Better way to avoid race condition, only notification lives in CAN task

- Runs only once
- Only critical notification is inside task
- CAN message during boot will not be lost, instead put inside FIFO0

Core/Src/canlog.c

@@ -47,14 +47,11 @@ 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(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 */
 
@@ -101,19 +98,19 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 void vCANLoggerListen(void *argument)
 {
   /* CODE BEGIN */
-	CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
+  CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
-	osMessageQueueId_t queue;
+  osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
-    CanMessage_t message;
+  CanMessage_t message;
 
-	queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
+  HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
 
-	for (;;)
+  for (;;)
+  {
+    if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
 	{
-	  if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
+					//
-	    {
-	      osSemaphoreRelease( (hcan->Instance == CAN1) ? xSemaphoreCAN1 : xSemaphoreCAN2 );
-	    }
 	}
+  }
 	/* CODE END */
 }
 /* END vCANLoggerListen */

Core/Src/main.c

@@ -110,6 +110,7 @@ int main(void)
   MX_SDIO_SD_Init();
 
   /* USER CODE BEGIN 2 */
+  CAN_Logger_Init(&hcan1, &hcan2);
   /* USER CODE END 2 */
 
   /* Init scheduler */
@@ -184,7 +185,6 @@ int main(void)
   /* USER CODE END RTOS_EVENTS */
 
   /* USER CODE BEGIN 3 */
-  CAN_Logger_Init(&hcan1, &hcan2);
   /* USER CODE END 3 */
 
   /* Start scheduler */