Syncronize semaphore counters to queue dimension

- Remove RTOS timers
- Create LED task
- Avoid polling, instead wait for semaphore

Core/Src/canlog.c

@@ -47,11 +47,14 @@ 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 */
 
@@ -82,9 +85,6 @@ 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 */
@@ -98,20 +98,13 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 void vCANLoggerListen(void *argument)
 {
   /* CODE BEGIN */
-  CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
+  LEDContext *context = (LEDContext*)argument;
-  osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
-  CanMessage_t message;
-
-  HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
 
   for (;;)
   {
-    if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
+    if (osSemaphoreAcquire(context->semaphore, 25U) == osOK) HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_SET);
-	{
+    else HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_RESET);
-					//
+    /* CODE END */
-	}
-  }
-	/* CODE END */
 }
 /* END vCANLoggerListen */
 

Core/Src/main.c

@@ -28,28 +28,12 @@
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
-#define CAN_QUEUE_DEPTH 32
+
-#define CAN_TASK_STACK_WORDS 128
-#define CAN_QUEUE_CB_SIZE 128
-#define CAN_MSG_SIZE sizeof(CanMessage_t)
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
 /* USER CODE BEGIN PM */
-//CCRAM: stack; control bank; queue memory
-__attribute__((section(".ccmram")))
-StackType_t xCAN1_Stack[CAN_TASK_STACK_WORDS];
-__attribute__((section(".ccmram"), aligned(4)))
-uint8_t can1_queue_cb[CAN_QUEUE_CB_SIZE];
-__attribute__((section(".ccmram"), aligned(4)))
-uint8_t can1_queue_mq[CAN_QUEUE_DEPTH * CAN_MSG_SIZE];
 
-__attribute__((section(".ccmram")))
-StackType_t xCAN2_Stack[CAN_TASK_STACK_WORDS];
-__attribute__((section(".ccmram"), aligned(4)))
-uint8_t can2_queue_cb[CAN_QUEUE_CB_SIZE];
-__attribute__((section(".ccmram"), aligned(4)))
-uint8_t can2_queue_mq[CAN_QUEUE_DEPTH * CAN_MSG_SIZE];
 /* USER CODE END PM */
 
 /* Private variables ---------------------------------------------------------*/
@@ -136,26 +120,20 @@ int main(void)
   osThreadId_t xCAN1rx;
   const osThreadAttr_t CAN1rxAttributes = {
     .name = "CAN1rx",
-    .stack_size = sizeof(xCAN1_Stack),
+    .stack_size = 128 * 4,
     .priority = (osPriority_t) osPriorityRealtime1,
   };
 
   osThreadId_t xCAN2rx;
   const osThreadAttr_t CAN2rxAttributes = {
     .name = "CAN2rx",
-    .cb_mem = NULL,
+    .stack_size = 128 * 4,
-    .cb_size = 0U,
-    .stack_mem = xCAN2_Stack,
-    .stack_size = sizeof(xCAN2_Stack),
     .priority = (osPriority_t) osPriorityRealtime,
   };
 
   osThreadId_t xLEDHeartbeatCAN1;
   const osThreadAttr_t LEDHeartbeatCAN1Attributes = {
     .name = "LED_HB_CAN1",
-    .cb_mem = NULL,
-    .cb_size = 0U,
-    .stack_mem = xCAN2_Stack,
     .stack_size = 128 * 4,
     .priority = (osPriority_t) osPriorityVeryLow1,
   };
@@ -173,8 +151,8 @@ int main(void)
   /* USER CODE END RTOS_MUTEX */
 
   /* USER CODE BEGIN RTOS_SEMAPHORES */
-  xSemaphoreCAN1 = osSemaphoreNew(CAN_QUEUE_DEPTH, 0, NULL);
+  xSemaphoreCAN1 = osSemaphoreNew(32, 0, NULL);
-  xSemaphoreCAN2 = osSemaphoreNew(CAN_QUEUE_DEPTH, 0, NULL);
+  xSemaphoreCAN2 = osSemaphoreNew(32, 0, NULL);
 
   if (xSemaphoreCAN1 == NULL || xSemaphoreCAN2 == NULL) Error_Handler();
 
@@ -189,24 +167,10 @@ int main(void)
   /* USER CODE END RTOS_TIMERS */
 
   /* USER CODE BEGIN RTOS_QUEUES */
-  const osMessageQueueAttr_t can1_queue_attr = {
+  xCAN1RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
-      .name = "CAN1_Q",
+  xCAN2RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
-      .cb_mem = can1_queue_cb,
+  xLEDHeartbeatCAN1 = osThreadNew(vLEDHeartbeat, &ledContextCAN1, &LEDHeartbeatCAN1Attributes);
-      .cb_size = sizeof(can1_queue_cb),
+  xLEDHeartbeatCAN2 = osThreadNew(vLEDHeartbeat, &ledContextCAN2, &LEDHeartbeatCAN2Attributes);
-      .mq_mem = can1_queue_mq,
-      .mq_size = sizeof(can1_queue_mq)
-  };
-
-  const osMessageQueueAttr_t can2_queue_attr = {
-      .name = "CAN2_Q",
-      .cb_mem = can2_queue_cb,
-      .cb_size = sizeof(can2_queue_cb),
-      .mq_mem = can2_queue_mq,
-      .mq_size = sizeof(can2_queue_mq)
-  };
-
-  xCAN1RxQueue = osMessageQueueNew(CAN_QUEUE_DEPTH, sizeof(CanMessage_t), &can1_queue_attr);
-  xCAN2RxQueue = osMessageQueueNew(CAN_QUEUE_DEPTH, sizeof(CanMessage_t), &can2_queue_attr);
 
   if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL) Error_Handler();
   /* USER CODE END RTOS_QUEUES */
@@ -214,8 +178,6 @@ 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 */