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
Better way to avoid race condition, only notification lives in CAN task
2026-06-15 14:33:38 +02:00 · 2026-06-15 14:30:35 +02:00 · 2026-06-15 14:27:05 +02:00 · 2026-06-15 14:17:12 +02:00 · 2026-06-15 14:12:47 +02:00 · 2026-06-15 14:11:11 +02:00
2 changed files with 18 additions and 11 deletions
@@ -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 */
@@ -98,13 +98,20 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 void vCANLoggerListen(void *argument)
 {
  /* CODE BEGIN */
-  LEDContext *context = (LEDContext*)argument;
+  CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
+  osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
+  CanMessage_t message;
+
+  HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);

  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 */
+    if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
+	{
+					//
+	}
+  }
+	/* CODE END */
 }
 /* END vCANLoggerListen */

@@ -169,8 +169,6 @@ int main(void)
  /* USER CODE BEGIN RTOS_QUEUES */
  xCAN1RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
  xCAN2RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
-  xLEDHeartbeatCAN1 = osThreadNew(vLEDHeartbeat, &ledContextCAN1, &LEDHeartbeatCAN1Attributes);
-  xLEDHeartbeatCAN2 = osThreadNew(vLEDHeartbeat, &ledContextCAN2, &LEDHeartbeatCAN2Attributes);

  if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL) Error_Handler();
  /* USER CODE END RTOS_QUEUES */
@@ -178,6 +176,8 @@ 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 */
Author	SHA1	Message	Date
eeeck	b737c27b49	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	2026-06-15 14:33:38 +02:00
eeeck	2c14d095f7	Better way to avoid race condition, only notification lives in CAN task - Runs only once - Only critical notification is inside task - CAN message during boot will not be lost, instead put inside FIFO0	2026-06-15 14:30:35 +02:00
eeeck	975acb8c3e	Indentation fixes	2026-06-15 14:27:05 +02:00
eeeck	b1744ce941	Fix double semaphore release	2026-06-15 14:17:12 +02:00
eeeck	c1d2e65e20	Move to RTOS_THREADS - ops...	2026-06-15 14:12:47 +02:00
eeeck	ce85e473b3	Move before starting scheduler to avoid race condition - If a CAN message arrives during boot time ISR will fire and try to put data into xCAN1RxQueue. At that time queue is NULL: calling RTOS APIs on NULL handles will cause a HardFault	2026-06-15 14:11:11 +02:00
eeeck	8c8fe93d5b	Release CANrx semaphore in ISR	2026-06-15 14:09:51 +02:00
eeeck	ab8b68313b	Transition from timer based to task based LED signal - Remove RTOS timers - Create LED task - Avoid polling, instead wait for semaphore	2026-06-15 14:06:51 +02:00