Add error callback to recover from UART deadlock, use async UART

transmit

Core/Src/canlog.c

@@ -93,7 +93,10 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
         led_task = xCAN2LedTask;
     }
 
-    if (osMessageQueuePut(queue, &message, 0U, 0U) == osOK) osThreadFlagsSet(led_task, 0x01);
+    if (osMessageQueuePut(queue, &message, 0U, 0U) == osOK)
+    {
+        osThreadFlagsSet(led_task, 0x01);
+    }
 }
 /* END HAL_CAN_RxFifo0MsgPendingCallback */
 

Core/Src/cansend.c

@@ -56,10 +56,7 @@ void uart_printf(const char *fmt, ...)
         osSemaphoreRelease(xUARTDMASemaphore);
       }
     }
-    else
+    else HAL_UART_Transmit(&huart1, (uint8_t*)buf, len, HAL_MAX_DELAY);
-    {
-      HAL_UART_Transmit(&huart1, (uint8_t*)buf, len, HAL_MAX_DELAY);
-    }
   }
 }
 /* END uart_printf */
@@ -154,31 +151,13 @@ void vUARTLogger(void *argument)
   CanMessage_t message;
   char tx_buffer[45];
 
-  #ifdef DEBUG_DUMMY_FRAME
-  CanMessage_t dummy_frame = {
-    .id = 0x0CF00400,       // J1939 EEC1 ID
-    .dlc = 8,               // 8 bytes of data
-    .isExtended = 1,        // 29-bit Extended ID
-    .source = 1,            // CAN1
-    .payload = {0xAA, 0xBB, 0xCC, 0xDD, 0xEE, 0xFF, 0x11, 0x22}
-  };
-  #endif
-
   for (;;)
   {
-	uint32_t queue_timeout = 2500U;
+    DEBUG_PRINT("[D] Waiting for CAN traffic...\r\n");
 
-	//#ifdef DEBUG_DUMMY_FRAME
+    if (osMessageQueueGet(xUARTQueue, &message, NULL, osWaitForever) == osOK)
-    //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 (osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever) == osOK)
       {
         int len = format_can_message(tx_buffer, message.source, &message);
 
@@ -188,9 +167,7 @@ void vUARTLogger(void *argument)
           DEBUG_PRINT("[E] HAL error, CAN frame NOT sent!\r\n");
         }
       }
-      else DEBUG_PRINT("[E] Semaphore timeout! UART might be stuck in BUSY state.\r\n");
     }
-   	else DEBUG_PRINT("[D] Waiting for CAN traffic...\r\n");
   }
 }
 /* END vUARTLogger */

Core/Src/main.c

@@ -127,12 +127,12 @@ int main(void)
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
-  MX_USART1_UART_Init();
   MX_GPIO_Init();
   MX_DMA_Init();
   MX_CAN1_Init();
   MX_CAN2_Init();
   MX_SDIO_SD_Init();
+  MX_USART1_UART_Init();
   /* USER CODE BEGIN 2 */
   DEBUG_PRINT("[L] Initializing CAN bus logger\r\n");
   CAN_Logger_Init(&hcan1, &hcan2);