Merge branch 'j1939'

from code-licensing into j1939

Reviewed-on: erickahmed/j1939_logger#13

.gitignore

@@ -8,4 +8,6 @@
 .metadata
 Core/Src/Backup/
 Core/Inc/Backup/
-Debug
+.bak
+.gitignore
+can_logger Debug.launch

Core/Inc/canlog.h

@@ -1,7 +1,53 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : canlog.h
+  * @brief          : Header for canlog.c file.
+  *                   This file contains the defines related to SAE J1939 CAN.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 Erick Ahmed.
+  *
+  * SPDX-License-Identifier: GPL-3.0-or-later
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef CANLOG_H
 #define CANLOG_H
 
 #include "main.h"
+#include "cmsis_os.h"
+
+extern osMessageQueueId_t xCAN1RxQueue;
+extern osMessageQueueId_t xCAN2RxQueue;
+extern osSemaphoreId_t xSemaphoreCAN1;
+extern osSemaphoreId_t xSemaphoreCAN2;
+
+/* USER CODE BEGIN PTD */
+typedef struct {
+    GPIO_TypeDef* port;
+    uint16_t       pin;
+} LED_Config;
+
+typedef struct {
+    uint32_t id;
+    uint8_t  payload[8];
+    uint8_t  dlc;
+    uint8_t  isExtended;
+    //uint32_t timestamp; //Enable TIM2: 42 MHz / (41+1) = 1 MHz → 1 µs tick; 32bit autoreload freerunning
+    // this is for getting timestamps on can messages
+} CanMessage_t;
+
+typedef struct {
+    LED_Config *led;
+    osSemaphoreId_t semaphore;
+    osTimerId_t timer;
+} LEDContext;
+/* USER CODE END PTD */
 
 /**
   * @brief  Initializes the CAN logger modules, OS threads, queues, and hardware.
@@ -9,5 +55,8 @@
   * @param  hcan2 Pointer to the CAN2 handle
   */
 void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2);
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
+void vCANLoggerListen(void *argument);
+void vLEDHeartbeat(void *argument);
 
 #endif /* CANLOG_H */

Core/Inc/main.h

@@ -8,11 +8,9 @@
   * @attention
   *
   * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.
+  * Copyright (c) 2026 Erick Ahmed.
   *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
+  * SPDX-License-Identifier: GPL-3.0-or-later
   *
   ******************************************************************************
   */
@@ -28,6 +26,7 @@ extern "C" {
 
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f4xx_hal.h"
+#include "canlog.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */

Core/Src/canlog.c

@@ -1,40 +1,143 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : canlog.c
+  * @brief          : SAE J1939 CAN Real Time listening and decoding
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 Erick Ahmed.
+  *
+  * SPDX-License-Identifier: GPL-3.0-or-later
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
 #include "canlog.h"
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
 #include "cmsis_os.h"
 #include <string.h>
+/* USER CODE END Includes */
 
-/* Definitions for canBus1Listen */
-osThreadId_t canBus1ListenHandle;
-const osThreadAttr_t canBus1Listen_attributes = {
-  .name = "canBus1Listen",
-  .stack_size = 128 * 4,
-  .priority = (osPriority_t) osPriorityRealtime1,
-};
-/* Definitions for canBus2Listen */
-osThreadId_t canBus2ListenHandle;
-const osThreadAttr_t canBus2Listen_attributes = {
-  .name = "canBus2Listen",
-  .stack_size = 128 * 4,
-  .priority = (osPriority_t) osPriorityRealtime,
-};
+extern CAN_HandleTypeDef hcan1;
+extern CAN_HandleTypeDef hcan2;
 
 /* Private function prototypes -----------------------------------------------*/
-void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2){}
-static void CAN_Listen(void *argument){}
-
-/* BEGIN Header_CAN_Listen */
+/* USER CODE BEGIN FunctionPrototypes */
+/* BEGIN CAN_Logger_Init */
 /**
-  * @brief  Function implementing the canBus0Listen thread.
+  * @brief  Initialize CAN bus logger.
+  * @param  argument: hcan1, hcan2
+  * @retval None
+  */
+void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
+{
+    CAN_FilterTypeDef filter = {0};
+    filter.FilterMode = CAN_FILTERMODE_IDMASK;
+    filter.FilterScale = CAN_FILTERSCALE_32BIT;
+    filter.FilterIdHigh = 0x0000;
+    filter.FilterMaskIdHigh = 0x0000;
+    filter.FilterIdLow = 0x0000;
+    filter.FilterMaskIdLow = 0x0000;
+    filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
+    filter.FilterActivation = ENABLE;
+    filter.SlaveStartFilterBank = 14;
+
+    filter.FilterBank = 0;
+    if (HAL_CAN_ConfigFilter(hcan1, &filter) != HAL_OK) Error_Handler();
+    filter.FilterBank = 14;
+    if (HAL_CAN_ConfigFilter(hcan2, &filter) != HAL_OK) Error_Handler();
+
+    if (HAL_CAN_Start(hcan1) != HAL_OK) Error_Handler();
+    if (HAL_CAN_Start(hcan2) != HAL_OK) Error_Handler();
+
+    if (HAL_CAN_ActivateNotification(hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) Error_Handler();
+    if (HAL_CAN_ActivateNotification(hcan2, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) Error_Handler();
+}
+/* END CAN_Logger_Init */
+
+/* BEGIN HAL_CAN_RxFifo0MsgPendingCallback */
+/**
+  * @brief  ISR for CAN message pending in FIFO0
+  * @param  argument: Can handle hcan (hcan1 or hcan2)
+  * @retval None
+  */
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
+{
+    /* CODE BEGIN */
+    CanMessage_t message;
+    CAN_RxHeaderTypeDef rxHeader;
+    uint8_t data[8];
+
+    if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) Error_Handler();
+
+    message.id = rxHeader.ExtId;
+    message.dlc = rxHeader.DLC;
+    message.isExtended = (rxHeader.IDE == CAN_ID_EXT);
+    memcpy(message.payload, data, rxHeader.DLC);
+
+    osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
+    if (osMessageQueuePut(queue, &message, 0U, 0U) != osOK)
+    {
+        // TODO: better handling: flash error_led on osTimeout, call Error_Handler() when other errors
+
+        // send errors like queue full via UART
+    }
+    /* CODE END */
+}
+/* END HAL_CAN_RxFifo0MsgPendingCallback */
+
+/* BEGIN vCANLoggerListen */
+/**
+  * @brief  Log incoming CAN bus traffic in FIFO buffer
   * @param  argument: Not used
   * @retval None
   */
-/* END Header_CAN_Listen */
-void CAN_Listen(void *argument)
+void vCANLoggerListen(void *argument)
+{
+    /* CODE BEGIN */
+    CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
+    osMessageQueueId_t queue;
+    CanMessage_t message;
+
+    queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
+
+    for (;;)
+    {
+        if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
+        {
+            osSemaphoreRelease( (hcan->Instance == CAN1) ? xSemaphoreCAN1 : xSemaphoreCAN2 );
+            // TODO: use this semaphore
+        }
+
+    }
+    /* CODE END */
+}
+/* END vCANLoggerListen */
+
+/* BEGIN vLEDHeartbeat */
+/**
+  * @brief  Blink a LED in heartbeat mode when CAN traffic is detected
+  * @param  argument: LED GPIO (port and pin)
+  * @retval None
+  */
+void vLEDHeartbeat(void *argument)
 {
   /* CODE BEGIN */
-  /* Infinite loop */
-  for(;;)
+  LEDContext *context = (LEDContext*)argument;
+
+  if (osSemaphoreAcquire(context->semaphore, 0U) == osOK)
   {
-    osDelay(1);
+      HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_SET);
+      osTimerStart(context->timer, 25U);
+  }
+  else
+  {
+      HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_RESET);
   }
   /* CODE END */
 }
+/* END vLEDHeartbeat */
+/* USER CODE END FunctionPrototypes */

Core/Src/freertos.c

@@ -1,59 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * File Name          : freertos.c
-  * Description        : Code for freertos applications
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-
-/* Includes ------------------------------------------------------------------*/
-#include "FreeRTOS.h"
-#include "task.h"
-#include "main.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-/* Private typedef -----------------------------------------------------------*/
-/* USER CODE BEGIN PTD */
-
-/* USER CODE END PTD */
-
-/* Private define ------------------------------------------------------------*/
-/* USER CODE BEGIN PD */
-
-/* USER CODE END PD */
-
-/* Private macro -------------------------------------------------------------*/
-/* USER CODE BEGIN PM */
-
-/* USER CODE END PM */
-
-/* Private variables ---------------------------------------------------------*/
-/* USER CODE BEGIN Variables */
-
-/* USER CODE END Variables */
-
-/* Private function prototypes -----------------------------------------------*/
-/* USER CODE BEGIN FunctionPrototypes */
-
-/* USER CODE END FunctionPrototypes */
-
-/* Private application code --------------------------------------------------*/
-/* USER CODE BEGIN Application */
-
-/* USER CODE END Application */
-

Core/Src/main.c

@@ -1,460 +1,526 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file           : main.c
-  * @brief          : Main program body
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-#include "canlog.h"
-#include "cmsis_os.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-/* Private typedef -----------------------------------------------------------*/
-/* USER CODE BEGIN PTD */
-
-/* USER CODE END PTD */
-
-/* Private define ------------------------------------------------------------*/
-/* USER CODE BEGIN PD */
-
-/* USER CODE END PD */
-
-/* Private macro -------------------------------------------------------------*/
-/* USER CODE BEGIN PM */
-
-/* USER CODE END PM */
-
-/* Private variables ---------------------------------------------------------*/
-CAN_HandleTypeDef hcan1;
-CAN_HandleTypeDef hcan2;
-
-SD_HandleTypeDef hsd;
-DMA_HandleTypeDef hdma_sdio_rx;
-DMA_HandleTypeDef hdma_sdio_tx;
-
-/* USER CODE BEGIN PV */
-
-/* USER CODE END PV */
-
-/* Private function prototypes -----------------------------------------------*/
-void SystemClock_Config(void);
-static void MX_GPIO_Init(void);
-static void MX_DMA_Init(void);
-static void MX_CAN1_Init(void);
-static void MX_CAN2_Init(void);
-static void MX_SDIO_SD_Init(void);
-
-/* USER CODE BEGIN PFP */
-
-/* USER CODE END PFP */
-
-/* Private user code ---------------------------------------------------------*/
-/* USER CODE BEGIN 0 */
-
-/* USER CODE END 0 */
-
-/**
-  * @brief  The application entry point.
-  * @retval int
-  */
-int main(void)
-{
-
-  /* USER CODE BEGIN 1 */
-
-  /* USER CODE END 1 */
-
-  /* MCU Configuration--------------------------------------------------------*/
-
-  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-  HAL_Init();
-
-  /* USER CODE BEGIN Init */
-
-  /* USER CODE END Init */
-
-  /* Configure the system clock */
-  SystemClock_Config();
-
-  /* USER CODE BEGIN SysInit */
-
-  /* USER CODE END SysInit */
-
-  /* Initialize all configured peripherals */
-  MX_GPIO_Init();
-  MX_DMA_Init();
-  MX_CAN1_Init();
-  MX_CAN2_Init();
-  MX_SDIO_SD_Init();
-  /* USER CODE BEGIN 2 */
-
-  // Initialize CAN1 and CAN2
-  CAN_Logger_Init(&hcan1, &hcan2);
-
-  /* USER CODE END 2 */
-
-  /* Init scheduler */
-  osKernelInitialize();
-
-  /* USER CODE BEGIN RTOS_MUTEX */
-  /* add mutexes, ... */
-  /* USER CODE END RTOS_MUTEX */
-
-  /* USER CODE BEGIN RTOS_SEMAPHORES */
-  /* add semaphores, ... */
-  /* USER CODE END RTOS_SEMAPHORES */
-
-  /* USER CODE BEGIN RTOS_TIMERS */
-  /* start timers, add new ones, ... */
-  /* USER CODE END RTOS_TIMERS */
-
-  /* USER CODE BEGIN RTOS_QUEUES */
-  /* add queues, ... */
-  /* USER CODE END RTOS_QUEUES */
-
-  /* USER CODE BEGIN RTOS_THREADS */
-  /* add threads, ... */
-  /* USER CODE END RTOS_THREADS */
-
-  /* USER CODE BEGIN RTOS_EVENTS */
-  /* add events, ... */
-  /* USER CODE END RTOS_EVENTS */
-
-  /* Start scheduler */
-  osKernelStart();
-
-  /* We should never get here as control is now taken by the scheduler */
-
-  /* Infinite loop */
-  /* USER CODE BEGIN WHILE */
-  while (1)
-  {
-    /* USER CODE END WHILE */
-
-    /* USER CODE BEGIN 3 */
-  }
-  /* USER CODE END 3 */
-}
-
-/**
-  * @brief System Clock Configuration
-  * @retval None
-  */
-void SystemClock_Config(void)
-{
-  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
-  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
-
-  /** Configure the main internal regulator output voltage
-  */
-  __HAL_RCC_PWR_CLK_ENABLE();
-  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
-
-  /** Initializes the RCC Oscillators according to the specified parameters
-  * in the RCC_OscInitTypeDef structure.
-  */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
-  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
-  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
-  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
-  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
-  RCC_OscInitStruct.PLL.PLLM = 16;
-  RCC_OscInitStruct.PLL.PLLN = 336;
-  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
-  RCC_OscInitStruct.PLL.PLLQ = 7;
-  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Initializes the CPU, AHB and APB buses clocks
-  */
-  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;
-  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV4;
-
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
-  {
-    Error_Handler();
-  }
-}
-
-/**
-  * @brief CAN1 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_CAN1_Init(void)
-{
-
-  /* USER CODE BEGIN CAN1_Init 0 */
-
-  /* USER CODE END CAN1_Init 0 */
-
-  /* USER CODE BEGIN CAN1_Init 1 */
-
-  /* USER CODE END CAN1_Init 1 */
-  hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 4;
-  hcan1.Init.Mode = CAN_MODE_SILENT;
-  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
-  hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
-  hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
-  hcan1.Init.TimeTriggeredMode = DISABLE;
-  hcan1.Init.AutoBusOff = DISABLE;
-  hcan1.Init.AutoWakeUp = DISABLE;
-  hcan1.Init.AutoRetransmission = DISABLE;
-  hcan1.Init.ReceiveFifoLocked = DISABLE;
-  hcan1.Init.TransmitFifoPriority = DISABLE;
-  if (HAL_CAN_Init(&hcan1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN CAN1_Init 2 */
-
-  /* USER CODE END CAN1_Init 2 */
-
-}
-
-/**
-  * @brief CAN2 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_CAN2_Init(void)
-{
-
-  /* USER CODE BEGIN CAN2_Init 0 */
-
-  /* USER CODE END CAN2_Init 0 */
-
-  /* USER CODE BEGIN CAN2_Init 1 */
-
-  /* USER CODE END CAN2_Init 1 */
-  hcan2.Instance = CAN2;
-  hcan2.Init.Prescaler = 8;
-  hcan2.Init.Mode = CAN_MODE_SILENT;
-  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
-  hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
-  hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
-  hcan2.Init.TimeTriggeredMode = DISABLE;
-  hcan2.Init.AutoBusOff = DISABLE;
-  hcan2.Init.AutoWakeUp = DISABLE;
-  hcan2.Init.AutoRetransmission = DISABLE;
-  hcan2.Init.ReceiveFifoLocked = DISABLE;
-  hcan2.Init.TransmitFifoPriority = DISABLE;
-  if (HAL_CAN_Init(&hcan2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN CAN2_Init 2 */
-
-  /* USER CODE END CAN2_Init 2 */
-
-}
-
-/**
-  * @brief SDIO Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_SDIO_SD_Init(void)
-{
-
-  /* USER CODE BEGIN SDIO_Init 0 */
-
-  /* USER CODE END SDIO_Init 0 */
-
-  /* USER CODE BEGIN SDIO_Init 1 */
-
-  /* USER CODE END SDIO_Init 1 */
-  hsd.Instance = SDIO;
-  hsd.Init.ClockEdge = SDIO_CLOCK_EDGE_RISING;
-  hsd.Init.ClockBypass = SDIO_CLOCK_BYPASS_DISABLE;
-  hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE;
-  hsd.Init.BusWide = SDIO_BUS_WIDE_1B;
-  hsd.Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE;
-  hsd.Init.ClockDiv = 0;
-  if (HAL_SD_Init(&hsd) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN SDIO_Init 2 */
-
-  /* USER CODE END SDIO_Init 2 */
-
-}
-
-/**
-  * Enable DMA controller clock
-  */
-static void MX_DMA_Init(void)
-{
-
-  /* DMA controller clock enable */
-  __HAL_RCC_DMA2_CLK_ENABLE();
-
-  /* DMA interrupt init */
-  /* DMA2_Stream3_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
-  /* DMA2_Stream6_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
-
-}
-
-/**
-  * @brief GPIO Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_GPIO_Init(void)
-{
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
-  /* USER CODE BEGIN MX_GPIO_Init_1 */
-
-  /* USER CODE END MX_GPIO_Init_1 */
-
-  /* GPIO Ports Clock Enable */
-  __HAL_RCC_GPIOC_CLK_ENABLE();
-  __HAL_RCC_GPIOH_CLK_ENABLE();
-  __HAL_RCC_GPIOA_CLK_ENABLE();
-  __HAL_RCC_GPIOB_CLK_ENABLE();
-  __HAL_RCC_GPIOD_CLK_ENABLE();
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5, GPIO_PIN_RESET);
-
-  /*Configure GPIO pins : PC13 PC14 PC15 PC0
-                           PC1 PC2 PC3 PC4
-                           PC5 PC6 PC7 */
-  GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_0
-                          |GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4
-                          |GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
-  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : PH0 PH1 */
-  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
-  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : PA0 PA1 PA2 PA3
-                           PA4 PA5 PA6 PA7
-                           PA8 PA9 PA10 PA11
-                           PA12 PA13 PA14 PA15 */
-  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3
-                          |GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7
-                          |GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11
-                          |GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
-  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-  /*Configure GPIO pins : PB0 PB1 PB2 PB10
-                           PB11 PB14 PB15 PB6
-                           PB7 */
-  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10
-                          |GPIO_PIN_11|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_6
-                          |GPIO_PIN_7;
-  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-  /*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;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN MX_GPIO_Init_2 */
-
-  /* USER CODE END MX_GPIO_Init_2 */
-}
-
-/* USER CODE BEGIN 4 */
-
-/* USER CODE END 4 */
-
-
-
-/**
-  * @brief  Period elapsed callback in non blocking mode
-  * @note   This function is called  when TIM6 interrupt took place, inside
-  * 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
-  * @retval None
-  */
-void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
-{
-  /* USER CODE BEGIN Callback 0 */
-
-  /* USER CODE END Callback 0 */
-  if (htim->Instance == TIM6)
-  {
-    HAL_IncTick();
-  }
-  /* USER CODE BEGIN Callback 1 */
-
-  /* USER CODE END Callback 1 */
-}
-
-/**
-  * @brief  This function is executed in case of error occurrence.
-  * @retval None
-  */
-void Error_Handler(void)
-{
-  /* USER CODE BEGIN Error_Handler_Debug */
-  /* User can add his own implementation to report the HAL error return state */
-  __disable_irq();
-  while (1)
-  {
-  }
-  /* USER CODE END Error_Handler_Debug */
-}
-#ifdef USE_FULL_ASSERT
-/**
-  * @brief  Reports the name of the source file and the source line number
-  *         where the assert_param error has occurred.
-  * @param  file: pointer to the source file name
-  * @param  line: assert_param error line source number
-  * @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 */
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.c
+  * @brief          : Main program body
+  ******************************************************************************
+  * @attention
+  * Copyright (c) 2026 STMicroelectronics.
+  * Copyright (c) 2026 Erick Ahmed.
+  *
+  * SPDX-License-Identifier: GPL-3.0-or-later
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "cmsis_os.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "canlog.h"
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+CAN_HandleTypeDef hcan1;
+CAN_HandleTypeDef hcan2;
+
+SD_HandleTypeDef hsd;
+DMA_HandleTypeDef hdma_sdio_rx;
+DMA_HandleTypeDef hdma_sdio_tx;
+
+/* USER CODE BEGIN PV */
+LED_Config led_can1 = {GPIOB, GPIO_PIN_2};
+LED_Config led_can2 = {GPIOB, GPIO_PIN_5};
+LED_Config led_error = {GPIOB, GPIO_PIN_3};
+
+LEDContext ledContextCAN1;
+LEDContext ledContextCAN2;
+
+osSemaphoreId_t xSemaphoreCAN1;
+osSemaphoreId_t xSemaphoreCAN2;
+
+osTimerId_t xHeartbeatTimerCAN1;
+osTimerId_t xHeartbeatTimerCAN2;
+
+osMessageQueueId_t xCAN1RxQueue;
+osMessageQueueId_t xCAN2RxQueue;
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_DMA_Init(void);
+static void MX_CAN1_Init(void);
+static void MX_CAN2_Init(void);
+static void MX_SDIO_SD_Init(void);
+
+/* USER CODE BEGIN PFP */
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_DMA_Init();
+  MX_CAN1_Init();
+  MX_CAN2_Init();
+  MX_SDIO_SD_Init();
+
+  /* USER CODE BEGIN 2 */
+  CAN_Logger_Init(&hcan1, &hcan2);
+  /* USER CODE END 2 */
+
+  /* Init scheduler */
+  osKernelInitialize();
+
+  /* USER CODE BEGIN RTOS_TASKS */
+  osThreadId_t xCAN1rx;
+  const osThreadAttr_t CAN1rxAttributes = {
+    .name = "CAN1rx",
+    .stack_size = 128 * 4,
+    .priority = (osPriority_t) osPriorityRealtime1,
+  };
+  osThreadId_t xCAN2rx;
+  const osThreadAttr_t CAN2rxAttributes = {
+    .name = "CAN2rx",
+    .stack_size = 128 * 4,
+    .priority = (osPriority_t) osPriorityRealtime,
+  };
+  /* USER END RTOS_TASKS */
+
+  /* USER CODE BEGIN RTOS_MUTEX */
+  /* add mutexes, ... */
+  /* USER CODE END RTOS_MUTEX */
+
+  /* USER CODE BEGIN RTOS_SEMAPHORES */
+  xSemaphoreCAN1 = osSemaphoreNew(10, 0, NULL);
+  xSemaphoreCAN2 = osSemaphoreNew(10, 0, NULL);
+
+  if (xSemaphoreCAN1 == NULL || xSemaphoreCAN2 == NULL) Error_Handler();
+
+  ledContextCAN1.led = &led_can1;
+  ledContextCAN1.semaphore = xSemaphoreCAN1;
+  ledContextCAN2.led = &led_can2;
+  ledContextCAN2.semaphore = xSemaphoreCAN2;
+  /* USER CODE END RTOS_SEMAPHORES */
+
+  /* USER CODE BEGIN RTOS_TIMERS */
+  xHeartbeatTimerCAN1 = osTimerNew(vLEDHeartbeat, osTimerOnce, &ledContextCAN1, NULL);
+  xHeartbeatTimerCAN2 = osTimerNew(vLEDHeartbeat, osTimerOnce, &ledContextCAN2, NULL);
+
+  osTimerStart(xHeartbeatTimerCAN1, 25U);
+  osTimerStart(xHeartbeatTimerCAN2, 25U);
+
+  if (xHeartbeatTimerCAN1 == NULL || xHeartbeatTimerCAN2 == NULL) Error_Handler();
+
+  ledContextCAN1.timer = xHeartbeatTimerCAN1;
+  ledContextCAN2.timer = xHeartbeatTimerCAN2;
+  /* USER CODE END RTOS_TIMERS */
+
+  /* USER CODE BEGIN RTOS_QUEUES */
+  xCAN1RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
+  xCAN2RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
+
+  if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL) Error_Handler();
+  /* USER CODE END RTOS_QUEUES */
+
+  /* USER CODE BEGIN RTOS_THREADS */
+  xCAN1rx = osThreadNew(vCANLoggerListen, &hcan1, &CAN1rxAttributes);
+  xCAN2rx = osThreadNew(vCANLoggerListen, &hcan2, &CAN2rxAttributes);
+  /* USER CODE END RTOS_THREADS */
+
+  /* USER CODE BEGIN RTOS_EVENTS */
+  /* add events, ... */
+  /* USER CODE END RTOS_EVENTS */
+
+  /* USER CODE BEGIN 3 */
+  ledContextCAN1.led = &led_can1;
+  ledContextCAN1.semaphore = xSemaphoreCAN1;
+  ledContextCAN1.timer = xHeartbeatTimerCAN1;
+
+  ledContextCAN2.led = &led_can2;
+  ledContextCAN2.semaphore = xSemaphoreCAN2;
+  ledContextCAN2.timer = xHeartbeatTimerCAN2;
+  /* USER CODE END 3 */
+
+  /* Start scheduler */
+  osKernelStart();
+
+  /* We should never get here as control is now taken by the scheduler */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1)
+  {
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 4 */
+  }
+  /* USER CODE END 4 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+
+  /** Configure the main internal regulator output voltage
+  */
+  __HAL_RCC_PWR_CLK_ENABLE();
+  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
+  RCC_OscInitStruct.PLL.PLLM = 16;
+  RCC_OscInitStruct.PLL.PLLN = 336;
+  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
+  RCC_OscInitStruct.PLL.PLLQ = 7;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  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;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV4;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief CAN1 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_CAN1_Init(void)
+{
+
+  /* USER CODE BEGIN CAN1_Init 0 */
+
+  /* USER CODE END CAN1_Init 0 */
+
+  /* USER CODE BEGIN CAN1_Init 1 */
+
+  /* USER CODE END CAN1_Init 1 */
+  hcan1.Instance = CAN1;
+  hcan1.Init.Prescaler = 4;
+  hcan1.Init.Mode = CAN_MODE_SILENT;
+  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
+  hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
+  hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
+  hcan1.Init.TimeTriggeredMode = DISABLE;
+  hcan1.Init.AutoBusOff = DISABLE;
+  hcan1.Init.AutoWakeUp = ENABLE;
+  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.ReceiveFifoLocked = DISABLE;
+  hcan1.Init.TransmitFifoPriority = DISABLE;
+  if (HAL_CAN_Init(&hcan1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN CAN1_Init 2 */
+
+  /* USER CODE END CAN1_Init 2 */
+
+}
+
+/**
+  * @brief CAN2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_CAN2_Init(void)
+{
+
+  /* USER CODE BEGIN CAN2_Init 0 */
+
+  /* USER CODE END CAN2_Init 0 */
+
+  /* USER CODE BEGIN CAN2_Init 1 */
+
+  /* USER CODE END CAN2_Init 1 */
+  hcan2.Instance = CAN2;
+  hcan2.Init.Prescaler = 8;
+  hcan2.Init.Mode = CAN_MODE_SILENT;
+  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
+  hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
+  hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
+  hcan2.Init.TimeTriggeredMode = DISABLE;
+  hcan2.Init.AutoBusOff = DISABLE;
+  hcan2.Init.AutoWakeUp = ENABLE;
+  hcan2.Init.AutoRetransmission = DISABLE;
+  hcan2.Init.ReceiveFifoLocked = DISABLE;
+  hcan2.Init.TransmitFifoPriority = DISABLE;
+  if (HAL_CAN_Init(&hcan2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN CAN2_Init 2 */
+
+  /* USER CODE END CAN2_Init 2 */
+
+}
+
+/**
+  * @brief SDIO Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_SDIO_SD_Init(void)
+{
+
+  /* USER CODE BEGIN SDIO_Init 0 */
+
+  /* USER CODE END SDIO_Init 0 */
+
+  /* USER CODE BEGIN SDIO_Init 1 */
+
+  /* USER CODE END SDIO_Init 1 */
+  hsd.Instance = SDIO;
+  hsd.Init.ClockEdge = SDIO_CLOCK_EDGE_RISING;
+  hsd.Init.ClockBypass = SDIO_CLOCK_BYPASS_DISABLE;
+  hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE;
+  hsd.Init.BusWide = SDIO_BUS_WIDE_1B;
+  hsd.Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE;
+  hsd.Init.ClockDiv = 0;
+  if (HAL_SD_Init(&hsd) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN SDIO_Init 2 */
+
+  /* USER CODE END SDIO_Init 2 */
+
+}
+
+/**
+  * Enable DMA controller clock
+  */
+static void MX_DMA_Init(void)
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA2_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA2_Stream3_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
+  /* DMA2_Stream6_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
+
+}
+
+/**
+  * @brief GPIO Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_GPIO_Init(void)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  /* USER CODE BEGIN MX_GPIO_Init_1 */
+
+  /* USER CODE END MX_GPIO_Init_1 */
+
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOH_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5, GPIO_PIN_RESET);
+
+  /*Configure GPIO pins : PC13 PC14 PC15 PC0
+                           PC1 PC2 PC3 PC4
+                           PC5 PC6 PC7 */
+  GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_0
+                          |GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4
+                          |GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : PH0 PH1 */
+  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : PA0 PA1 PA2 PA3
+                           PA4 PA5 PA6 PA7
+                           PA8 PA9 PA10 PA11
+                           PA12 PA13 PA14 PA15 */
+  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3
+                          |GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7
+                          |GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11
+                          |GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /*Configure GPIO pins : PB0 PB1 PB2 PB10
+                           PB11 PB14 PB15 PB6
+                           PB7 */
+  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10
+                          |GPIO_PIN_11|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_6
+                          |GPIO_PIN_7;
+  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /*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;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN MX_GPIO_Init_2 */
+
+  /* USER CODE END MX_GPIO_Init_2 */
+}
+
+/* USER CODE BEGIN 5 */
+
+/* USER CODE END 5 */
+
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM6 interrupt took place, inside
+  * 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
+  * @retval None
+  */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  /* USER CODE BEGIN Callback 0 */
+
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM6)
+  {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
+
+  /* USER CODE END Callback 1 */
+}
+
+/**
+  * @brief  This function is executed in case of error occurrence.
+  * @retval None
+  */
+void Error_Handler(void)
+{
+  /* USER CODE BEGIN Error_Handler_Debug */
+  /* User can add his own implementation to report the HAL error return state */
+  __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);
+
+  while (1)
+  {
+    HAL_GPIO_TogglePin(led_error.port, led_error.pin);
+    HAL_Delay(250);
+  }
+  /* USER CODE END Error_Handler_Debug */
+}
+#ifdef USE_FULL_ASSERT
+/**
+  * @brief  Reports the name of the source file and the source line number
+  *         where the assert_param error has occurred.
+  * @param  file: pointer to the source file name
+  * @param  line: assert_param error line source number
+  * @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 */

LICENSE

@@ -1,38 +0,0 @@
-GNU GENERAL PUBLIC LICENSE
-Version 3, 29 June 2007
-
-Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
-Everyone is permitted to copy and distribute verbatim copies
-of this license document, but changing it is not allowed.
-
-Preamble
-
-The GNU General Public License is a free, copyleft license for
-software and other kinds of works.
-
-The licenses for most software and other practical works are designed
-to take away your freedom to share and change the works. By contrast,
-the GNU General Public License is intended to guarantee your freedom to
-share and change all versions of a program--to make sure it remains free
-software for all its users. We, the Free Software Foundation, use the
-GNU General Public License for most of our software; it applies also to
-any other work released this way by its authors. You can apply it to
-your programs, too.
-
-When we speak of free software, we are referring to freedom, not
-price. Our General Public Licenses are designed to make sure that you
-have the freedom to distribute copies of free software (and charge for
-them if you wish), that you receive source code or can get it if you
-want it, that you can change the software or use pieces of it in new
-free programs, and that you know you can do these things.
-
-To protect your rights, we need to prevent others from denying you
-these rights or asking you to surrender the rights. Therefore, you have
-certain responsibilities if you distribute copies of the software, or if
-you modify it: responsibilities to respect the freedom of others.
-
-For example, if you distribute copies of such a program, whether
-gratis or for a fee, you must pass on to the recipients the same
-freedoms that you received. You must make sure that they, too, receive
-or can get the source code. And you must show them these terms so they
-know their rights.