Add license notice

This file was orignally added in v0.0.1, somehow messed up git history and it got deleted. This is a reupload

Core/Inc/main.h

@@ -26,11 +26,11 @@ extern "C" {
 
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f4xx_hal.h"
-#include "canlog.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include <stdint.h>
+#include "canlog.h"
 /* USER CODE END Includes */
 
 /* Exported types ------------------------------------------------------------*/
@@ -45,7 +45,15 @@ extern "C" {
 
 /* Exported macro ------------------------------------------------------------*/
 /* USER CODE BEGIN EM */
+//#define DEBUG_ITM
+//#define DEBUG_DUMMY_FRAME
 
+#ifdef DEBUG_ITM
+#include <stdio.h>
+#define DEBUG_PRINT(...) printf(__VA_ARGS__)
+#else
+#define DEBUG_PRINT(...)
+#endif
 /* USER CODE END EM */
 
 /* Exported functions prototypes ---------------------------------------------*/

Core/Inc/stm32f4xx_it.h

@@ -52,10 +52,12 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void USART1_IRQHandler(void);
 void SDIO_IRQHandler(void);
 void TIM6_DAC_IRQHandler(void);
 void DMA2_Stream3_IRQHandler(void);
 void DMA2_Stream6_IRQHandler(void);
+void DMA2_Stream7_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

Core/Src/ThreadSafe/newlib_lock_glue.c

@@ -1,435 +0,0 @@
-/**
-  ******************************************************************************
-  * @file      newlib_lock_glue.c
-  * @author    STMicroelectronics
-  * @brief     Implementation of newlib lock interface
-  *
-  * @details   This file implements locking glue necessary to protect C library
-  *            functions and initialization of local static objects in C++.
-  *            Lock strategies are defined in stm32_lock.h that implements
-  *            different level of thread-safety.
-  *
-  *            For more information about which C functions need which of these
-  *            low level functions, please consult the newlib libc manual,
-  *            see https://sourceware.org/newlib/libc.html
-  *
-  *            For more information about the one-time construction API for C++,
-  *            see https://itanium-cxx-abi.github.io/cxx-abi/abi.html#once-ctor
-  *
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-
-#if !defined (__GNUC__) || defined (__CC_ARM)
-#error "newlib_lock_glue.c" should be used with GNU Compilers only
-#endif /* !defined (__GNUC__) || defined (__CC_ARM) */
-
-/* Includes ------------------------------------------------------------------*/
-#include <cmsis_compiler.h>
-
-/* Private functions prototypes ----------------------------------------------*/
-__WEAK void Error_Handler(void);
-/* Private functions ---------------------------------------------------------*/
-
-/**
-  * @brief Global Error_Handler
-  */
-__WEAK void Error_Handler(void)
-{
-  /* Not used if it exists in project */
-  while (1);
-}
-
-#ifdef __SINGLE_THREAD__
-#warning C library is in single-threaded mode. Please take care when using C library functions in threaded contexts
-#else
-
-/* Includes ------------------------------------------------------------------*/
-#include <newlib.h>
-#include <stdatomic.h>
-#include "stm32_lock.h"
-
-/**
-  * @defgroup _newlib_lock_functions newlib library locks
-  * @see https://sourceware.org/newlib/libc.html
-  * @{
-  */
-
-#if __NEWLIB__ >= 3 && defined (_RETARGETABLE_LOCKING)
-#include <errno.h>
-#include <stdlib.h>
-#include <sys/lock.h>
-
-/* Private macros ------------------------------------------------------------*/
-/** See struct __lock definition */
-#define STM32_LOCK_PARAMETER(lock) (&(lock)->lock_data)
-
-/* shared variables for bare metal allow lock ------------------------------------------------------*/
-#if defined(STM32_THREAD_SAFE_BAREMETAL_ALLOW_LOCKS) && (STM32_THREAD_SAFE_BAREMETAL_ALLOW_LOCKS != 0)
-uint32_t gflag = 0;
-uint32_t call_counter = 0;
-#endif /* defined(STM32_THREAD_SAFE_BAREMETAL_ALLOW_LOCKS) && (STM32_THREAD_SAFE_BAREMETAL_ALLOW_LOCKS != 0) */
-
-/* Private variables ---------------------------------------------------------*/
-struct __lock
-{
-  LockingData_t lock_data; /**< The STM32 lock instance */
-};
-
-/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
-struct __lock __lock___sinit_recursive_mutex = { LOCKING_DATA_INIT };
-
-/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
-struct __lock __lock___sfp_recursive_mutex = { LOCKING_DATA_INIT };
-
-/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
-struct __lock __lock___atexit_recursive_mutex = { LOCKING_DATA_INIT };
-
-/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
-struct __lock __lock___at_quick_exit_mutex = { LOCKING_DATA_INIT };
-
-/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
-struct __lock __lock___malloc_recursive_mutex = { LOCKING_DATA_INIT };
-
-/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
-struct __lock __lock___env_recursive_mutex = { LOCKING_DATA_INIT };
-
-/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
-struct __lock __lock___tz_mutex = { LOCKING_DATA_INIT };
-
-/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
-struct __lock __lock___dd_hash_mutex = { LOCKING_DATA_INIT };
-
-/** Implementing mutex from <a href="https://sourceware.org/git/?p=newlib-cygwin.git;a=blob_plain;f=newlib/libc/misc/lock.c">newlib/libc/misc/lock.c</a> */
-struct __lock __lock___arc4random_mutex = { LOCKING_DATA_INIT };
-
-/* Private functions ---------------------------------------------------------*/
-
-/**
-  * @brief Initialize lock
-  * @param lock The lock
-  */
-void __retarget_lock_init(_LOCK_T *lock)
-{
-  __retarget_lock_init_recursive(lock);
-}
-
-/**
-  * @brief Initialize recursive lock
-  * @param lock The lock
-  */
-void __retarget_lock_init_recursive(_LOCK_T *lock)
-{
-  if (lock == NULL)
-  {
-    errno = EINVAL;
-    return;
-  }
-
-  *lock = (_LOCK_T)malloc(sizeof(struct __lock));
-  if (*lock != NULL)
-  {
-    stm32_lock_init(STM32_LOCK_PARAMETER(*lock));
-    return;
-  }
-
-  /* Unable to allocate memory */
-  STM32_LOCK_BLOCK();
-}
-
-/**
-  * @brief Close lock
-  * @param lock The lock
-  */
-void __retarget_lock_close(_LOCK_T lock)
-{
-  __retarget_lock_close_recursive(lock);
-}
-
-/**
-  * @brief Close recursive lock
-  * @param lock The lock
-  */
-void __retarget_lock_close_recursive(_LOCK_T lock)
-{
-  free(lock);
-}
-
-/**
-  * @brief Acquire lock
-  * @param lock The lock
-  */
-void __retarget_lock_acquire(_LOCK_T lock)
-{
-  STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(lock);
-  stm32_lock_acquire(STM32_LOCK_PARAMETER(lock));
-}
-
-/**
-  * @brief Acquire recursive lock
-  * @param lock The lock
-  */
-void __retarget_lock_acquire_recursive(_LOCK_T lock)
-{
-  STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(lock);
-  stm32_lock_acquire(STM32_LOCK_PARAMETER(lock));
-}
-
-/**
-  * @brief Try acquire lock
-  * @param lock The lock
-  * @return 0 always
-  */
-int __retarget_lock_try_acquire(_LOCK_T lock)
-{
-  __retarget_lock_acquire(lock);
-  return 0;
-}
-
-/**
-  * @brief Try acquire recursive lock
-  * @param lock The lock
-  * @return 0 always
-  */
-int __retarget_lock_try_acquire_recursive(_LOCK_T lock)
-{
-  __retarget_lock_acquire_recursive(lock);
-  return 0;
-}
-
-/**
-  * @brief Release lock
-  * @param lock The lock
-  */
-void __retarget_lock_release(_LOCK_T lock)
-{
-  STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(lock);
-  stm32_lock_release(STM32_LOCK_PARAMETER(lock));
-}
-
-/**
-  * @brief Release recursive lock
-  * @param lock The lock
-  */
-void __retarget_lock_release_recursive(_LOCK_T lock)
-{
-  STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(lock);
-  stm32_lock_release(STM32_LOCK_PARAMETER(lock));
-}
-
-#else
-#warning This makes malloc, env, and TZ calls thread-safe, not the entire newlib
-
-/* Includes ------------------------------------------------------------------*/
-#include <reent.h>
-
-/* Private variables ---------------------------------------------------------*/
-/** Mutex used in __malloc_lock and __malloc_unlock */
-static LockingData_t __lock___malloc_recursive_mutex = LOCKING_DATA_INIT;
-
-/** Mutex used in __env_lock and __env_unlock */
-static LockingData_t __lock___env_recursive_mutex = LOCKING_DATA_INIT;
-
-/** Mutex used in __tz_lock and __tz_unlock */
-static LockingData_t __lock___tz_mutex = LOCKING_DATA_INIT;
-
-/* Private functions ---------------------------------------------------------*/
-
-#if __STD_C
-
-/**
-  * @brief Acquire malloc lock
-  * @param reent The reentrance struct
-  */
-void __malloc_lock(struct _reent *reent)
-{
-  STM32_LOCK_UNUSED(reent);
-  stm32_lock_acquire(&__lock___malloc_recursive_mutex);
-}
-
-/**
-  * @brief Release malloc lock
-  * @param reent The reentrance struct
-  */
-void __malloc_unlock(struct _reent *reent)
-{
-  STM32_LOCK_UNUSED(reent);
-  stm32_lock_release(&__lock___malloc_recursive_mutex);
-}
-
-#else
-
-/**
-  * @brief Acquire malloc lock
-  */
-void __malloc_lock()
-{
-  stm32_lock_acquire(&__lock___malloc_recursive_mutex);
-}
-
-/**
-  * @brief Release malloc lock
-  */
-void __malloc_unlock()
-{
-  stm32_lock_release(&__lock___malloc_recursive_mutex);
-}
-#endif /* __STD_C */
-
-/**
-  * @brief Acquire env lock
-  * @param reent The reentrance struct
-  */
-void __env_lock(struct _reent *reent)
-{
-  STM32_LOCK_UNUSED(reent);
-  stm32_lock_acquire(&__lock___env_recursive_mutex);
-}
-
-/**
-  * @brief Release env lock
-  * @param reent The reentrance struct
-  */
-void __env_unlock(struct _reent *reent)
-{
-  STM32_LOCK_UNUSED(reent);
-  stm32_lock_release(&__lock___env_recursive_mutex);
-}
-
-/**
-  * @brief Acquire tz lock
-  */
-void __tz_lock()
-{
-  stm32_lock_acquire(&__lock___tz_mutex);
-}
-
-/**
-  * @brief Release tz lock
-  */
-void __tz_unlock()
-{
-  stm32_lock_release(&__lock___tz_mutex);
-}
-
-#endif /* __NEWLIB__ >= 3 && defined (_RETARGETABLE_LOCKING) */
-
-/**
-  * @}
-  */
-
-
-/**
-  * @defgroup __cxa_guard_ GNU C++ one-time construction API
-  * @see https://itanium-cxx-abi.github.io/cxx-abi/abi.html#once-ctor
-  *
-  * When building for C++, please make sure that <tt>-fno-threadsafe-statics</tt> is not passed to the compiler
-  * @{
-  */
-
-/* Private typedef -----------------------------------------------------------*/
-/** The guard object is created by the C++ compiler and is 32 bit for ARM EABI. */
-typedef struct
-{
-  atomic_uchar initialized; /**< Indicate if object is initialized */
-  uint8_t acquired; /**< Ensure non-recursive lock */
-  uint16_t unused; /**< Padding */
-} __attribute__((packed)) CxaGuardObject_t;
-
-/* Private variables ---------------------------------------------------------*/
-/** Mutex used in __cxa_guard_acquire, __cxa_guard_release and __cxa_guard_abort */
-static LockingData_t __cxa_guard_mutex = LOCKING_DATA_INIT;
-
-/* Private functions prototype ---------------------------------------------------------*/
-int __cxa_guard_acquire(CxaGuardObject_t *guard_object);
-void __cxa_guard_abort(CxaGuardObject_t *guard_object);
-void __cxa_guard_release(CxaGuardObject_t *guard_object);
-/* Private functions ---------------------------------------------------------*/
-
-/**
-  * @brief Acquire __cxa_guard mutex
-  * @param guard_object Guard object
-  * @return 0 if object is initialized, else initialization of object required
-  */
-int __cxa_guard_acquire(CxaGuardObject_t *guard_object)
-{
-  STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(guard_object);
-
-  if (atomic_load(&guard_object->initialized) == 0)
-  {
-    /* Object needs initialization, lock threading context */
-    stm32_lock_acquire(&__cxa_guard_mutex);
-    if (atomic_load(&guard_object->initialized) == 0)
-    {
-      /* Object needs initialization */
-      if (guard_object->acquired)
-      {
-        /* Object initialization already in progress */
-        STM32_LOCK_BLOCK();
-      }
-
-      /* Lock acquired */
-      guard_object->acquired = 1;
-      return 1;
-    }
-    else
-    {
-      /* Object initialized in another thread */
-      stm32_lock_release(&__cxa_guard_mutex);
-    }
-  }
-
-  /* Object already initialized */
-  return 0;
-}
-
-/**
-  * @brief Abort __cxa_guard mutex
-  * @param guard_object Guard object
-  */
-void __cxa_guard_abort(CxaGuardObject_t *guard_object)
-{
-  STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(guard_object);
-
-  if (guard_object->acquired)
-  {
-    /* Release lock */
-    guard_object->acquired = 0;
-    stm32_lock_release(&__cxa_guard_mutex);
-  }
-  else
-  {
-    /* Trying to release non-acquired lock */
-    STM32_LOCK_BLOCK();
-  }
-}
-
-/**
-  * @brief Release __cxa_guard mutex
-  * @param guard_object Guard object
-  */
-void __cxa_guard_release(CxaGuardObject_t *guard_object)
-{
-  STM32_LOCK_BLOCK_IF_NULL_ARGUMENT(guard_object);
-
-  /* Object initialized */
-  atomic_store(&guard_object->initialized, 1);
-
-  /* Release lock */
-  __cxa_guard_abort(guard_object);
-}
-
-/**
-  * @}
-  */
-
-#endif /* __SINGLE_THREAD__ */

Core/Src/canlog.c

@@ -15,6 +15,7 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "canlog.h"
+#include "main.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "cmsis_os.h"
@@ -50,11 +51,9 @@ 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 */
 
@@ -76,7 +75,8 @@ 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;
 
-    message.id = rxHeader.ExtId;
+    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;
@@ -112,17 +112,23 @@ 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);
-      }
+      osMessageQueuePut(xUARTQueue, &message, 0U, 0U);
+    }
+    else DEBUG_PRINT("No CAN yet!\r\n");
+
   }
 }
 /* END vCANListener */

Core/Src/cansend.c

@@ -32,7 +32,7 @@ extern osMessageQueueId_t xUARTQueue;
   * @param  arguments: buffer, source, message
   * @retval None
   */
-static void format_can_message(char *buf, uint8_t source, const CanMessage_t *message)
+static int format_can_message(char *buf, uint8_t source, const CanMessage_t *message)
 {
   const char hex[] = "0123456789ABCDEF";
 
@@ -72,6 +72,9 @@ static void format_can_message(char *buf, uint8_t source, const CanMessage_t *me
 
   buf[idx++] = '\r';
   buf[idx++] = '\n';
+  buf[idx] = '\0';
+
+  return idx;
 }
 /* END format_can_message */
 
@@ -98,17 +101,55 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
   */
 void vUARTLogger(void *argument)
 {
-    CanMessage_t message;
-    char tx_buffer[45];
+  CanMessage_t message;
+  char tx_buffer[45];
 
-    for (;;)
-    {
-      if (osMessageQueueGet(xUARTQueue, &message, NULL, osWaitForever) == osOK)
+  #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
+    uint32_t queue_timeout = 1000U;
+    #else
+    uint32_t queue_timeout = osWaitForever;
+    #endif
+
+    #ifdef DEBUG_DUMMY_FRAME
+    osMessageQueuePut(xUARTQueue, &dummy_frame, 0U, 0U);
+    osDelay(1000);
+    #endif
+
+   	if (osMessageQueueGet(xUARTQueue, &message, NULL, queue_timeout) == osOK)
+	{
+      if (osSemaphoreAcquire(xUARTDMASemaphore, queue_timeout) == osOK)
       {
-        format_can_message(tx_buffer, message.source, &message); // Assuming you add 'source' to the struct
-        HAL_UART_Transmit_DMA(&huart1, (uint8_t*)tx_buffer, 44);
-        osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever);
+        int len = format_can_message(tx_buffer, message.source, &message);
+
+        if (HAL_UART_Transmit_DMA(&huart1, (uint8_t*)tx_buffer, len) == HAL_OK)
+        {
+          DEBUG_PRINT("CAN frame sent via UART\r\n");
+        }
+        else
+        {
+          osSemaphoreRelease(xUARTDMASemaphore);
+          DEBUG_PRINT("HAL error, CAN frame NOT sent!\r\n");
+        }
       }
-    }
+      else
+      {
+        DEBUG_PRINT("ERROR: Semaphore timeout! UART might be stuck in BUSY state.\r\n");
+      }
+	}
+  }
 }
 /* END vUARTLoggerListen */

Core/Src/main.c

@@ -46,11 +46,12 @@ DMA_HandleTypeDef hdma_sdio_rx;
 DMA_HandleTypeDef hdma_sdio_tx;
 
 UART_HandleTypeDef huart1;
+DMA_HandleTypeDef hdma_usart1_tx;
 
 /* USER CODE BEGIN PV */
-LED_Config led_can1 = {GPIOB, GPIO_PIN_2};
-LED_Config led_can2 = {GPIOB, GPIO_PIN_5};
-LED_Config led_error = {GPIOB, GPIO_PIN_3};
+LED_Config led_can1 = {GPIOB, GPIO_PIN_5};
+LED_Config led_can2 = {GPIOB, GPIO_PIN_6};
+LED_Config led_error = {GPIOB, GPIO_PIN_7};
 
 osThreadId_t xCAN1rxTask;
 osThreadId_t xCAN2rxTask;
@@ -76,6 +77,11 @@ 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++));
+  return len;
+}
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
@@ -91,7 +97,15 @@ 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 */
 
   /* MCU Configuration--------------------------------------------------------*/
@@ -100,6 +114,7 @@ int main(void)
   HAL_Init();
 
   /* USER CODE BEGIN Init */
+  DEBUG_PRINT("Configuring system clock\r\n");
 
   /* USER CODE END Init */
 
@@ -107,7 +122,7 @@ int main(void)
   SystemClock_Config();
 
   /* USER CODE BEGIN SysInit */
-
+  DEBUG_PRINT("Initializing configured peripherals...\r\n");
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
@@ -118,12 +133,15 @@ int main(void)
   MX_SDIO_SD_Init();
   MX_USART1_UART_Init();
   /* USER CODE BEGIN 2 */
+  DEBUG_PRINT("Initializing CAN bus logger\r\n");
   CAN_Logger_Init(&hcan1, &hcan2);
   /* USER CODE END 2 */
 
   /* Init scheduler */
   osKernelInitialize();
 
+  DEBUG_PRINT("Creating RTOS entities\r\n");
+
   /* USER CODE BEGIN RTOS_TASKS */
   const osThreadAttr_t CAN1rxAttributes = {
     .name = "CAN1rx",
@@ -156,7 +174,7 @@ int main(void)
   /* USER CODE END RTOS_MUTEX */
 
   /* USER CODE BEGIN RTOS_SEMAPHORES */
-  xUARTDMASemaphore = osSemaphoreNew(1, 0, NULL);
+  xUARTDMASemaphore = osSemaphoreNew(1, 1, NULL);
   if (xUARTDMASemaphore == NULL) Error_Handler();
   /* USER CODE END RTOS_SEMAPHORES */
 
@@ -183,6 +201,7 @@ int main(void)
   /* USER CODE END RTOS_EVENTS */
 
   /* Start scheduler */
+  DEBUG_PRINT("Starting RTOS init scheduler\r\n");
   osKernelStart();
 
   /* We should never get here as control is now taken by the scheduler */
@@ -194,6 +213,7 @@ int main(void)
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
+    DEBUG_PRINT("ERROR: RTOS scheduler crashed!\r\n");
     /* USER CODE END 3 */
   }
 }
@@ -260,7 +280,7 @@ static void MX_CAN1_Init(void)
 
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 4;
+  hcan1.Init.Prescaler = 8;
   hcan1.Init.Mode = CAN_MODE_SILENT;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
@@ -276,7 +296,7 @@ static void MX_CAN1_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN CAN1_Init 2 */
-
+  DEBUG_PRINT("CAN1 initialized!\r\n");
   /* USER CODE END CAN1_Init 2 */
 
 }
@@ -297,7 +317,7 @@ static void MX_CAN2_Init(void)
 
   /* USER CODE END CAN2_Init 1 */
   hcan2.Instance = CAN2;
-  hcan2.Init.Prescaler = 8;
+  hcan2.Init.Prescaler = 16;
   hcan2.Init.Mode = CAN_MODE_SILENT;
   hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
@@ -313,7 +333,7 @@ static void MX_CAN2_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN CAN2_Init 2 */
-
+  DEBUG_PRINT("CAN2 initialized!\r\n");
   /* USER CODE END CAN2_Init 2 */
 
 }
@@ -340,16 +360,16 @@ static void MX_SDIO_SD_Init(void)
   hsd.Init.BusWide = SDIO_BUS_WIDE_1B;
   hsd.Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE;
   hsd.Init.ClockDiv = 0;
-  if (HAL_SD_Init(&hsd) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B) != HAL_OK)
-  {
-    Error_Handler();
-  }
+  //if (HAL_SD_Init(&hsd) != HAL_OK)
+  //{
+  //  Error_Handler();
+  //}
+  //if (HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B) != HAL_OK)
+  //{
+  //  Error_Handler();
+  //}
   /* USER CODE BEGIN SDIO_Init 2 */
-
+  //DEBUG_PRINT("SDIO initialized!\r\n");
   /* USER CODE END SDIO_Init 2 */
 
 }
@@ -370,7 +390,7 @@ static void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 1152000;
+  huart1.Init.BaudRate = 115200;
   huart1.Init.WordLength = UART_WORDLENGTH_8B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_NONE;
@@ -382,7 +402,7 @@ static void MX_USART1_UART_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN USART1_Init 2 */
-
+  DEBUG_PRINT("USART1 initialized!\r\n");
   /* USER CODE END USART1_Init 2 */
 
 }
@@ -403,7 +423,13 @@ static void MX_DMA_Init(void)
   /* DMA2_Stream6_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
+  /* DMA2_Stream7_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn);
 
+  /* USER CODE BEGIN MX_DMA_Init 1 */
+  DEBUG_PRINT("DMA initialized!\r\n");
+  /* USER CODE END MX_DMA_Init 1 */
 }
 
 /**
@@ -426,7 +452,7 @@ static void MX_GPIO_Init(void)
   __HAL_RCC_GPIOD_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);
 
   /*Configure GPIO pins : PC13 PC14 PC15 PC0
                            PC1 PC2 PC3 PC4
@@ -446,35 +472,33 @@ static void MX_GPIO_Init(void)
 
   /*Configure GPIO pins : PA0 PA1 PA2 PA3
                            PA4 PA5 PA6 PA7
-                           PA8 PA11 PA12 PA13
-                           PA14 PA15 */
+                           PA8 PA11 PA12 PA15 */
   GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3
                           |GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7
-                          |GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_13
-                          |GPIO_PIN_14|GPIO_PIN_15;
+                          |GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_15;
   GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
   /*Configure GPIO pins : PB0 PB1 PB2 PB10
-                           PB11 PB14 PB15 PB6
-                           PB7 */
+                           PB11 PB14 PB15 PB3
+                           PB4 */
   GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10
-                          |GPIO_PIN_11|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_6
-                          |GPIO_PIN_7;
+                          |GPIO_PIN_11|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_3
+                          |GPIO_PIN_4;
   GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : PB3 PB4 PB5 */
-  GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5;
+  /*Configure GPIO pins : PB5 PB6 PB7 */
+  GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
   /* USER CODE BEGIN MX_GPIO_Init_2 */
-
+  DEBUG_PRINT("GPIO initialized!\r\n");
   /* USER CODE END MX_GPIO_Init_2 */
 }
 
@@ -509,6 +533,8 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
   */
 void Error_Handler(void)
 {
+  DEBUG_PRINT("ERROR: entering error handler\r\n");
+
   /* USER CODE BEGIN Error_Handler_Debug */
   /* User can add his own implementation to report the HAL error return state */
   __disable_irq();

Core/Src/stm32f4xx_hal_msp.c

@@ -26,6 +26,8 @@ extern DMA_HandleTypeDef hdma_sdio_rx;
 
 extern DMA_HandleTypeDef hdma_sdio_tx;
 
+extern DMA_HandleTypeDef hdma_usart1_tx;
+
 /* Private typedef -----------------------------------------------------------*/
 /* USER CODE BEGIN TD */
 
@@ -371,6 +373,28 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
     GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* USART1 DMA Init */
+    /* USART1_TX Init */
+    hdma_usart1_tx.Instance = DMA2_Stream7;
+    hdma_usart1_tx.Init.Channel = DMA_CHANNEL_4;
+    hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart1_tx.Init.Mode = DMA_NORMAL;
+    hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(huart,hdmatx,hdma_usart1_tx);
+
+    /* USART1 interrupt Init */
+    HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(USART1_IRQn);
     /* USER CODE BEGIN USART1_MspInit 1 */
 
     /* USER CODE END USART1_MspInit 1 */
@@ -401,6 +425,11 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
 
+    /* USART1 DMA DeInit */
+    HAL_DMA_DeInit(huart->hdmatx);
+
+    /* USART1 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(USART1_IRQn);
     /* USER CODE BEGIN USART1_MspDeInit 1 */
 
     /* USER CODE END USART1_MspDeInit 1 */

Core/Src/stm32f4xx_it.c

@@ -58,6 +58,8 @@
 extern DMA_HandleTypeDef hdma_sdio_rx;
 extern DMA_HandleTypeDef hdma_sdio_tx;
 extern SD_HandleTypeDef hsd;
+extern DMA_HandleTypeDef hdma_usart1_tx;
+extern UART_HandleTypeDef huart1;
 extern TIM_HandleTypeDef htim6;
 
 /* USER CODE BEGIN EV */
@@ -162,6 +164,20 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32f4xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles USART1 global interrupt.
+  */
+void USART1_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART1_IRQn 0 */
+
+  /* USER CODE END USART1_IRQn 0 */
+  HAL_UART_IRQHandler(&huart1);
+  /* USER CODE BEGIN USART1_IRQn 1 */
+
+  /* USER CODE END USART1_IRQn 1 */
+}
+
 /**
   * @brief This function handles SDIO global interrupt.
   */
@@ -218,6 +234,20 @@ void DMA2_Stream6_IRQHandler(void)
   /* USER CODE END DMA2_Stream6_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA2 stream7 global interrupt.
+  */
+void DMA2_Stream7_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream7_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart1_tx);
+  /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream7_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

LICENSE.md

@@ -0,0 +1,38 @@
+GNU GENERAL PUBLIC LICENSE 
+Version 3, 29 June 2007
+
+Copyright (C) 2007 Free Software Foundation, Inc. https://fsf.org/ 
+Everyone is permitted to copy and distribute verbatim copies 
+of this license document, but changing it is not allowed.
+
+Preamble
+
+The GNU General Public License is a free, copyleft license for 
+software and other kinds of works.
+
+The licenses for most software and other practical works are designed 
+to take away your freedom to share and change the works. By contrast, 
+the GNU General Public License is intended to guarantee your freedom to 
+share and change all versions of a program--to make sure it remains free 
+software for all its users. We, the Free Software Foundation, use the 
+GNU General Public License for most of our software; it applies also to 
+any other work released this way by its authors. You can apply it to 
+your programs, too.
+
+When we speak of free software, we are referring to freedom, not 
+price. Our General Public Licenses are designed to make sure that you 
+have the freedom to distribute copies of free software (and charge for 
+them if you wish), that you receive source code or can get it if you 
+want it, that you can change the software or use pieces of it in new 
+free programs, and that you know you can do these things.
+
+To protect your rights, we need to prevent others from denying you 
+these rights or asking you to surrender the rights. Therefore, you have 
+certain responsibilities if you distribute copies of the software, or if 
+you modify it: responsibilities to respect the freedom of others.
+
+For example, if you distribute copies of such a program, whether 
+gratis or for a fee, you must pass on to the recipients the same 
+freedoms that you received. You must make sure that they, too, receive 
+or can get the source code. And you must show them these terms so they 
+know their rights.

NOTICE.md

@@ -0,0 +1,15 @@
+# Third-Party 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/j1939_logger/src/branch/main/LICENSE.md)
+
+## 2. STM32F4 HAL Drivers
+- **Copyright (c) 2016 STMicroelectronics**
+- **License:** [BSD 3-Clause License](https://git.erickahmed.com/erickahmed/j1939_logger/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/j1939_logger/src/branch/main/Drivers/CMSIS/LICENSE.txt)

can_logger.ioc

@@ -20,7 +20,8 @@ CAN2.Mode=CAN_MODE_SILENT
 CAN2.Prescaler=8
 Dma.Request0=SDIO_RX
 Dma.Request1=SDIO_TX
-Dma.RequestsNb=2
+Dma.Request2=USART1_TX
+Dma.RequestsNb=3
 Dma.SDIO_RX.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.SDIO_RX.0.FIFOMode=DMA_FIFOMODE_ENABLE
 Dma.SDIO_RX.0.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
@@ -47,6 +48,16 @@ Dma.SDIO_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_WORD
 Dma.SDIO_TX.1.PeriphInc=DMA_PINC_DISABLE
 Dma.SDIO_TX.1.Priority=DMA_PRIORITY_LOW
 Dma.SDIO_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
+Dma.USART1_TX.2.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART1_TX.2.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART1_TX.2.Instance=DMA2_Stream7
+Dma.USART1_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_TX.2.MemInc=DMA_MINC_ENABLE
+Dma.USART1_TX.2.Mode=DMA_NORMAL
+Dma.USART1_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_TX.2.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_TX.2.Priority=DMA_PRIORITY_LOW
+Dma.USART1_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 FREERTOS.FootprintOK=true
 FREERTOS.IPParameters=Tasks01,configUSE_NEWLIB_REENTRANT,FootprintOK
 FREERTOS.Tasks01=DefaultTask,49,128,can_listen,Default,NULL,Dynamic,NULL,NULL
@@ -70,22 +81,24 @@ Mcu.Name=STM32F405RGTx
 Mcu.Package=LQFP64
 Mcu.Pin0=PB12
 Mcu.Pin1=PB13
-Mcu.Pin10=PB3
-Mcu.Pin11=PB4
+Mcu.Pin10=PC12
+Mcu.Pin11=PD2
 Mcu.Pin12=PB5
-Mcu.Pin13=PB8
-Mcu.Pin14=PB9
-Mcu.Pin15=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin16=VP_SYS_VS_tim6
+Mcu.Pin13=PB6
+Mcu.Pin14=PB7
+Mcu.Pin15=PB8
+Mcu.Pin16=PB9
+Mcu.Pin17=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin18=VP_SYS_VS_tim6
 Mcu.Pin2=PC8
 Mcu.Pin3=PC9
 Mcu.Pin4=PA9
 Mcu.Pin5=PA10
-Mcu.Pin6=PC10
-Mcu.Pin7=PC11
-Mcu.Pin8=PC12
-Mcu.Pin9=PD2
-Mcu.PinsNb=17
+Mcu.Pin6=PA13
+Mcu.Pin7=PA14
+Mcu.Pin8=PC10
+Mcu.Pin9=PC11
+Mcu.PinsNb=19
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F405RGTx
@@ -94,6 +107,7 @@ MxDb.Version=DB.6.0.170
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -110,21 +124,26 @@ NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
 NVIC.TIM6_DAC_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.TimeBase=TIM6_DAC_IRQn
 NVIC.TimeBaseIP=TIM6
+NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
+PA13.Mode=Serial_Wire
+PA13.Signal=SYS_JTMS-SWDIO
+PA14.Mode=Serial_Wire
+PA14.Signal=SYS_JTCK-SWCLK
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
 PB12.Mode=CAN_Activate
 PB12.Signal=CAN2_RX
 PB13.Mode=CAN_Activate
 PB13.Signal=CAN2_TX
-PB3.Locked=true
-PB3.Signal=GPIO_Output
-PB4.Locked=true
-PB4.Signal=GPIO_Output
 PB5.Locked=true
 PB5.Signal=GPIO_Output
+PB6.Locked=true
+PB6.Signal=GPIO_Output
+PB7.Locked=true
+PB7.Signal=GPIO_Output
 PB8.Mode=CAN_Activate
 PB8.Signal=CAN1_RX
 PB9.Locked=true