Merge pull request 'Remove complex timer based toggling and switch to RTOS task with semaphore based delay' (#18) from dev-rtos-semaphore into main

Reviewed-on: erickahmed/j1939_logger#18

.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 +1,52 @@
+/* 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;
+} LEDContext;
+/* USER CODE END PTD */
 
 /**
   * @brief  Initializes the CAN logger modules, OS threads, queues, and hardware.
@@ -9,5 +54,8 @@
   * @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
+  * SPDX-License-Identifier: GPL-3.0-or-later
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
   *
   ******************************************************************************
   */
@@ -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 +1,137 @@
+/* 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 */
+extern CAN_HandleTypeDef hcan1;
-osThreadId_t canBus1ListenHandle;
+extern CAN_HandleTypeDef hcan2;
-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,
-};
 
 /* Private function prototypes -----------------------------------------------*/
-void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2){}
+/* USER CODE BEGIN FunctionPrototypes */
-static void CAN_Listen(void *argument){}
+/* BEGIN CAN_Logger_Init */
-
-/* BEGIN Header_CAN_Listen */
 /**
-  * @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();
+    if (HAL_CAN_Start(hcan1) != HAL_OK) Error_Handler();
+
+    filter.FilterBank = 14;
+    if (HAL_CAN_ConfigFilter(hcan2, &filter) != HAL_OK) Error_Handler();
+    if (HAL_CAN_Start(hcan2) != 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
+    }
+
+    osSemaphoreId_t semaphore = (hcan->Instance == CAN1) ? xSemaphoreCAN1 : xSemaphoreCAN2;
+    osSemaphoreRelease(semaphore);
+    /* 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 vCANLoggerListen(void *argument)
-void CAN_Listen(void *argument)
 {
   /* CODE BEGIN */
-  /* Infinite loop */
+  CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
-  for(;;)
+  osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
+  CanMessage_t message;
+
+  HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
+
+  for (;;)
   {
-    osDelay(1);
+    if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
+	{
+					//
+	}
   }
-  /* CODE END */
+	/* 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 */
+    LEDContext *context = (LEDContext*)argument;
+
+    for (;;)
+    {
+      if (osSemaphoreAcquire(context->semaphore, 25U) == osOK) HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_SET);
+      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

@@ -5,30 +5,25 @@
   * @brief          : Main program body
   ******************************************************************************
   * @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
+  * SPDX-License-Identifier: GPL-3.0-or-later
-  * 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 */
-
+#include "canlog.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
 /* USER CODE BEGIN PTD */
-
 /* USER CODE END PTD */
 
 /* Private define ------------------------------------------------------------*/
@@ -50,7 +45,18 @@ 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;
+
+osMessageQueueId_t xCAN1RxQueue;
+osMessageQueueId_t xCAN2RxQueue;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -62,7 +68,6 @@ static void MX_CAN2_Init(void);
 static void MX_SDIO_SD_Init(void);
 
 /* USER CODE BEGIN PFP */
-
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
@@ -103,40 +108,85 @@ int main(void)
   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_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,
+  };
+
+  osThreadId_t xLEDHeartbeatCAN1;
+  const osThreadAttr_t LEDHeartbeatCAN1Attributes = {
+    .name = "LED_HB_CAN1",
+    .stack_size = 128 * 4,
+    .priority = (osPriority_t) osPriorityVeryLow1,
+  };
+
+  osThreadId_t xLEDHeartbeatCAN2;
+  const osThreadAttr_t LEDHeartbeatCAN2Attributes = {
+    .name = "LED_HB_CAN2",
+    .stack_size = 128 * 4,
+    .priority = (osPriority_t) osPriorityVeryLow,
+  };
+  /* USER END RTOS_TASKS */
+
   /* USER CODE BEGIN RTOS_MUTEX */
   /* add mutexes, ... */
   /* USER CODE END RTOS_MUTEX */
 
   /* USER CODE BEGIN RTOS_SEMAPHORES */
-  /* add semaphores, ... */
+  xSemaphoreCAN1 = osSemaphoreNew(32, 0, NULL);
+  xSemaphoreCAN2 = osSemaphoreNew(32, 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 */
-  /* start timers, add new ones, ... */
+  /* add timers, ... */
   /* USER CODE END RTOS_TIMERS */
 
   /* USER CODE BEGIN RTOS_QUEUES */
-  /* add 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 */
-  /* add threads, ... */
+  xCAN1rx = osThreadNew(vCANLoggerListen, &hcan1, &CAN1rxAttributes);
+  xCAN2rx = osThreadNew(vCANLoggerListen, &hcan2, &CAN2rxAttributes);
+  xLEDHeartbeatCAN1 = osThreadNew(vLEDHeartbeat, &ledContextCAN1, &LEDHeartbeatCAN1Attributes);
+  xLEDHeartbeatCAN2 = osThreadNew(vLEDHeartbeat, &ledContextCAN2, &LEDHeartbeatCAN2Attributes);
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
   /* add events, ... */
   /* USER CODE END RTOS_EVENTS */
 
+  /* USER CODE BEGIN 3 */
+  /* USER CODE END 3 */
+
   /* Start scheduler */
   osKernelStart();
 
@@ -148,9 +198,9 @@ int main(void)
   {
     /* USER CODE END WHILE */
 
-    /* USER CODE BEGIN 3 */
+    /* USER CODE BEGIN 4 */
   }
-  /* USER CODE END 3 */
+  /* USER CODE END 4 */
 }
 
 /**
@@ -222,7 +272,7 @@ static void MX_CAN1_Init(void)
   hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = DISABLE;
-  hcan1.Init.AutoWakeUp = DISABLE;
+  hcan1.Init.AutoWakeUp = ENABLE;
   hcan1.Init.AutoRetransmission = DISABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
   hcan1.Init.TransmitFifoPriority = DISABLE;
@@ -259,7 +309,7 @@ static void MX_CAN2_Init(void)
   hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
   hcan2.Init.TimeTriggeredMode = DISABLE;
   hcan2.Init.AutoBusOff = DISABLE;
-  hcan2.Init.AutoWakeUp = DISABLE;
+  hcan2.Init.AutoWakeUp = ENABLE;
   hcan2.Init.AutoRetransmission = DISABLE;
   hcan2.Init.ReceiveFifoLocked = DISABLE;
   hcan2.Init.TransmitFifoPriority = DISABLE;
@@ -400,11 +450,9 @@ static void MX_GPIO_Init(void)
   /* USER CODE END MX_GPIO_Init_2 */
 }
 
-/* USER CODE BEGIN 4 */
+/* USER CODE BEGIN 5 */
-
-/* USER CODE END 4 */
-
 
+/* USER CODE END 5 */
 
 /**
   * @brief  Period elapsed callback in non blocking mode
@@ -437,8 +485,24 @@ 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 */
 }

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.