Add IRQ handler for CAN bus interrupt

Core/Inc/cansend.h

@@ -22,6 +22,7 @@
 
 #include "main.h"
 
+void uart_printf(const char *fmt, ...);
 void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart);
 void vUARTLogger(void *argument);
 

Core/Src/canlog.c

@@ -18,6 +18,7 @@
 #include "main.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "cansend.h"
 #include "cmsis_os.h"
 #include <string.h>
 /* USER CODE END Includes */
@@ -113,7 +114,7 @@ void vCANListener(void *argument)
   HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
 
   uint32_t irqn = (hcan->Instance == CAN1) ? CAN1_RX0_IRQn : CAN2_RX0_IRQn;
-  HAL_NVIC_SetPriority(irqn, 6, 0);
+  HAL_NVIC_SetPriority(irqn, 5, 0);
   HAL_NVIC_EnableIRQ(irqn);
 
   for (;;)
@@ -130,7 +131,7 @@ void vCANListener(void *argument)
 
 /* BEGIN vLEDHeartbeat */
 /**
-  * @brief  Blink a LED in heartbeat mode when CAN traffic is detected
+  * @brief  Turn on LED when CAN traffic is detected
   * @param  argument: LED GPIO (port and pin)
   * @retval None
   */

Core/Src/cansend.c

@@ -50,7 +50,7 @@ void uart_printf(const char *fmt, ...)
   {
     if (osKernelGetState() == osKernelRunning && __get_IPSR() == 0)
     {
-      if (osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever) == osOK)
+      if (osSemaphoreAcquire(xUARTDMASemaphore, 100U) == osOK)
       {
         HAL_UART_Transmit(&huart1, (uint8_t*)buf, len, HAL_MAX_DELAY);
         osSemaphoreRelease(xUARTDMASemaphore);
@@ -124,22 +124,31 @@ static int format_can_message(char *buf, uint8_t source, const CanMessage_t *mes
   */
 void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
 {
-  if (huart->Instance == USART1)
-  {
-    osSemaphoreRelease(xUARTDMASemaphore);
-  }
+  if (huart->Instance == USART1) osSemaphoreRelease(xUARTDMASemaphore);
 }
 /* END HAL_UART_TxCpltCallback */
 
 /* BEGIN HAL_UART_ErrorCallback */
-/**
-  * @brief  Safely release UART semaphore inside ISR and yield task if possible.
+/**``MEN
+  * @brief  Handle UART errors
   * @param  argument: UART handle
   * @retval None
   */
 void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
 {
-  if (huart->Instance == USART1) osSemaphoreRelease(xUARTDMASemaphore);
+  if (huart->Instance == USART1)
+  {
+    __HAL_UART_CLEAR_OREFLAG(huart);
+    __HAL_UART_CLEAR_FEFLAG(huart);
+    __HAL_UART_CLEAR_NEFLAG(huart);
+    __HAL_UART_CLEAR_PEFLAG(huart);
+
+    HAL_UART_DMAStop(huart);
+
+    huart->gState = HAL_UART_STATE_READY;
+
+    osSemaphoreRelease(xUARTDMASemaphore);
+  }
 }
 /* END HAL_UART_ErrorCallback */
 
@@ -152,7 +161,7 @@ void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
 void vUARTLogger(void *argument)
 {
   CanMessage_t message;
-  char tx_buffer[45];
+  static char tx_buffer[45];
 
   #ifdef DEBUG_DUMMY_FRAME
   CanMessage_t dummy_frame = {
@@ -166,19 +175,9 @@ void vUARTLogger(void *argument)
 
   for (;;)
   {
-	uint32_t queue_timeout = 2500U;
-
-	//#ifdef DEBUG_DUMMY_FRAME
-    //uint32_t queue_timeout = 100U;
-    //osMessageQueuePut(xUARTQueue, &dummy_frame, 0U, 0U);
-    //osDelay(500);
-    //#else
-    //uint32_t queue_timeout = osWaitForever;
-   // #endif
-
-   	if (osMessageQueueGet(xUARTQueue, &message, NULL, queue_timeout) == osOK)
-	{
-      if (osSemaphoreAcquire(xUARTDMASemaphore, queue_timeout) == osOK)
+    if (osMessageQueueGet(xUARTQueue, &message, NULL, 1000U) == osOK)
+    {
+      if (osSemaphoreAcquire(xUARTDMASemaphore, 100U) == osOK)
       {
         int len = format_can_message(tx_buffer, message.source, &message);
 

Core/Src/main.c

@@ -127,9 +127,9 @@ int main(void)
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
-  MX_USART1_UART_Init();
-  MX_GPIO_Init();
   MX_DMA_Init();
+  MX_GPIO_Init();
+  MX_USART1_UART_Init();
   MX_CAN1_Init();
   MX_CAN2_Init();
   MX_SDIO_SD_Init();
@@ -498,6 +498,22 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+  //*Configure CAN1 pins : PB8, PB9 */
+  GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+  GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  //*Configure CAN2 pins : PB12, PB13 */
+  GPIO_InitStruct.Pin = GPIO_PIN_12 | GPIO_PIN_13;
+  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+  GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
   /* USER CODE BEGIN MX_GPIO_Init_2 */
   DEBUG_PRINT("[L] GPIO initialized\r\n");
   /* USER CODE END MX_GPIO_Init_2 */
@@ -555,8 +571,8 @@ void Error_Handler(void)
 
   while (1)
   {
-    HAL_GPIO_TogglePin(led_error.port, led_error.pin);
-    HAL_Delay(250);
+      HAL_GPIO_TogglePin(led_error.port, led_error.pin);
+      for(volatile uint32_t i = 0; i < 4000000; i++);
   }
   /* USER CODE END Error_Handler_Debug */
 }

Core/Src/stm32f4xx_it.c

@@ -41,7 +41,8 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
-
+extern CAN_HandleTypeDef hcan1;
+extern CAN_HandleTypeDef hcan2;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -250,4 +251,20 @@ void DMA2_Stream7_IRQHandler(void)
 
 /* USER CODE BEGIN 1 */
 
+/**
+  * @brief This function handles CAN1 RX0 interrupt.
+  */
+void CAN1_RX0_IRQHandler(void)
+{
+  HAL_CAN_IRQHandler(&hcan1);
+}
+
+/**
+  * @brief This function handles CAN2 RX0 interrupt.
+  */
+void CAN2_RX0_IRQHandler(void)
+{
+  HAL_CAN_IRQHandler(&hcan2);
+}
+
 /* USER CODE END 1 */