Return exact length

- Goes into error handling

Core/Inc/canlog.h

@@ -28,6 +28,7 @@
 
 extern osMessageQueueId_t xCAN1RxQueue;
 extern osMessageQueueId_t xCAN2RxQueue;
+extern osMessageQueueId_t xUARTQueue;
 
 /* USER CODE BEGIN PTD */
 typedef struct {
@@ -40,19 +41,15 @@ typedef struct {
     uint8_t  payload[8];
     uint8_t  dlc;
     uint8_t  isExtended;
+    uint8_t  source;
     //uint32_t timestamp; //Enable TIM2: 42 MHz / (41+1) = 1 MHz → 1 µs tick; 32bit autoreload freerunning
     // this is for getting timestamps on can messages
 } CanMessage_t;
 /* USER CODE END PTD */
 
-/**
-  * @brief  Initializes the CAN logger modules, OS threads, queues, and hardware.
-  * @param  hcan1 Pointer to the CAN1 handle
-  * @param  hcan2 Pointer to the CAN2 handle
-  */
 void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2);
 void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
-void vCANLoggerListen(void *argument);
+void vCANListener(void *argument);
 void vLEDHeartbeat(void *argument);
 
 #endif /* CANLOG_H */

Core/Inc/cansend.h

@@ -0,0 +1,28 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : CANSEND.h
+  * @brief          : Header for cansend.c file.
+  *                   This file contains the defines related to CAN data sent
+  *                   via UART/USART and save via .
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 Erick Ahmed.
+  *
+  * SPDX-License-Identifier: GPL-3.0-or-later
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef CANSEND_H
+#define CANSEND_H
+
+#include "main.h"
+
+void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart);
+void vUARTLogger(void *argument);
+
+#endif /* CANSEND_H */

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 +45,13 @@ extern "C" {
 
 /* Exported macro ------------------------------------------------------------*/
 /* USER CODE BEGIN EM */
-
+#define DEBUG
+#ifdef DEBUG
+#include <stdio.h>
+#define DEBUG_PRINT(...) printf(__VA_ARGS__)
+#else
+#define DEBUG_PRINT(...)
+#endif
 /* USER CODE END EM */
 
 /* Exported functions prototypes ---------------------------------------------*/

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"
@@ -24,15 +25,15 @@
 extern CAN_HandleTypeDef hcan1;
 extern CAN_HandleTypeDef hcan2;
 
-extern osThreadId_t xLedTaskCAN1;
-extern osThreadId_t xLedTaskCAN2;
+extern osThreadId_t xCAN1LedTask;
+extern osThreadId_t xCAN2LedTask;
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
-/* BEGIN CAN_Logger_Init */
 /**
-  * @brief  Initialize CAN bus logger.
-  * @param  argument: hcan1, hcan2
+  * @brief  Initializes the CAN logger modules, OS threads, queues, and hardware.
+  * @param  hcan1 Pointer to the CAN1 handle
+  * @param  hcan2 Pointer to the CAN2 handle
   * @retval None
   */
 void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
@@ -61,49 +62,53 @@ void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
 /* BEGIN HAL_CAN_RxFifo0MsgPendingCallback */
 /**
   * @brief  ISR for CAN message pending in FIFO0
-  * @param  argument: Can handle hcan (hcan1 or hcan2)
+  * @param  hcan: 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];
 
+    osMessageQueueId_t queue;
+    osThreadId_t led_task;
+
     // TODO: manage the case of FIFO overflow
     if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) return;
 
     message.id = rxHeader.ExtId;
     message.dlc = rxHeader.DLC;
     message.isExtended = (rxHeader.IDE == CAN_ID_EXT);
+    message.source = (hcan->Instance == CAN1) ? 1 : 2;
     memcpy(message.payload, data, rxHeader.DLC);
 
-    osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
-    if (osMessageQueuePut(queue, &message, 0U, 0U) == osOK)
+    if (hcan->Instance == CAN1)
     {
-      if (hcan->Instance == CAN1) osThreadFlagsSet(xLedTaskCAN1, 0x01);
-      else osThreadFlagsSet(xLedTaskCAN2, 0x01);
+        queue    = xCAN1RxQueue;
+        led_task = xCAN1LedTask;
     }
     else
     {
-        // TODO: better handling: flash error_led on osTimeout, call Error_Handler() when other errors
-
-        // send errors like queue full via UART
+        queue    = xCAN2RxQueue;
+        led_task = xCAN2LedTask;
+    }
+
+    if (osMessageQueuePut(queue, &message, 0U, 0U) == osOK)
+    {
+        osThreadFlagsSet(led_task, 0x01);
     }
-    /* CODE END */
 }
 /* END HAL_CAN_RxFifo0MsgPendingCallback */
 
-/* BEGIN vCANLoggerListen */
+/* BEGIN vCANListener */
 /**
   * @brief  Log incoming CAN bus traffic in FIFO buffer
   * @param  argument: Not used
   * @retval None
   */
-void vCANLoggerListen(void *argument)
+void vCANListener(void *argument)
 {
-  /* CODE BEGIN */
   CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
   osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
   CanMessage_t message;
@@ -113,13 +118,15 @@ void vCANLoggerListen(void *argument)
   for (;;)
   {
     if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
-	{
-					//
-	}
+    {
+          // J1939 decoding
+
+          // RELAY: Push to the UART queue
+      osMessageQueuePut(xUARTQueue, &message, 0U, 0U);
+    }
   }
-	/* CODE END */
 }
-/* END vCANLoggerListen */
+/* END vCANListener */
 
 /* BEGIN vLEDHeartbeat */
 /**
@@ -129,7 +136,6 @@ void vCANLoggerListen(void *argument)
   */
 void vLEDHeartbeat(void *argument)
 {
-  /* CODE BEGIN */
   LED_Config *led = (LED_Config*)argument;
 
   for (;;)
@@ -139,7 +145,6 @@ void vLEDHeartbeat(void *argument)
     if (notification & 0x01) HAL_GPIO_WritePin(led->port, led->pin, GPIO_PIN_SET);
     else HAL_GPIO_WritePin(led->port, led->pin, GPIO_PIN_RESET);
   }
-  /* CODE END */
 }
 /* END vLEDHeartbeat */
 /* USER CODE END FunctionPrototypes */

Core/Src/cansend.c

@@ -0,0 +1,120 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : cansend.c
+  * @brief          : Send logged SAE J1939 CAN via serial and save via SDIO.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 Erick Ahmed.
+  *
+  * SPDX-License-Identifier: GPL-3.0-or-later
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "cansend.h"
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "main.h"
+#include "cmsis_os.h"
+#include "canlog.h"
+/* USER CODE END Includes */
+
+extern UART_HandleTypeDef huart1;
+extern osSemaphoreId_t xUARTDMASemaphore;
+extern osMessageQueueId_t xUARTQueue;
+
+/* BEGIN format_can_message */
+/**
+  * @brief  Format CAN message for friendly reading on terminal emulators and other MCUs.
+  * @param  arguments: buffer, source, message
+  * @retval None
+  */
+static int format_can_message(char *buf, uint8_t source, const CanMessage_t *message)
+{
+  const char hex[] = "0123456789ABCDEF";
+
+  buf[0] = 'C';
+  buf[1] = (source == 1) ? '1' : '2';
+  buf[2] = ':';
+
+  buf[3]  = hex[(message->id >> 28) & 0x0F];
+  buf[4]  = hex[(message->id >> 24) & 0x0F];
+  buf[5]  = hex[(message->id >> 20) & 0x0F];
+  buf[6]  = hex[(message->id >> 16) & 0x0F];
+  buf[7]  = hex[(message->id >> 12) & 0x0F];
+  buf[8]  = hex[(message->id >> 8) & 0x0F];
+  buf[9]  = hex[(message->id >> 4) & 0x0F];
+  buf[10] = hex[message->id & 0x0F];
+
+  buf[11] = ' ';
+  buf[12] = hex[(message->dlc >> 4) & 0x0F];
+  buf[13] = hex[message->dlc & 0x0F];
+  buf[14] = ' ';
+
+  int idx = 15;
+  for (int i = 0; i < 8; i++)
+  {
+    if (i < message->dlc)
+    {
+      buf[idx++] = hex[(message->payload[i] >> 4) & 0x0F];
+      buf[idx++] = hex[message->payload[i] & 0x0F];
+    }
+    else
+    {
+      buf[idx++] = ' ';
+      buf[idx++] = ' ';
+    }
+    if (i < 7) buf[idx++] = ' ';
+  }
+
+  buf[idx++] = '\r';
+  buf[idx++] = '\n';
+  buf[idx] = '\0';
+
+  return idx;
+}
+/* END format_can_message */
+
+/* BEGIN HAL_UART_TxCpltCallback */
+/**
+  * @brief  Safely release UART semaphore inside ISR and yield task if possible.
+  * @param  argument: UART handle
+  * @retval None
+  */
+void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
+{
+  if (huart->Instance == USART1)
+  {
+    osSemaphoreRelease(xUARTDMASemaphore);
+  }
+}
+/* END HAL_UART_TxCpltCallback */
+
+/* BEGIN vUARTLoggerListen */
+/**
+  * @brief  Send CAN bus traffic saved in FIFO buffer to USART1
+  * @param  argument: Not used
+  * @retval None
+  */
+void vUARTLogger(void *argument)
+{
+    CanMessage_t message;
+    char tx_buffer[45];
+
+    for (;;)
+    {
+      DEBUG_PRINT("Waiting for CAN traffic...\r\n");
+      if (osMessageQueueGet(xUARTQueue, &message, NULL, osWaitForever) == osOK)
+      {
+        DEBUG_PRINT("CAN frame detected\r\n");
+        format_can_message(tx_buffer, message.source, &message);
+        HAL_UART_Transmit_DMA(&huart1, (uint8_t*)tx_buffer, len);
+        osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever);
+        DEBUG_PRINT("CAN frame sent via UART\r\n");
+      }
+    }
+}
+/* END vUARTLoggerListen */

Core/Src/main.c

@@ -20,6 +20,7 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "canlog.h"
+#include "cansend.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -47,12 +48,22 @@ DMA_HandleTypeDef hdma_sdio_tx;
 UART_HandleTypeDef huart1;
 
 /* 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;
+osThreadId_t xCAN1LedTask;
+osThreadId_t xCAN2LedTask;
 
 osMessageQueueId_t xCAN1RxQueue;
 osMessageQueueId_t xCAN2RxQueue;
+osMessageQueueId_t xUARTQueue;
+
+osSemaphoreId_t xUARTDMASemaphore;
+osThreadId_t xUartTask;
+
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -65,6 +76,12 @@ 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 ---------------------------------------------------------*/
@@ -80,7 +97,11 @@ int main(void)
 {
 
   /* USER CODE BEGIN 1 */
-
+  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--------------------------------------------------------*/
@@ -89,6 +110,7 @@ int main(void)
   HAL_Init();
 
   /* USER CODE BEGIN Init */
+  DEBUG_PRINT("Configuring system clock\r\n");
 
   /* USER CODE END Init */
 
@@ -96,7 +118,7 @@ int main(void)
   SystemClock_Config();
 
   /* USER CODE BEGIN SysInit */
-
+  DEBUG_PRINT("Initializing configured peripherals...\r\n");
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
@@ -107,39 +129,40 @@ 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 */
-  osThreadId_t xCAN1rx;
   const osThreadAttr_t CAN1rxAttributes = {
     .name = "CAN1rx",
     .stack_size = 128 * 4,
     .priority = (osPriority_t) osPriorityRealtime1,
   };
-
-  osThreadId_t xCAN2rx;
   const osThreadAttr_t CAN2rxAttributes = {
     .name = "CAN2rx",
     .stack_size = 128 * 4,
     .priority = (osPriority_t) osPriorityRealtime,
   };
-
-  osThreadId_t xLedTaskCAN1;
+  const osThreadAttr_t UartLoggerAttributes = {
+    .name = "UART_Logger",
+    .stack_size = 256 * 4,
+    .priority = (osPriority_t) osPriorityHigh,
+  };
   const osThreadAttr_t LEDHeartbeatCAN1Attributes = {
     .name = "LED_HB_CAN1",
     .stack_size = 128 * 4,
-    .priority = (osPriority_t) osPriorityVeryLow1,
+    .priority = (osPriority_t) osPriorityLow1,
   };
-
-  osThreadId_t xLedTaskCAN2;
   const osThreadAttr_t LEDHeartbeatCAN2Attributes = {
     .name = "LED_HB_CAN2",
     .stack_size = 128 * 4,
-    .priority = (osPriority_t) osPriorityVeryLow,
+    .priority = (osPriority_t) osPriorityLow,
   };
   /* USER CODE END RTOS_TASKS */
 
@@ -147,29 +170,34 @@ int main(void)
   /* USER CODE END RTOS_MUTEX */
 
   /* USER CODE BEGIN RTOS_SEMAPHORES */
+  xUARTDMASemaphore = osSemaphoreNew(1, 0, NULL);
+  if (xUARTDMASemaphore == NULL) Error_Handler();
   /* USER CODE END RTOS_SEMAPHORES */
 
   /* USER CODE BEGIN RTOS_TIMERS */
   /* USER CODE END RTOS_TIMERS */
 
   /* USER CODE BEGIN RTOS_QUEUES */
-  xCAN1RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
-  xCAN2RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
+  xCAN1RxQueue = osMessageQueueNew(64, sizeof(CanMessage_t), NULL);
+  xCAN2RxQueue = osMessageQueueNew(64, sizeof(CanMessage_t), NULL);
+  xUARTQueue = osMessageQueueNew(128, sizeof(CanMessage_t), NULL);
 
-  if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL) Error_Handler();
+  if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL || xUARTQueue == NULL) Error_Handler();
   /* USER CODE END RTOS_QUEUES */
 
   /* USER CODE BEGIN RTOS_THREADS */
-  xCAN1rx = osThreadNew(vCANLoggerListen, &hcan1, &CAN1rxAttributes);
-  xCAN2rx = osThreadNew(vCANLoggerListen, &hcan2, &CAN2rxAttributes);
-  xLedTaskCAN1 = osThreadNew(vLEDHeartbeat, &led_can1, &LEDHeartbeatCAN1Attributes);
-  xLedTaskCAN2 = osThreadNew(vLEDHeartbeat, &led_can2, &LEDHeartbeatCAN2Attributes);
+  xCAN1rxTask = osThreadNew(vCANListener, &hcan1, &CAN1rxAttributes);
+  xCAN2rxTask = osThreadNew(vCANListener, &hcan2, &CAN2rxAttributes);
+  xUartTask = osThreadNew(vUARTLogger, NULL, &UartLoggerAttributes);
+  xCAN1LedTask = osThreadNew(vLEDHeartbeat, &led_can1, &LEDHeartbeatCAN1Attributes);
+  xCAN2LedTask = osThreadNew(vLEDHeartbeat, &led_can2, &LEDHeartbeatCAN2Attributes);
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
   /* 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 */
@@ -181,6 +209,7 @@ int main(void)
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
+    DEBUG_PRINT("ERROR: RTOS scheduler crashed!\r\n");
     /* USER CODE END 3 */
   }
 }
@@ -263,7 +292,7 @@ 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 */
 
 }
@@ -300,7 +329,7 @@ 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 */
 
 }
@@ -327,16 +356,16 @@ 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 */
 
 }
@@ -369,7 +398,7 @@ 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 */
 
 }
@@ -391,6 +420,9 @@ static void MX_DMA_Init(void)
   HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
 
+  /* USER CODE BEGIN MX_DMA_Init 1 */
+  DEBUG_PRINT("DMA initialized!\r\n");
+  /* USER CODE END MX_DMA_Init 1 */
 }
 
 /**
@@ -413,7 +445,7 @@ 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
@@ -433,35 +465,33 @@ 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 */
 }
 
@@ -496,6 +526,8 @@ 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();

can_logger.ioc

@@ -70,22 +70,24 @@ 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
@@ -113,18 +115,22 @@ NVIC.TimeBaseIP=TIM6
 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