Merge branch 'j1939'

Core/Inc/canlog.h

@@ -45,6 +45,7 @@ typedef struct {
 typedef struct {
     LED_Config *led;
     osSemaphoreId_t semaphore;
+    osTimerId_t timer;
 } LEDContext;
 /* USER CODE END PTD */
 

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 */
@@ -99,17 +99,19 @@ void vCANLoggerListen(void *argument)
 {
     /* CODE BEGIN */
     CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
-  osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
+    osMessageQueueId_t queue;
     CanMessage_t message;
 
-  HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
+    queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
 
     for (;;)
     {
         if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
         {
-					//
+            osSemaphoreRelease( (hcan->Instance == CAN1) ? xSemaphoreCAN1 : xSemaphoreCAN2 );
+            // TODO: use this semaphore
         }
+
     }
     /* CODE END */
 }
@@ -126,10 +128,14 @@ void vLEDHeartbeat(void *argument)
   /* CODE BEGIN */
   LEDContext *context = (LEDContext*)argument;
 
-    for (;;)
+  if (osSemaphoreAcquire(context->semaphore, 0U) == osOK)
   {
-      if (osSemaphoreAcquire(context->semaphore, 25U) == osOK) HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_SET);
+      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);
+      osTimerStart(context->timer, 25U);
+  }
+  else
+  {
+      HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_RESET);
   }
   /* CODE END */
 }

Core/Src/main.c

@@ -55,6 +55,9 @@ LEDContext ledContextCAN2;
 osSemaphoreId_t xSemaphoreCAN1;
 osSemaphoreId_t xSemaphoreCAN2;
 
+osTimerId_t xHeartbeatTimerCAN1;
+osTimerId_t xHeartbeatTimerCAN2;
+
 osMessageQueueId_t xCAN1RxQueue;
 osMessageQueueId_t xCAN2RxQueue;
 /* USER CODE END PV */
@@ -123,27 +126,12 @@ int main(void)
     .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 xLEDHeartbeatCAN1;
-  const osThreadAttr_t LEDHeartbeatCAN1Attributes = {
-    .name = "LED_HB_CAN1",
-    .stack_size = 128 * 4,
-    .priority = (osPriority_t) osPriorityVeryLow1,
-  };
-
-  osThreadId_t xLEDHeartbeatCAN2;
-  const osThreadAttr_t LEDHeartbeatCAN2Attributes = {
-    .name = "LED_HB_CAN2",
-    .stack_size = 128 * 4,
-    .priority = (osPriority_t) osPriorityVeryLow,
-  };
   /* USER END RTOS_TASKS */
 
   /* USER CODE BEGIN RTOS_MUTEX */
@@ -151,8 +139,8 @@ int main(void)
   /* USER CODE END RTOS_MUTEX */
 
   /* USER CODE BEGIN RTOS_SEMAPHORES */
-  xSemaphoreCAN1 = osSemaphoreNew(32, 0, NULL);
+  xSemaphoreCAN1 = osSemaphoreNew(10, 0, NULL);
-  xSemaphoreCAN2 = osSemaphoreNew(32, 0, NULL);
+  xSemaphoreCAN2 = osSemaphoreNew(10, 0, NULL);
 
   if (xSemaphoreCAN1 == NULL || xSemaphoreCAN2 == NULL) Error_Handler();
 
@@ -163,7 +151,16 @@ int main(void)
   /* USER CODE END RTOS_SEMAPHORES */
 
   /* USER CODE BEGIN RTOS_TIMERS */
-  /* add timers, ... */
+  xHeartbeatTimerCAN1 = osTimerNew(vLEDHeartbeat, osTimerOnce, &ledContextCAN1, NULL);
+  xHeartbeatTimerCAN2 = osTimerNew(vLEDHeartbeat, osTimerOnce, &ledContextCAN2, NULL);
+
+  osTimerStart(xHeartbeatTimerCAN1, 25U);
+  osTimerStart(xHeartbeatTimerCAN2, 25U);
+
+  if (xHeartbeatTimerCAN1 == NULL || xHeartbeatTimerCAN2 == NULL) Error_Handler();
+
+  ledContextCAN1.timer = xHeartbeatTimerCAN1;
+  ledContextCAN2.timer = xHeartbeatTimerCAN2;
   /* USER CODE END RTOS_TIMERS */
 
   /* USER CODE BEGIN RTOS_QUEUES */
@@ -176,8 +173,6 @@ 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 */
@@ -185,6 +180,13 @@ int main(void)
   /* USER CODE END RTOS_EVENTS */
 
   /* USER CODE BEGIN 3 */
+  ledContextCAN1.led = &led_can1;
+  ledContextCAN1.semaphore = xSemaphoreCAN1;
+  ledContextCAN1.timer = xHeartbeatTimerCAN1;
+
+  ledContextCAN2.led = &led_can2;
+  ledContextCAN2.semaphore = xSemaphoreCAN2;
+  ledContextCAN2.timer = xHeartbeatTimerCAN2;
   /* USER CODE END 3 */
 
   /* Start scheduler */