Fix allocation on wrong line

Reviewed-on: erickahmed/j1939_logger#18

Core/Inc/canlog.h

@@ -45,7 +45,6 @@ typedef struct {
 typedef struct {
     LED_Config *led;
     osSemaphoreId_t semaphore;
-    osTimerId_t timer;
 } LEDContext;
 /* USER CODE END PTD */
 

Core/Src/canlog.c

@@ -47,14 +47,11 @@ void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
 
     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(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 */
 
@@ -85,6 +82,9 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 
         // send errors like queue full via UART
     }
+
+    osSemaphoreId_t semaphore = (hcan->Instance == CAN1) ? xSemaphoreCAN1 : xSemaphoreCAN2;
+    osSemaphoreRelease(semaphore);
     /* CODE END */
 }
 /* END HAL_CAN_RxFifo0MsgPendingCallback */
@@ -97,23 +97,21 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
   */
 void vCANLoggerListen(void *argument)
 {
-    /* CODE BEGIN */
-    CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
-    osMessageQueueId_t queue;
-    CanMessage_t message;
+  /* CODE BEGIN */
+  CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
+  osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
+  CanMessage_t message;
 
-    queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
+  HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
 
-    for (;;)
-    {
-        if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
-        {
-            osSemaphoreRelease( (hcan->Instance == CAN1) ? xSemaphoreCAN1 : xSemaphoreCAN2 );
-            // TODO: use this semaphore
-        }
-
-    }
-    /* CODE END */
+  for (;;)
+  {
+    if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
+	{
+					//
+	}
+  }
+	/* CODE END */
 }
 /* END vCANLoggerListen */
 
@@ -125,19 +123,15 @@ void vCANLoggerListen(void *argument)
   */
 void vLEDHeartbeat(void *argument)
 {
-  /* CODE BEGIN */
-  LEDContext *context = (LEDContext*)argument;
+    /* CODE BEGIN */
+    LEDContext *context = (LEDContext*)argument;
 
-  if (osSemaphoreAcquire(context->semaphore, 0U) == osOK)
-  {
-      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 */
+    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/main.c

@@ -28,12 +28,28 @@
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
-
+#define CAN_QUEUE_DEPTH 32
+#define CAN_TASK_STACK_WORDS 128
+#define CAN_QUEUE_CB_SIZE 128
+#define CAN_MSG_SIZE sizeof(CanMessage_t)
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
 /* USER CODE BEGIN PM */
+//CCRAM: stack; control bank; queue memory
+__attribute__((section(".ccmram")))
+StackType_t xCAN1_Stack[CAN_TASK_STACK_WORDS];
+__attribute__((section(".ccmram"), aligned(4)))
+uint8_t can1_queue_cb[CAN_QUEUE_CB_SIZE];
+__attribute__((section(".ccmram"), aligned(4)))
+uint8_t can1_queue_mq[CAN_QUEUE_DEPTH * CAN_MSG_SIZE];
 
+__attribute__((section(".ccmram")))
+StackType_t xCAN2_Stack[CAN_TASK_STACK_WORDS];
+__attribute__((section(".ccmram"), aligned(4)))
+uint8_t can2_queue_cb[CAN_QUEUE_CB_SIZE];
+__attribute__((section(".ccmram"), aligned(4)))
+uint8_t can2_queue_mq[CAN_QUEUE_DEPTH * CAN_MSG_SIZE];
 /* USER CODE END PM */
 
 /* Private variables ---------------------------------------------------------*/
@@ -55,9 +71,6 @@ LEDContext ledContextCAN2;
 osSemaphoreId_t xSemaphoreCAN1;
 osSemaphoreId_t xSemaphoreCAN2;
 
-osTimerId_t xHeartbeatTimerCAN1;
-osTimerId_t xHeartbeatTimerCAN2;
-
 osMessageQueueId_t xCAN1RxQueue;
 osMessageQueueId_t xCAN2RxQueue;
 /* USER CODE END PV */
@@ -123,15 +136,36 @@ int main(void)
   osThreadId_t xCAN1rx;
   const osThreadAttr_t CAN1rxAttributes = {
     .name = "CAN1rx",
-    .stack_size = 128 * 4,
+    .stack_size = sizeof(xCAN1_Stack),
     .priority = (osPriority_t) osPriorityRealtime1,
   };
+
   osThreadId_t xCAN2rx;
   const osThreadAttr_t CAN2rxAttributes = {
     .name = "CAN2rx",
-    .stack_size = 128 * 4,
+    .cb_mem = NULL,
+    .cb_size = 0U,
+    .stack_mem = xCAN2_Stack,
+    .stack_size = sizeof(xCAN2_Stack),
     .priority = (osPriority_t) osPriorityRealtime,
   };
+
+  osThreadId_t xLEDHeartbeatCAN1;
+  const osThreadAttr_t LEDHeartbeatCAN1Attributes = {
+    .name = "LED_HB_CAN1",
+    .cb_mem = NULL,
+    .cb_size = 0U,
+    .stack_mem = xCAN2_Stack,
+    .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 */
@@ -139,8 +173,8 @@ int main(void)
   /* USER CODE END RTOS_MUTEX */
 
   /* USER CODE BEGIN RTOS_SEMAPHORES */
-  xSemaphoreCAN1 = osSemaphoreNew(10, 0, NULL);
-  xSemaphoreCAN2 = osSemaphoreNew(10, 0, NULL);
+  xSemaphoreCAN1 = osSemaphoreNew(CAN_QUEUE_DEPTH, 0, NULL);
+  xSemaphoreCAN2 = osSemaphoreNew(CAN_QUEUE_DEPTH, 0, NULL);
 
   if (xSemaphoreCAN1 == NULL || xSemaphoreCAN2 == NULL) Error_Handler();
 
@@ -151,21 +185,28 @@ int main(void)
   /* 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;
+  /* add timers, ... */
   /* USER CODE END RTOS_TIMERS */
 
   /* USER CODE BEGIN RTOS_QUEUES */
-  xCAN1RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
-  xCAN2RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
+  const osMessageQueueAttr_t can1_queue_attr = {
+      .name = "CAN1_Q",
+      .cb_mem = can1_queue_cb,
+      .cb_size = sizeof(can1_queue_cb),
+      .mq_mem = can1_queue_mq,
+      .mq_size = sizeof(can1_queue_mq)
+  };
+
+  const osMessageQueueAttr_t can2_queue_attr = {
+      .name = "CAN2_Q",
+      .cb_mem = can2_queue_cb,
+      .cb_size = sizeof(can2_queue_cb),
+      .mq_mem = can2_queue_mq,
+      .mq_size = sizeof(can2_queue_mq)
+  };
+
+  xCAN1RxQueue = osMessageQueueNew(CAN_QUEUE_DEPTH, sizeof(CanMessage_t), &can1_queue_attr);
+  xCAN2RxQueue = osMessageQueueNew(CAN_QUEUE_DEPTH, sizeof(CanMessage_t), &can2_queue_attr);
 
   if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL) Error_Handler();
   /* USER CODE END RTOS_QUEUES */
@@ -173,6 +214,8 @@ int main(void)
   /* USER CODE BEGIN RTOS_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 */
@@ -180,13 +223,6 @@ int main(void)
   /* 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 */