  /* add queues, ... */
-  /* USER CODE END RTOS_SEMAPHORES */
+  /* USER CODE END RTOS_QUEUES */
-
+
-  /* USER CODE BEGIN RTOS_TIMERS */
+  /* USER CODE BEGIN RTOS_THREADS */
-  /* start timers, add new ones, ... */
+  vCAN1_rx = osThreadNew(vCAN_Get, &hcan1, &vCAN1_rx_attributes);
-  /* USER CODE END RTOS_TIMERS */
+  vCAN2_rx = osThreadNew(vCAN_Get, &hcan2, &vCAN2_rx_attributes);
-
+  vLED_CAN1_Heartbeat = osThreadNew(vLED_HeartbeatOnCanRx, &led_can1, &vLED_CAN1_Heartbeat_attributes);
-  /* USER CODE BEGIN RTOS_QUEUES */
+  vLED_CAN2_Heartbeat = osThreadNew(vLED_HeartbeatOnCanRx, &led_can2, &vLED_CAN2_Heartbeat_attributes);
-  /* add queues, ... */
+  /* USER CODE END RTOS_THREADS */
-  /* USER CODE END RTOS_QUEUES */
+
-
+  /* USER CODE BEGIN RTOS_EVENTS */
-  /* USER CODE BEGIN RTOS_THREADS */
+  /* add events, ... */
-
+  /* USER CODE END RTOS_EVENTS */
-  vCAN1_rx = osThreadNew(vCAN_log, (void*)&hcan1, &vCAN1_rx_attributes);
+
-  vCAN2_rx = osThreadNew(vCAN_log, (void*)&hcan2, &vCAN2_rx_attributes);
+  /* Start scheduler */
-  vLED_CAN1_Heartbeat = osThreadNew(vLED_HeartbeatOnCanRx, &led_can1, &vLED_CAN1_Heartbeat_attributes);
+  osKernelStart();
-  vLED_CAN2_Heartbeat = osThreadNew(vLED_HeartbeatOnCanRx, &led_can2, &vLED_CAN2_Heartbeat_attributes);
+
-
+  /* We should never get here as control is now taken by the scheduler */
-  /* USER CODE END RTOS_THREADS */
+
-
+  /* Infinite loop */
-  /* USER CODE BEGIN RTOS_EVENTS */
+  /* USER CODE BEGIN WHILE */
-  /* add events, ... */
+  while (1)
-  /* USER CODE END RTOS_EVENTS */
+  {
-
+    /* USER CODE END WHILE */
-  /* Start scheduler */
+
-  osKernelStart();
+    /* USER CODE BEGIN 3 */
-
+  }
-  /* We should never get here as control is now taken by the scheduler */
+  /* USER CODE END 3 */
-
+}
-  /* Infinite loop */
+
-  /* USER CODE BEGIN WHILE */
+/**
-  while (1)
+  * @brief System Clock Configuration
-  {
+  * @retval None
-    /* USER CODE END WHILE */
+  */
-
+void SystemClock_Config(void)
-    /* USER CODE BEGIN 3 */
+{
-  }
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
-  /* USER CODE END 3 */
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
-}
+
-
+  /** Configure the main internal regulator output voltage
-/**
+  */
-  * @brief System Clock Configuration
+  __HAL_RCC_PWR_CLK_ENABLE();
-  * @retval None
+  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
-  */
+
-void SystemClock_Config(void)
+  /** Initializes the RCC Oscillators according to the specified parameters
-{
+  * in the RCC_OscInitTypeDef structure.
-  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  */
-  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
-
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
-  /** Configure the main internal regulator output voltage
+  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
-  */
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
-  __HAL_RCC_PWR_CLK_ENABLE();
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
-  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+  RCC_OscInitStruct.PLL.PLLM = 16;
-
+  RCC_OscInitStruct.PLL.PLLN = 336;
-  /** Initializes the RCC Oscillators according to the specified parameters
+  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
-  * in the RCC_OscInitTypeDef structure.
+  RCC_OscInitStruct.PLL.PLLQ = 7;
-  */
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
+  {
-  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+    Error_Handler();
-  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+  }
-  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+
-  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
+  /** Initializes the CPU, AHB and APB buses clocks
-  RCC_OscInitStruct.PLL.PLLM = 16;
+  */
-  RCC_OscInitStruct.PLL.PLLN = 336;
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
-  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
-  RCC_OscInitStruct.PLL.PLLQ = 7;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
-  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
-  {
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
-    Error_Handler();
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV4;
-  }
+
-
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
-  /** Initializes the CPU, AHB and APB buses clocks
+  {
-  */
+    Error_Handler();
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+  }
-                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+}
-  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+
-  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+/**
-  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
+  * @brief CAN1 Initialization Function
-  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV4;
+  * @param None
-
+  * @retval None
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
+  */
-  {
+static void MX_CAN1_Init(void)
-    Error_Handler();
+{
-  }
+
-}
+  /* USER CODE BEGIN CAN1_Init 0 */
-
+
-/**
+  /* USER CODE END CAN1_Init 0 */
-  * @brief CAN1 Initialization Function
+
-  * @param None
+  /* USER CODE BEGIN CAN1_Init 1 */
-  * @retval None
+
-  */
+  /* USER CODE END CAN1_Init 1 */
-static void MX_CAN1_Init(void)
+  hcan1.Instance = CAN1;
-{
+  hcan1.Init.Prescaler = 4;
-
+  hcan1.Init.Mode = CAN_MODE_SILENT;
-  /* USER CODE BEGIN CAN1_Init 0 */
+  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
-
+  hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
-  /* USER CODE END CAN1_Init 0 */
+  hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
-
+  hcan1.Init.TimeTriggeredMode = DISABLE;
-  /* USER CODE BEGIN CAN1_Init 1 */
+  hcan1.Init.AutoBusOff = DISABLE;
-
+  hcan1.Init.AutoWakeUp = ENABLE;
-  /* USER CODE END CAN1_Init 1 */
+  hcan1.Init.AutoRetransmission = DISABLE;
-  hcan1.Instance = CAN1;
+  hcan1.Init.ReceiveFifoLocked = DISABLE;
-  hcan1.Init.Prescaler = 4;
+  hcan1.Init.TransmitFifoPriority = DISABLE;
-  hcan1.Init.Mode = CAN_MODE_SILENT;
+  if (HAL_CAN_Init(&hcan1) != HAL_OK)
-  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
+  {
-  hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
+    Error_Handler();
-  hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
+  }
-  hcan1.Init.TimeTriggeredMode = DISABLE;
+  /* USER CODE BEGIN CAN1_Init 2 */
-  hcan1.Init.AutoBusOff = DISABLE;
+
-  hcan1.Init.AutoWakeUp = DISABLE;
+  /* USER CODE END CAN1_Init 2 */
-  hcan1.Init.AutoRetransmission = DISABLE;
+
-  hcan1.Init.ReceiveFifoLocked = DISABLE;
+}
-  hcan1.Init.TransmitFifoPriority = DISABLE;
+
-  if (HAL_CAN_Init(&hcan1) != HAL_OK)
+/**
-  {
+  * @brief CAN2 Initialization Function
-    Error_Handler();
+  * @param None
-  }
+  * @retval None
-  /* USER CODE BEGIN CAN1_Init 2 */
+  */
-
+static void MX_CAN2_Init(void)
-  /* USER CODE END CAN1_Init 2 */
+{
-
+
-}
+  /* USER CODE BEGIN CAN2_Init 0 */
-
+
-/**
+  /* USER CODE END CAN2_Init 0 */
-  * @brief CAN2 Initialization Function
+
-  * @param None
+  /* USER CODE BEGIN CAN2_Init 1 */
-  * @retval None
+
-  */
+  /* USER CODE END CAN2_Init 1 */
-static void MX_CAN2_Init(void)
+  hcan2.Instance = CAN2;
-{
+  hcan2.Init.Prescaler = 8;
-
+  hcan2.Init.Mode = CAN_MODE_SILENT;
-  /* USER CODE BEGIN CAN2_Init 0 */
+  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
-
+  hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
-  /* USER CODE END CAN2_Init 0 */
+  hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
-
+  hcan2.Init.TimeTriggeredMode = DISABLE;
-  /* USER CODE BEGIN CAN2_Init 1 */
+  hcan2.Init.AutoBusOff = DISABLE;
-
+  hcan2.Init.AutoWakeUp = ENABLE;
-  /* USER CODE END CAN2_Init 1 */
+  hcan2.Init.AutoRetransmission = DISABLE;
-  hcan2.Instance = CAN2;
+  hcan2.Init.ReceiveFifoLocked = DISABLE;
-  hcan2.Init.Prescaler = 8;
+  hcan2.Init.TransmitFifoPriority = DISABLE;
-  hcan2.Init.Mode = CAN_MODE_SILENT;
+  if (HAL_CAN_Init(&hcan2) != HAL_OK)
-  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
+  {
-  hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
+    Error_Handler();
-  hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
+  }
-  hcan2.Init.TimeTriggeredMode = DISABLE;
+  /* USER CODE BEGIN CAN2_Init 2 */
-  hcan2.Init.AutoBusOff = DISABLE;
+
-  hcan2.Init.AutoWakeUp = DISABLE;
+  /* USER CODE END CAN2_Init 2 */
-  hcan2.Init.AutoRetransmission = DISABLE;
+
-  hcan2.Init.ReceiveFifoLocked = DISABLE;
+}
-  hcan2.Init.TransmitFifoPriority = DISABLE;
+
-  if (HAL_CAN_Init(&hcan2) != HAL_OK)
+/**
-  {
+  * @brief SDIO Initialization Function
-    Error_Handler();
+  * @param None
-  }
+  * @retval None
-  /* USER CODE BEGIN CAN2_Init 2 */
+  */
-
+static void MX_SDIO_SD_Init(void)
-  /* USER CODE END CAN2_Init 2 */
+{
-
+
-}
+  /* USER CODE BEGIN SDIO_Init 0 */
-
+
-/**
+  /* USER CODE END SDIO_Init 0 */
-  * @brief SDIO Initialization Function
+
-  * @param None
+  /* USER CODE BEGIN SDIO_Init 1 */
-  * @retval None
+
-  */
+  /* USER CODE END SDIO_Init 1 */
-static void MX_SDIO_SD_Init(void)
+  hsd.Instance = SDIO;
-{
+  hsd.Init.ClockEdge = SDIO_CLOCK_EDGE_RISING;
-
+  hsd.Init.ClockBypass = SDIO_CLOCK_BYPASS_DISABLE;
-  /* USER CODE BEGIN SDIO_Init 0 */
+  hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE;
-
+  hsd.Init.BusWide = SDIO_BUS_WIDE_1B;
-  /* USER CODE END SDIO_Init 0 */
+  hsd.Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE;
-
+  hsd.Init.ClockDiv = 0;
-  /* USER CODE BEGIN SDIO_Init 1 */
+  if (HAL_SD_Init(&hsd) != HAL_OK)
-
+  {
-  /* USER CODE END SDIO_Init 1 */
+    Error_Handler();
-  hsd.Instance = SDIO;
+  }
-  hsd.Init.ClockEdge = SDIO_CLOCK_EDGE_RISING;
+  if (HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B) != HAL_OK)
-  hsd.Init.ClockBypass = SDIO_CLOCK_BYPASS_DISABLE;
+  {
-  hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE;
+    Error_Handler();
-  hsd.Init.BusWide = SDIO_BUS_WIDE_1B;
+  }
-  hsd.Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE;
+  /* USER CODE BEGIN SDIO_Init 2 */
-  hsd.Init.ClockDiv = 0;
+
-  if (HAL_SD_Init(&hsd) != HAL_OK)
+  /* USER CODE END SDIO_Init 2 */
-  {
+
-    Error_Handler();
+}
-  }
+
-  if (HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B) != HAL_OK)
+/**
-  {
+  * Enable DMA controller clock
-    Error_Handler();
+  */
-  }
+static void MX_DMA_Init(void)
-  /* USER CODE BEGIN SDIO_Init 2 */
+{
-
+
-  /* USER CODE END SDIO_Init 2 */
+  /* DMA controller clock enable */
-
+  __HAL_RCC_DMA2_CLK_ENABLE();
-}
+
-
+  /* DMA interrupt init */
-/**
+  /* DMA2_Stream3_IRQn interrupt configuration */
-  * Enable DMA controller clock
+  HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
-  */
+  HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
-static void MX_DMA_Init(void)
+  /* DMA2_Stream6_IRQn interrupt configuration */
-{
+  HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
-
+  HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
-  /* DMA controller clock enable */
+
-  __HAL_RCC_DMA2_CLK_ENABLE();
+}
-
+
-  /* DMA interrupt init */
+/**
-  /* DMA2_Stream3_IRQn interrupt configuration */
+  * @brief GPIO Initialization Function
-  HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
+  * @param None
-  HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+  * @retval None
-  /* DMA2_Stream6_IRQn interrupt configuration */
+  */
-  HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
+static void MX_GPIO_Init(void)
-  HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
+{
-
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
-}
+  /* USER CODE BEGIN MX_GPIO_Init_1 */
-
+
-/**
+  /* USER CODE END MX_GPIO_Init_1 */
-  * @brief GPIO Initialization Function
+
-  * @param None
+  /* GPIO Ports Clock Enable */
-  * @retval None
+  __HAL_RCC_GPIOC_CLK_ENABLE();
-  */
+  __HAL_RCC_GPIOH_CLK_ENABLE();
-static void MX_GPIO_Init(void)
+  __HAL_RCC_GPIOA_CLK_ENABLE();
-{
+  __HAL_RCC_GPIOB_CLK_ENABLE();
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  __HAL_RCC_GPIOD_CLK_ENABLE();
-  /* USER CODE BEGIN MX_GPIO_Init_1 */
+
-
+  /*Configure GPIO pin Output Level */
-  /* USER CODE END MX_GPIO_Init_1 */
+  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5, GPIO_PIN_RESET);
-
+
-  /* GPIO Ports Clock Enable */
+  /*Configure GPIO pins : PC13 PC14 PC15 PC0
-  __HAL_RCC_GPIOC_CLK_ENABLE();
+                           PC1 PC2 PC3 PC4
-  __HAL_RCC_GPIOH_CLK_ENABLE();
+                           PC5 PC6 PC7 */
-  __HAL_RCC_GPIOA_CLK_ENABLE();
+  GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_0
-  __HAL_RCC_GPIOB_CLK_ENABLE();
+                          |GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4
-  __HAL_RCC_GPIOD_CLK_ENABLE();
+                          |GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
-
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-  /*Configure GPIO pin Output Level */
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5, GPIO_PIN_RESET);
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
+
-  /*Configure GPIO pins : PC13 PC14 PC15 PC0
+  /*Configure GPIO pins : PH0 PH1 */
-                           PC1 PC2 PC3 PC4
+  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
-                           PC5 PC6 PC7 */
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-  GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_0
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
-                          |GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4
+  HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
-                          |GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
+
-  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  /*Configure GPIO pins : PA0 PA1 PA2 PA3
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+                           PA4 PA5 PA6 PA7
-  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+                           PA8 PA9 PA10 PA11
-
+                           PA12 PA13 PA14 PA15 */
-  /*Configure GPIO pins : PH0 PH1 */
+  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3
-  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
+                          |GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7
-  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+                          |GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+                          |GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
-  HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  /*Configure GPIO pins : PA0 PA1 PA2 PA3
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-                           PA4 PA5 PA6 PA7
+
-                           PA8 PA9 PA10 PA11
+  /*Configure GPIO pins : PB0 PB1 PB2 PB10
-                           PA12 PA13 PA14 PA15 */
+                           PB11 PB14 PB15 PB6
-  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3
+                           PB7 */
-                          |GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7
+  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10
-                          |GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11
+                          |GPIO_PIN_11|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_6
-                          |GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
+                          |GPIO_PIN_7;
-  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
+
-  /*Configure GPIO pins : PB0 PB1 PB2 PB10
+  /*Configure GPIO pins : PB3 PB4 PB5 */
-                           PB11 PB14 PB15 PB6
+  GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5;
-                           PB7 */
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
-                          |GPIO_PIN_11|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_6
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-                          |GPIO_PIN_7;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  /* USER CODE BEGIN MX_GPIO_Init_2 */
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
-
+  /* USER CODE END MX_GPIO_Init_2 */
-  /*Configure GPIO pins : PB3 PB4 PB5 */
+}
-  GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5;
+
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+/* USER CODE BEGIN 4 */
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+/* USER CODE END 4 */
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
-
+/**
-  /* USER CODE BEGIN MX_GPIO_Init_2 */
+  * @brief  Period elapsed callback in non blocking mode
-
+  * @note   This function is called  when TIM6 interrupt took place, inside
-  /* USER CODE END MX_GPIO_Init_2 */
+  * 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
-/* USER CODE BEGIN 4 */
+  * @retval None
-
+  */
-/* USER CODE END 4 */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
-
+{
-/**
+  /* USER CODE BEGIN Callback 0 */
-  * @brief  Period elapsed callback in non blocking mode
+
-  * @note   This function is called  when TIM6 interrupt took place, inside
+  /* USER CODE END Callback 0 */
-  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+  if (htim->Instance == TIM6)
-  * a global variable "uwTick" used as application time base.
+  {
-  * @param  htim : TIM handle
+    HAL_IncTick();
-  * @retval None
+  }
-  */
+  /* USER CODE BEGIN Callback 1 */
-void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+
-{
+  /* USER CODE END Callback 1 */
-  /* USER CODE BEGIN Callback 0 */
+}
-
+
-  /* USER CODE END Callback 0 */
+/**
-  if (htim->Instance == TIM6)
+  * @brief  This function is executed in case of error occurrence.
-  {
+  * @retval None
-    HAL_IncTick();
+  */
-  }
+void Error_Handler(void)
-  /* USER CODE BEGIN Callback 1 */
+{
-
+  /* USER CODE BEGIN Error_Handler_Debug */
-  /* USER CODE END Callback 1 */
+  /* User can add his own implementation to report the HAL error return state */
-}
+  __disable_irq();
-
+  while (1)
-/**
+  {
-  * @brief  This function is executed in case of error occurrence.
+  }
-  * @retval None
+  /* USER CODE END Error_Handler_Debug */
-  */
+}
-void Error_Handler(void)
+#ifdef USE_FULL_ASSERT
-{
+/**
-  /* USER CODE BEGIN Error_Handler_Debug */
+  * @brief  Reports the name of the source file and the source line number
-  /* User can add his own implementation to report the HAL error return state */
+  *         where the assert_param error has occurred.
-  __disable_irq();
+  * @param  file: pointer to the source file name
-  while (1)
+  * @param  line: assert_param error line source number
-  {
+  * @retval None
-  }
+  */
-  /* USER CODE END Error_Handler_Debug */
+void assert_failed(uint8_t *file, uint32_t line)
-}
+{
-#ifdef USE_FULL_ASSERT
+  /* USER CODE BEGIN 6 */
-/**
+  /* User can add his own implementation to report the file name and line number,
-  * @brief  Reports the name of the source file and the source line number
+     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
-  *         where the assert_param error has occurred.
+  /* USER CODE END 6 */
-  * @param  file: pointer to the source file name
+}
-  * @param  line: assert_param error line source number
+#endif /* USE_FULL_ASSERT */
-  * @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 */