Put in normal mode to avoid blocking ACK sending

- No transmitter side clock error in this way

Core/Inc/cansend.h

@@ -22,6 +22,7 @@
 
 #include "main.h"
 
+void uart_printf(const char *fmt, ...);
 void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart);
 void vUARTLogger(void *argument);
 

Core/Src/canlog.c

@@ -18,6 +18,7 @@
 #include "main.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "cansend.h"
 #include "cmsis_os.h"
 #include <string.h>
 /* USER CODE END Includes */
@@ -93,10 +94,7 @@ 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 */
 
@@ -116,7 +114,7 @@ void vCANListener(void *argument)
   HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
 
   uint32_t irqn = (hcan->Instance == CAN1) ? CAN1_RX0_IRQn : CAN2_RX0_IRQn;
-  HAL_NVIC_SetPriority(irqn, 6, 0);
+  HAL_NVIC_SetPriority(irqn, 5, 0);
   HAL_NVIC_EnableIRQ(irqn);
 
   for (;;)
@@ -133,7 +131,7 @@ void vCANListener(void *argument)
 
 /* BEGIN vLEDHeartbeat */
 /**
-  * @brief  Blink a LED in heartbeat mode when CAN traffic is detected
+  * @brief  Turn on LED when CAN traffic is detected
   * @param  argument: LED GPIO (port and pin)
   * @retval None
   */

Core/Src/cansend.c

@@ -50,13 +50,16 @@ void uart_printf(const char *fmt, ...)
   {
     if (osKernelGetState() == osKernelRunning && __get_IPSR() == 0)
     {
-      if (osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever) == osOK)
+      if (osSemaphoreAcquire(xUARTDMASemaphore, 100U) == osOK)
       {
         HAL_UART_Transmit(&huart1, (uint8_t*)buf, len, HAL_MAX_DELAY);
         osSemaphoreRelease(xUARTDMASemaphore);
       }
     }
-    else HAL_UART_Transmit(&huart1, (uint8_t*)buf, len, HAL_MAX_DELAY);
+    else
+    {
+      HAL_UART_Transmit(&huart1, (uint8_t*)buf, len, HAL_MAX_DELAY);
+    }
   }
 }
 /* END uart_printf */
@@ -121,22 +124,31 @@ static int format_can_message(char *buf, uint8_t source, const CanMessage_t *mes
   */
 void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
 {
-  if (huart->Instance == USART1)
-  {
-    osSemaphoreRelease(xUARTDMASemaphore);
-  }
+  if (huart->Instance == USART1) osSemaphoreRelease(xUARTDMASemaphore);
 }
 /* END HAL_UART_TxCpltCallback */
 
 /* BEGIN HAL_UART_ErrorCallback */
-/**
-  * @brief  Safely release UART semaphore inside ISR and yield task if possible.
+/**``MEN
+  * @brief  Handle UART errors
   * @param  argument: UART handle
   * @retval None
   */
 void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
 {
-  if (huart->Instance == USART1) osSemaphoreRelease(xUARTDMASemaphore);
+  if (huart->Instance == USART1)
+  {
+    __HAL_UART_CLEAR_OREFLAG(huart);
+    __HAL_UART_CLEAR_FEFLAG(huart);
+    __HAL_UART_CLEAR_NEFLAG(huart);
+    __HAL_UART_CLEAR_PEFLAG(huart);
+
+    HAL_UART_DMAStop(huart);
+
+    huart->gState = HAL_UART_STATE_READY;
+
+    osSemaphoreRelease(xUARTDMASemaphore);
+  }
 }
 /* END HAL_UART_ErrorCallback */
 
@@ -149,15 +161,23 @@ void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
 void vUARTLogger(void *argument)
 {
   CanMessage_t message;
-  char tx_buffer[45];
+  static 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 (;;)
   {
-    DEBUG_PRINT("[D] Waiting for CAN traffic...\r\n");
-
-    if (osMessageQueueGet(xUARTQueue, &message, NULL, osWaitForever) == osOK)
+    if (osMessageQueueGet(xUARTQueue, &message, NULL, 1000U) == osOK)
     {
-      if (osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever) == osOK)
+      if (osSemaphoreAcquire(xUARTDMASemaphore, 100U) == osOK)
       {
         int len = format_can_message(tx_buffer, message.source, &message);
 
@@ -167,7 +187,9 @@ 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_GPIO_Init();
   MX_DMA_Init();
+  MX_GPIO_Init();
+  MX_USART1_UART_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);
@@ -196,6 +196,9 @@ int main(void)
   xUartTask = osThreadNew(vUARTLogger, NULL, &UartLoggerAttributes);
   xCAN1LedTask = osThreadNew(vLEDHeartbeat, &led_can1, &LEDHeartbeatCAN1Attributes);
   xCAN2LedTask = osThreadNew(vLEDHeartbeat, &led_can2, &LEDHeartbeatCAN2Attributes);
+
+  if (xCAN1rxTask == NULL || xCAN2rxTask == NULL || xUartTask == NULL ||
+      xCAN1LedTask == NULL || xCAN2LedTask == NULL) Error_Handler();
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
@@ -282,7 +285,7 @@ static void MX_CAN1_Init(void)
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
   hcan1.Init.Prescaler = 4;
-  hcan1.Init.Mode = CAN_MODE_SILENT;
+  hcan1.Init.Mode = CAN_MODE_NORMAL;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
   hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
@@ -319,7 +322,7 @@ static void MX_CAN2_Init(void)
   /* USER CODE END CAN2_Init 1 */
   hcan2.Instance = CAN2;
   hcan2.Init.Prescaler = 8;
-  hcan2.Init.Mode = CAN_MODE_SILENT;
+  hcan2.Init.Mode = CAN_MODE_NORMAL;
   hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
   hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
@@ -391,7 +394,7 @@ static void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 1152000;
+  huart1.Init.BaudRate = 1000000;
   huart1.Init.WordLength = UART_WORDLENGTH_8B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_NONE;
@@ -498,6 +501,22 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+  //*Configure CAN1 pins : PB8, PB9 */
+  GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+  GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  //*Configure CAN2 pins : PB12, PB13 */
+  GPIO_InitStruct.Pin = GPIO_PIN_12 | GPIO_PIN_13;
+  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+  GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
   /* USER CODE BEGIN MX_GPIO_Init_2 */
   DEBUG_PRINT("[L] GPIO initialized\r\n");
   /* USER CODE END MX_GPIO_Init_2 */
@@ -538,25 +557,28 @@ void Error_Handler(void)
 
   /* USER CODE BEGIN Error_Handler_Debug */
   /* User can add his own implementation to report the HAL error return state */
+  if (HAL_CAN_GetState(&hcan1) != HAL_CAN_STATE_READY)
+  {
+    DEBUG_PRINT("[E] CAN1 error code: 0x%08lX\r\n", (unsigned long)HAL_CAN_GetError(&hcan1));
+  }
+  if (HAL_CAN_GetState(&hcan2) != HAL_CAN_STATE_READY)
+  {
+    DEBUG_PRINT("[E] CAN2 error code: 0x%08lX\r\n", (unsigned long)HAL_CAN_GetError(&hcan2));
+  }
+
+  // TODO: write error to SD
+
+  /* Disabling interrupts here (after reporting above) freezes the FreeRTOS
+     scheduler for good, since it relies on SysTick/PendSV. */
   __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);
+      HAL_GPIO_TogglePin(led_error.port, led_error.pin);
+      for(volatile uint32_t i = 0; i < 4000000; i++);
   }
   /* USER CODE END Error_Handler_Debug */
 }

Core/Src/stm32f4xx_it.c

@@ -41,7 +41,8 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
-
+extern CAN_HandleTypeDef hcan1;
+extern CAN_HandleTypeDef hcan2;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -250,4 +251,20 @@ void DMA2_Stream7_IRQHandler(void)
 
 /* USER CODE BEGIN 1 */
 
+/**
+  * @brief This function handles CAN1 RX0 interrupt.
+  */
+void CAN1_RX0_IRQHandler(void)
+{
+  HAL_CAN_IRQHandler(&hcan1);
+}
+
+/**
+  * @brief This function handles CAN2 RX0 interrupt.
+  */
+void CAN2_RX0_IRQHandler(void)
+{
+  HAL_CAN_IRQHandler(&hcan2);
+}
+
 /* USER CODE END 1 */