Use semaphore instead of HAL on write function

Core/Src/canlog.c

@@ -129,7 +129,7 @@ void vCANListener(void *argument)
 
       osMessageQueuePut(xUARTQueue, &message, 0U, 0U);
     }
-    else DEBUG_PRINT("No CAN yet!\r\n");
+    else DEBUG_PRINT("LALALLALA CIAOOOOOO c:\r\n");
   }
 }
 /* END vCANListener */

Core/Src/cansend.c

@@ -92,7 +92,6 @@ 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) osSemaphoreRelease(xUARTDMASemaphore);
 }
 /* END HAL_UART_TxCpltCallback */
 
@@ -138,46 +137,19 @@ void vUARTLogger(void *argument)
         HAL_UART_Init(&huart1);
       }
 
-      if (osSemaphoreAcquire(xUARTDMASemaphore, queue_timeout) == osOK)
-      {
-        int len = format_can_message(tx_buffer, message.source, &message);
-        if (HAL_UART_Transmit_DMA(&huart1, (uint8_t*)tx_buffer, len) != HAL_OK)
-        {
-          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");
-        HAL_UART_Abort(&huart1);
-        HAL_UART_Init(&huart1);
-        osSemaphoreRelease(xUARTDMASemaphore);
-      }
+      osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever);
+
+      int len = format_can_message(tx_buffer, message.source, &message);
+      HAL_UART_Transmit(&huart1, (uint8_t*)tx_buffer, len, 100);
+
+      osSemaphoreRelease(xUARTDMASemaphore);
     }
     else
     {
-      if (osSemaphoreAcquire(xUARTDMASemaphore, queue_timeout) == osOK)
-      {
-        int len = snprintf(diag_buf, sizeof(diag_buf),
-        "[D] ISR1:%lu ISR2:%lu | ST1:%lu ST2:%lu | ER1:0x%lX ER2:0x%lX\r\n",
-        (unsigned long)can1_rx_isr_count, (unsigned long)can2_rx_isr_count,
-        (unsigned long)HAL_CAN_GetState(&hcan1), (unsigned long)HAL_CAN_GetState(&hcan2),
-        (unsigned long)HAL_CAN_GetError(&hcan1), (unsigned long)HAL_CAN_GetError(&hcan2));
-
-        if (len > 0)
-        {
-          if (HAL_UART_Transmit_DMA(&huart1, (uint8_t*)diag_buf, len) != HAL_OK) osSemaphoreRelease(xUARTDMASemaphore);
-        }
-        else osSemaphoreRelease(xUARTDMASemaphore);
-      }
-      else
-      {
-        HAL_UART_Abort(&huart1);
-        HAL_UART_Init(&huart1);
-        osSemaphoreRelease(xUARTDMASemaphore);
-        DEBUG_PRINT("ERROR: Semaphore timeout! UART might be stuck in BUSY state.\r\n");
-      }
+      DEBUG_PRINT("[D] ISR1:%lu ISR2:%lu | ST1:%lu ST2:%lu | ER1:0x%lX ER2:0x%lX\r\n",
+          (unsigned long)can1_rx_isr_count, (unsigned long)can2_rx_isr_count,
+          (unsigned long)HAL_CAN_GetState(&hcan1), (unsigned long)HAL_CAN_GetState(&hcan2),
+          (unsigned long)HAL_CAN_GetError(&hcan1), (unsigned long)HAL_CAN_GetError(&hcan2));
     }
   }
 }

Core/Src/main.c

@@ -55,6 +55,8 @@ LED_Config led_can1 = {GPIOB, GPIO_PIN_5};
 LED_Config led_can2 = {GPIOB, GPIO_PIN_6};
 LED_Config led_error = {GPIOB, GPIO_PIN_7};
 
+osMutexId_t debugPrintMutex;
+
 osThreadId_t xCAN1rxTask;
 osThreadId_t xCAN2rxTask;
 osThreadId_t xCAN1LedTask;
@@ -81,16 +83,25 @@ static void MX_USART1_UART_Init(void);
 /* USER CODE BEGIN PF */
 int _write(int file, char *ptr, int len)
 {
-  for (int i = 0; i < len; i++) ITM_SendChar((*ptr++));
+  if (osKernelGetState() == osKernelRunning) osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever);
+  HAL_UART_Transmit(&huart1, (uint8_t*)ptr, len, 100);
+
+  if (osKernelGetState() == osKernelRunning) osSemaphoreRelease(xUARTDMASemaphore);
   return len;
 }
 
-#ifndef DEBUG_ITM
+#ifndef DEBUG_ITW
 #include <stdio.h>
 #include <stdarg.h>
 
+extern osSemaphoreId_t xUARTDMASemaphore;
+
 void uart_debug_print(const char *fmt, ...)
 {
+  if (huart1.gState == HAL_UART_STATE_RESET) return;
+
+  if (osKernelGetState() == osKernelRunning) osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever);
+
   char buf[128];
   va_list args;
 
@@ -98,11 +109,9 @@ void uart_debug_print(const char *fmt, ...)
   int len = vsnprintf(buf, sizeof(buf), fmt, args);
   va_end(args);
 
-  if (len > 0)
-  {
-    while (HAL_UART_GetState(&huart1) & HAL_UART_STATE_BUSY_TX);
-    HAL_UART_Transmit(&huart1, (uint8_t*)buf, len, 100);
-  }
+  if (len > 0) HAL_UART_Transmit(&huart1, (uint8_t*)buf, len, 100);
+
+  if (osKernelGetState() == osKernelRunning) osSemaphoreRelease(xUARTDMASemaphore);
 }
 #endif
 /* USER CODE END PF */
@@ -127,16 +136,15 @@ int main(void)
     ITM->TCR = ITM_TCR_ITMENA_Msk | ITM_TCR_SYNCENA_Msk | ITM_TCR_SWOENA_Msk;
   }
 
-  DEBUG_PRINT("Booting system\r\n");
+  DEBUG_PRINT("[L] Booting system\r\n");
   /* USER CODE END 1 */
 
   /* MCU Configuration--------------------------------------------------------*/
 
-  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
   HAL_Init();
 
   /* USER CODE BEGIN Init */
-  DEBUG_PRINT("Configuring system clock\r\n");
+  DEBUG_PRINT("[L] Configuring system clock\r\n");
 
   /* USER CODE END Init */
 
@@ -144,7 +152,7 @@ int main(void)
   SystemClock_Config();
 
   /* USER CODE BEGIN SysInit */
-  DEBUG_PRINT("Initializing configured peripherals...\r\n");
+  DEBUG_PRINT("[L] Initializing configured peripherals...\r\n");
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
@@ -155,14 +163,14 @@ int main(void)
   MX_SDIO_SD_Init();
   MX_USART1_UART_Init();
   /* USER CODE BEGIN 2 */
-  DEBUG_PRINT("Initializing CAN bus logger\r\n");
+  DEBUG_PRINT("[L] 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");
+  DEBUG_PRINT("[L] Creating RTOS entities\r\n");
 
   /* USER CODE BEGIN RTOS_TASKS */
   const osThreadAttr_t CAN1rxAttributes = {
@@ -193,6 +201,8 @@ int main(void)
   /* USER CODE END RTOS_TASKS */
 
   /* USER CODE BEGIN RTOS_MUTEX */
+  debugPrintMutex = osMutexNew(NULL);
+  if (debugPrintMutex == NULL) Error_Handler();
   /* USER CODE END RTOS_MUTEX */
 
   /* USER CODE BEGIN RTOS_SEMAPHORES */
@@ -223,7 +233,7 @@ int main(void)
   /* USER CODE END RTOS_EVENTS */
 
   /* Start scheduler */
-  DEBUG_PRINT("Starting RTOS init scheduler\r\n");
+  DEBUG_PRINT("[L] Starting RTOS init scheduler\r\n");
   osKernelStart();
 
   /* We should never get here as control is now taken by the scheduler */
@@ -235,7 +245,7 @@ int main(void)
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
-    DEBUG_PRINT("ERROR: RTOS scheduler crashed!\r\n");
+    DEBUG_PRINT("[E] RTOS scheduler crashed!\r\n");
     /* USER CODE END 3 */
   }
 }
@@ -318,7 +328,7 @@ static void MX_CAN1_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN CAN1_Init 2 */
-  DEBUG_PRINT("CAN1 initialized!\r\n");
+  DEBUG_PRINT("[L] CAN1 initialized\r\n");
   /* USER CODE END CAN1_Init 2 */
 
 }
@@ -355,7 +365,7 @@ static void MX_CAN2_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN CAN2_Init 2 */
-  DEBUG_PRINT("CAN2 initialized!\r\n");
+  DEBUG_PRINT("[L] CAN2 initialized\r\n");
   /* USER CODE END CAN2_Init 2 */
 
 }
@@ -424,7 +434,7 @@ static void MX_USART1_UART_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN USART1_Init 2 */
-  DEBUG_PRINT("USART1 initialized!\r\n");
+  DEBUG_PRINT("[L] USART1 initialized\r\n");
   /* USER CODE END USART1_Init 2 */
 
 }
@@ -450,7 +460,7 @@ static void MX_DMA_Init(void)
   HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn);
 
   /* USER CODE BEGIN MX_DMA_Init 1 */
-  DEBUG_PRINT("DMA initialized!\r\n");
+  DEBUG_PRINT("[L] DMA initialized\r\n");
   /* USER CODE END MX_DMA_Init 1 */
 }
 
@@ -520,7 +530,7 @@ static void MX_GPIO_Init(void)
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
   /* USER CODE BEGIN MX_GPIO_Init_2 */
-  DEBUG_PRINT("GPIO initialized!\r\n");
+  DEBUG_PRINT("[L] GPIO initialized\r\n");
   /* USER CODE END MX_GPIO_Init_2 */
 }
 
@@ -555,7 +565,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
   */
 void Error_Handler(void)
 {
-  DEBUG_PRINT("ERROR: entering error handler\r\n");
+  DEBUG_PRINT("[E] Eentering error handler\r\n");
 
   /* USER CODE BEGIN Error_Handler_Debug */
   /* User can add his own implementation to report the HAL error return state */