Read CAN messages from FIFO buffer

Core/Inc/canlog.h

@@ -24,6 +24,10 @@
 
 #include "main.h"
 
+/* Decladerations for queues */
+extern osMessageQueueId_t xCAN1RxQueue;
+extern osMessageQueueId_t xCAN2RxQueue;
+
 /* Decladerations for thread handles and attributes */
 extern osThreadId_t vCAN1_rx;
 extern osThreadId_t vCAN2_rx;
@@ -41,6 +45,7 @@ extern const osThreadAttr_t vLED_CAN2_Heartbeat_attributes;
   * @param  hcan2 Pointer to the CAN2 handle
   */
 void vCANLoggerInit(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2);
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
 void vCANLoggerListen(void *argument);
 void vLEDHeartbeat(void *argument);
 

Core/Src/canlog.c

@@ -55,9 +55,43 @@ void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
 
     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 */
 
+/* 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) Error_Handler();
+    // TODO: better handling: flash error_led on osTimeout, call Error_Handler() when other errors
+
+    // Issue #1: set an event flag for led task
+    // osEventFlagsSet(xCanEventFlags, (hcan->Instance == CAN1) ? 0x01 : 0x02);
+
+    /* CODE END */
+}
+/* END HAL_CAN_RxFifo0MsgPendingCallback */
+
 /* BEGIN vCANLoggerListen */
 /**
   * @brief  Log incoming CAN bus traffic in FIFO buffer
@@ -67,10 +101,19 @@ void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
 void vCANLoggerListen(void *argument)
 {
     /* CODE BEGIN */
-    /* Infinite loop */
+    CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
-    for(;;)
+    osMessageQueueId_t queue;
+    CanMessage_t message;
+
+    queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
+
+    for (;;)
     {
-      osDelay(1);
+        if (osMessageQueueGet(queue, &msg, NULL, osWaitForever) == osOK)
+        {
+            // TODO: parse message send message to serial/uart
+            // TODO: add rtos semaphore to blink the LED with the timer already set
+        }
     }
     /* CODE END */
 }

Core/Src/main.c

@@ -79,8 +79,6 @@ static void MX_CAN2_Init(void);
 static void MX_SDIO_SD_Init(void);
 
 /* USER CODE BEGIN PFP */
-void vCANLoggerListen(void *argument);
-void vLEDHeartbeat(void *argument);
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
@@ -154,15 +152,22 @@ int main(void)
 
   /* USER CODE BEGIN RTOS_TIMERS */
   xHeartbeatTimerCAN1 = osTimerNew(vLEDHeartbeat, osTimerPeriodic, &led_can1, NULL);
-  if (xHeartbeatTimerCAN1 != NULL) osTimerStart(xHeartbeatTimerCAN1, 250U);
+  osTimerStart(xHeartbeatTimerCAN1, 250U);
 
   xHeartbeatTimerCAN2 = osTimerNew(vLEDHeartbeat, osTimerPeriodic, &led_can2, NULL);
-  if (xHeartbeatTimerCAN2 != NULL) osTimerStart(xHeartbeatTimerCAN2, 250U);
+  osTimerStart(xHeartbeatTimerCAN2, 250U);
+
+  if (xHeartbeatTimerCAN1 == NULL || xHeartbeatTimerCAN2 == NULL) Error_Handler();
   /* USER CODE END RTOS_TIMERS */
 
   /* USER CODE BEGIN RTOS_QUEUES */
-  QueueHandle_t xCAN1rxQueue;
+  osMessageQueueId_t xCAN1RxQueue;
-  QueueHandle_t xCAN2rxQueue;
+  xCAN1RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
+
+  osMessageQueueId_t xCAN2RxQueue;
+  xCAN2RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
+
+  if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL) Error_Handler();
   /* USER CODE END RTOS_QUEUES */
 
   /* USER CODE BEGIN RTOS_THREADS */