Add timeout to LED heartbeat thread flags

- The logger should be more universal, while the data parser should
  focus on the protocol specs

COPYRIGHT.md

@@ -1,15 +1,15 @@
-# Third-Party Notices
+# Copyright Notices
 
 This project is built with open source components and includes third-party software:
 
 ## 1. Original Application Code
 - **Copyright (c) 2026 Erick Ahmed**
-- **License:** [GNU General Public License v3.0](https://git.erickahmed.com/erickahmed/bxcan-logger/src/branch/main/LICENSE.txt)
+- **License:** [GNU General Public License v3.0 or later](https://git.erickahmed.com/erickahmed/CANdigger/src/branch/main/LICENSE)
 
 ## 2. STM32F4 HAL Drivers
 - **Copyright (c) 2016 STMicroelectronics**
-- **License:** [BSD 3-Clause License](https://git.erickahmed.com/erickahmed/bxcan-logger/src/branch/main/Drivers/STM32F4xx_HAL_Driver/LICENSE.txt)
+- **License:** [BSD 3-Clause License](https://git.erickahmed.com/erickahmed/CANdigger/src/branch/main/Drivers/STM32F4xx_HAL_Driver/LICENSE.txt)
 
 ## 3. STM32 CMSIS
 - **Copyright (c) 2017 STMicroelectronics**
-- **License:** [Apache License 2.0](https://git.erickahmed.com/erickahmed/bxcan-logger/src/branch/main/Drivers/CMSIS/LICENSE.txt)
+- **License:** [Apache License 2.0](https://git.erickahmed.com/erickahmed/CANdigger/src/branch/main/Drivers/CMSIS/LICENSE.txt)

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 */
@@ -72,11 +73,15 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
     osMessageQueueId_t queue;
     osThreadId_t led_task;
 
-    // TODO: manage the case of FIFO overflow
+    if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0) != RESET) __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
+
     if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) return;
 
+    if (rxHeader.DLC > 8) return;
+
     if (rxHeader.IDE == CAN_ID_EXT) message.id = rxHeader.ExtId;
     else message.id = rxHeader.StdId;
+
     message.dlc = rxHeader.DLC;
     message.isExtended = (rxHeader.IDE == CAN_ID_EXT);
     message.source = (hcan->Instance == CAN1) ? 1 : 2;
@@ -113,24 +118,19 @@ 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 (;;)
   {
-    if (osMessageQueueGet(queue, &message, NULL, 1000) == osOK)
+    if (osMessageQueueGet(queue, &message, NULL, 1000) == osOK) osMessageQueuePut(xUARTQueue, &message, 0U, 0U);
-    {
-          // J1939 decoding
-
-      osMessageQueuePut(xUARTQueue, &message, 0U, 0U);
-    }
   }
 }
 /* END vCANListener */
 
 /* 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

@@ -40,26 +40,28 @@ extern osSemaphoreId_t xUARTDMASemaphore;
   */
 void uart_printf(const char *fmt, ...)
 {
-  static char buf[128];
+  if (__get_IPSR() != 0) return;
+
+  char buffer[128];
   va_list args;
   va_start(args, fmt);
-  int len = vsnprintf(buf, sizeof(buf), fmt, args);
+
+  int len = vsnprintf(buffer, sizeof(buffer), fmt, args);
   va_end(args);
 
   if (len > 0)
   {
-    if (osKernelGetState() == osKernelRunning && __get_IPSR() == 0)
+    if (len >= sizeof(buffer)) len = sizeof(buffer) - 1;
+
+    if (osKernelGetState() == osKernelRunning)
     {
       if (osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever) == osOK)
       {
-        HAL_UART_Transmit(&huart1, (uint8_t*)buf, len, HAL_MAX_DELAY);
+        HAL_UART_Transmit(&huart1, (uint8_t*)buffer, len, HAL_MAX_DELAY);
         osSemaphoreRelease(xUARTDMASemaphore);
       }
     }
-    else
+    else HAL_UART_Transmit(&huart1, (uint8_t*)buffer, len, HAL_MAX_DELAY);
-    {
-      HAL_UART_Transmit(&huart1, (uint8_t*)buf, len, HAL_MAX_DELAY);
-    }
   }
 }
 /* END uart_printf */
@@ -70,49 +72,49 @@ void uart_printf(const char *fmt, ...)
   * @param  arguments: buffer, source, message
   * @retval None
   */
-static int format_can_message(char *buf, uint8_t source, const CanMessage_t *message)
+static int format_can_message(char *buffer, uint8_t source, const CanMessage_t *message)
 {
   const char hex[] = "0123456789ABCDEF";
 
-  buf[0] = 'C';
+  buffer[0] = 'C';
-  buf[1] = (source == 1) ? '1' : '2';
+  buffer[1] = (source == 1) ? '1' : '2';
-  buf[2] = ':';
+  buffer[2] = ':';
 
-  buf[3]  = hex[(message->id >> 28) & 0x0F];
+  buffer[3]  = hex[(message->id >> 28) & 0x0F];
-  buf[4]  = hex[(message->id >> 24) & 0x0F];
+  buffer[4]  = hex[(message->id >> 24) & 0x0F];
-  buf[5]  = hex[(message->id >> 20) & 0x0F];
+  buffer[5]  = hex[(message->id >> 20) & 0x0F];
-  buf[6]  = hex[(message->id >> 16) & 0x0F];
+  buffer[6]  = hex[(message->id >> 16) & 0x0F];
-  buf[7]  = hex[(message->id >> 12) & 0x0F];
+  buffer[7]  = hex[(message->id >> 12) & 0x0F];
-  buf[8]  = hex[(message->id >> 8) & 0x0F];
+  buffer[8]  = hex[(message->id >> 8) & 0x0F];
-  buf[9]  = hex[(message->id >> 4) & 0x0F];
+  buffer[9]  = hex[(message->id >> 4) & 0x0F];
-  buf[10] = hex[message->id & 0x0F];
+  buffer[10] = hex[message->id & 0x0F];
 
-  buf[11] = ' ';
+  buffer[11] = ' ';
-  buf[12] = hex[(message->dlc >> 4) & 0x0F];
+  buffer[12] = hex[(message->dlc >> 4) & 0x0F];
-  buf[13] = hex[message->dlc & 0x0F];
+  buffer[13] = hex[message->dlc & 0x0F];
-  buf[14] = ' ';
+  buffer[14] = ' ';
 
-  int idx = 15;
+  int index = 15;
   for (int i = 0; i < 8; i++)
   {
     if (i < message->dlc)
     {
-      buf[idx++] = hex[(message->payload[i] >> 4) & 0x0F];
+      buffer[index++] = hex[(message->payload[i] >> 4) & 0x0F];
-      buf[idx++] = hex[message->payload[i] & 0x0F];
+      buffer[index++] = hex[message->payload[i] & 0x0F];
     }
     else
     {
-      buf[idx++] = ' ';
+      buffer[index++] = ' ';
-      buf[idx++] = ' ';
+      buffer[index++] = ' ';
     }
-    if (i < 7) buf[idx++] = ' ';
+    if (i < 7) buffer[index++] = ' ';
   }
 
-  buf[idx++] = '\r';
+  buffer[index++] = '\r';
-  buf[idx++] = '\n';
+  buffer[index++] = '\n';
-  buf[idx] = '\0';
+  buffer[index] = '\0';
 
-  return idx;
+  return index;
 }
 /* END format_can_message */
 
@@ -124,22 +126,31 @@ 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)
+  if (huart->Instance == USART1) osSemaphoreRelease(xUARTDMASemaphore);
-  {
-    osSemaphoreRelease(xUARTDMASemaphore);
-  }
 }
 /* END HAL_UART_TxCpltCallback */
 
 /* BEGIN HAL_UART_ErrorCallback */
-/**
+/**``MEN
-  * @brief  Safely release UART semaphore inside ISR and yield task if possible.
+  * @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 */
 
@@ -152,7 +163,7 @@ 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 = {
@@ -166,19 +177,9 @@ void vUARTLogger(void *argument)
 
   for (;;)
   {
-	uint32_t queue_timeout = 2500U;
+    if (osMessageQueueGet(xUARTQueue, &message, NULL, osWaitForever) == osOK)
-
+    {
-	//#ifdef DEBUG_DUMMY_FRAME
+      if (osSemaphoreAcquire(xUARTDMASemaphore, 100U) == osOK)
-    //uint32_t queue_timeout = 100U;
-    //osMessageQueuePut(xUARTQueue, &dummy_frame, 0U, 0U);
-    //osDelay(500);
-    //#else
-    //uint32_t queue_timeout = osWaitForever;
-   // #endif
-
-   	if (osMessageQueueGet(xUARTQueue, &message, NULL, queue_timeout) == osOK)
-	{
-      if (osSemaphoreAcquire(xUARTDMASemaphore, queue_timeout) == osOK)
       {
         int len = format_can_message(tx_buffer, message.source, &message);
 

Core/Src/main.c

@@ -127,9 +127,9 @@ int main(void)
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
-  MX_USART1_UART_Init();
-  MX_GPIO_Init();
   MX_DMA_Init();
+  MX_GPIO_Init();
+  MX_USART1_UART_Init();
   MX_CAN1_Init();
   MX_CAN2_Init();
   MX_SDIO_SD_Init();
@@ -183,9 +183,9 @@ int main(void)
   /* USER CODE END RTOS_TIMERS */
 
   /* USER CODE BEGIN RTOS_QUEUES */
-  xCAN1RxQueue = osMessageQueueNew(64, sizeof(CanMessage_t), NULL);
+  xCAN1RxQueue = osMessageQueueNew(2048, sizeof(CanMessage_t), NULL);
-  xCAN2RxQueue = osMessageQueueNew(64, sizeof(CanMessage_t), NULL);
+  xCAN2RxQueue = osMessageQueueNew(2048, sizeof(CanMessage_t), NULL);
-  xUARTQueue = osMessageQueueNew(128, sizeof(CanMessage_t), NULL);
+  xUARTQueue = osMessageQueueNew(4096, sizeof(CanMessage_t), NULL);
 
   if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL || xUARTQueue == NULL) Error_Handler();
   /* USER CODE END RTOS_QUEUES */
@@ -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_GPIO_TogglePin(led_error.port, led_error.pin);
-    HAL_Delay(250);
+      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 */

can-logger Debug.launch

@@ -15,7 +15,7 @@
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/can-logger.elf&quot;,&quot;fProjectName&quot;:&quot;can-logger&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;/Users/erickahmed/TESI/j1939-can-logger_NEW/can-logger/can-logger/Debug/can-logger.elf&quot;,&quot;fProjectName&quot;:&quot;can-logger&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
     <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.mode" value="0"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.multi_drop_enabled" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
@@ -74,9 +74,9 @@
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
     <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/can-logger.elf"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="/Users/erickahmed/TESI/j1939-can-logger_NEW/can-logger/can-logger/Debug/can-logger.elf"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="can-logger"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
+    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.642969664"/>
     <booleanAttribute key="org.eclipse.debug.core.ATTR_FORCE_SYSTEM_CONSOLE_ENCODING" value="false"/>
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">