Merge pull request 'Remove complex timer based toggling and switch to RTOS task with semaphore based delay' (#18) from dev-rtos-semaphore into main

Reviewed-on: erickahmed/j1939_logger#18

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 */
 
@@ -85,6 +82,9 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 
         // send errors like queue full via UART
     }
+
+    osSemaphoreId_t semaphore = (hcan->Instance == CAN1) ? xSemaphoreCAN1 : xSemaphoreCAN2;
+    osSemaphoreRelease(semaphore);
     /* CODE END */
 }
 /* END HAL_CAN_RxFifo0MsgPendingCallback */
@@ -98,13 +98,20 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 void vCANLoggerListen(void *argument)
 {
   /* CODE BEGIN */
-  LEDContext *context = (LEDContext*)argument;
+  CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
+  osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
+  CanMessage_t message;
+
+  HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
 
   for (;;)
   {
-    if (osSemaphoreAcquire(context->semaphore, 25U) == osOK) HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_SET);
+    if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
-    else HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_RESET);
+	{
-    /* CODE END */
+					//
+	}
+  }
+	/* CODE END */
 }
 /* END vCANLoggerListen */
 
@@ -121,21 +128,8 @@ void vLEDHeartbeat(void *argument)
 
     for (;;)
     {
-        // BLOCK for UP TO 25ms.
+      if (osSemaphoreAcquire(context->semaphore, 25U) == osOK) HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_SET);
-        // - Returns osOK instantly if CAN traffic arrives.
+      else HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_RESET);
-        // - Returns osTimeout if 25ms pass with NO traffic.
-        if (osSemaphoreAcquire(context->semaphore, 25U) == osOK)
-        {
-            // Traffic detected! Turn ON LED.
-            // Loop immediately to wait for the next message.
-            HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_SET);
-        }
-        else
-        {
-            // Timeout! No CAN traffic for 25ms. Turn OFF LED.
-            // Loop and block again.
-            HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_RESET);
-        }
     }
     /* CODE END */
 }

Core/Src/main.c

@@ -169,8 +169,6 @@ int main(void)
   /* USER CODE BEGIN RTOS_QUEUES */
   xCAN1RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
   xCAN2RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
-  xLEDHeartbeatCAN1 = osThreadNew(vLEDHeartbeat, &ledContextCAN1, &LEDHeartbeatCAN1Attributes);
-  xLEDHeartbeatCAN2 = osThreadNew(vLEDHeartbeat, &ledContextCAN2, &LEDHeartbeatCAN2Attributes);
 
   if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL) Error_Handler();
   /* USER CODE END RTOS_QUEUES */
@@ -178,6 +176,8 @@ int main(void)
   /* USER CODE BEGIN RTOS_THREADS */
   xCAN1rx = osThreadNew(vCANLoggerListen, &hcan1, &CAN1rxAttributes);
   xCAN2rx = osThreadNew(vCANLoggerListen, &hcan2, &CAN2rxAttributes);
+  xLEDHeartbeatCAN1 = osThreadNew(vLEDHeartbeat, &ledContextCAN1, &LEDHeartbeatCAN1Attributes);
+  xLEDHeartbeatCAN2 = osThreadNew(vLEDHeartbeat, &ledContextCAN2, &LEDHeartbeatCAN2Attributes);
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */