Change define name

- "DEBUG" is also used by STM32 for... something...

Core/Inc/main.h

@@ -45,8 +45,10 @@ extern "C" {
 
 /* Exported macro ------------------------------------------------------------*/
 /* USER CODE BEGIN EM */
-#define DEBUG
-#ifdef DEBUG
+#define DEBUG_ITM
+#define DEBUG_DUMMY_FRAME
+
+#ifdef DEBUG_ITM
 #include <stdio.h>
 #define DEBUG_PRINT(...) printf(__VA_ARGS__)
 #else

Core/Src/canlog.c

@@ -51,9 +51,11 @@ 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(hcan2) != HAL_OK) Error_Handler();
 }
 /* END CAN_Logger_Init */
 
@@ -75,8 +77,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
     // TODO: manage the case of FIFO overflow
     if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) return;
 
-    if (rxHeader.IDE == CAN_ID_EXT) message.id = rxHeader.ExtId;
-    else message.id = rxHeader.StdId;
+    message.id = rxHeader.ExtId;
     message.dlc = rxHeader.DLC;
     message.isExtended = (rxHeader.IDE == CAN_ID_EXT);
     message.source = (hcan->Instance == CAN1) ? 1 : 2;
@@ -112,21 +113,19 @@ void vCANListener(void *argument)
   osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
   CanMessage_t message;
 
-  if (HAL_CAN_Start(hcan) != HAL_OK) Error_Handler();
   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_EnableIRQ(irqn);
-
   for (;;)
   {
-    if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
+    if (osMessageQueueGet(queue, &message, NULL, 1000) == osOK)
     {
           // J1939 decoding
 
+          // RELAY: Push to the UART queue
       osMessageQueuePut(xUARTQueue, &message, 0U, 0U);
     }
+    else DEBUG_PRINT("No CAN yet!\r\n");
+
   }
 }
 /* END vCANListener */

Core/Src/cansend.c

@@ -104,23 +104,36 @@ void vUARTLogger(void *argument)
     CanMessage_t message;
     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("Waiting for CAN traffic...\r\n");
+
+    #ifdef DEBUG_DUMMY_FRAME
+    osMessageQueuePut(xUARTQueue, &dummy_frame, 0U, 0U);
+    osDelay(1000);
+    #endif
+
+    if (osMessageQueueGet(xUARTQueue, &message, NULL, osWaitForever) == osOK)
     {
       DEBUG_PRINT("Waiting for CAN traffic...\r\n");
       if (osMessageQueueGet(xUARTQueue, &message, NULL, osWaitForever) == osOK)
       {
-      osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever);
+        DEBUG_PRINT("CAN frame detected\r\n");
         int len = format_can_message(tx_buffer, message.source, &message);
-
-      if (HAL_UART_Transmit_DMA(&huart1, (uint8_t*)tx_buffer, len) == HAL_OK)
-      {
+        HAL_UART_Transmit_DMA(&huart1, (uint8_t*)tx_buffer, len);
+        osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever);
         DEBUG_PRINT("CAN frame sent via UART\r\n");
       }
-      else
-      {
-        osSemaphoreRelease(xUARTDMASemaphore);
-        DEBUG_PRINT("HAL error, CAN frame NOT sent!\r\n");
-      }
     }
   }
 }

Core/Src/main.c

@@ -77,7 +77,10 @@ static void MX_SDIO_SD_Init(void);
 static void MX_USART1_UART_Init(void);
 
 /* USER CODE BEGIN PFP */
-int _write(int file, char *ptr, int len) for (int i = 0; i < len; i++) ITM_SendChar((*ptr++));
+int _write(int file, char *ptr, int len) {
+ for (int i = 0; i < len; i++) {
+ ITM_SendChar((*ptr++));
+ }
  return len;
 }
 /* USER CODE END PFP */
@@ -95,14 +98,10 @@ int main(void)
 {
 
   /* USER CODE BEGIN 1 */
-  if (CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk)
-  {
   CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
   ITM->LAR = 0xC5ACCE55;
   ITM->TER = 1 << 0;
   ITM->TCR = ITM_TCR_ITMENA_Msk | ITM_TCR_SYNCENA_Msk | ITM_TCR_SWOENA_Msk;
-  }
-
   DEBUG_PRINT("Booting system\r\n");
   /* USER CODE END 1 */
 
@@ -172,7 +171,7 @@ int main(void)
   /* USER CODE END RTOS_MUTEX */
 
   /* USER CODE BEGIN RTOS_SEMAPHORES */
-  xUARTDMASemaphore = osSemaphoreNew(1, 1, NULL);
+  xUARTDMASemaphore = osSemaphoreNew(1, 0, NULL);
   if (xUARTDMASemaphore == NULL) Error_Handler();
   /* USER CODE END RTOS_SEMAPHORES */
 
@@ -278,7 +277,7 @@ static void MX_CAN1_Init(void)
 
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 8;
+  hcan1.Init.Prescaler = 4;
   hcan1.Init.Mode = CAN_MODE_SILENT;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
@@ -315,7 +314,7 @@ static void MX_CAN2_Init(void)
 
   /* USER CODE END CAN2_Init 1 */
   hcan2.Instance = CAN2;
-  hcan2.Init.Prescaler = 16;
+  hcan2.Init.Prescaler = 8;
   hcan2.Init.Mode = CAN_MODE_SILENT;
   hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;