Use semaphore instead of HAL on write function

Core/Inc/main.h

@@ -45,15 +45,18 @@ extern "C" {
 
 /* Exported macro ------------------------------------------------------------*/
 /* USER CODE BEGIN EM */
-//#define DEBUG_ITM
+//#define DEBUG_ITW
 //#define DEBUG_DUMMY_FRAME
 
-#ifdef DEBUG_ITM
+#ifdef DEBUG_ITW
 #include <stdio.h>
 #define DEBUG_PRINT(...) printf(__VA_ARGS__)
 #else
-#define DEBUG_PRINT(...)
+#include <stdarg.h>
+void uart_debug_print(const char *fmt, ...);
+#define DEBUG_PRINT(...) uart_debug_print(__VA_ARGS__)
 #endif
+
 /* USER CODE END EM */
 
 /* Exported functions prototypes ---------------------------------------------*/

Core/Src/canlog.c

@@ -28,6 +28,9 @@ extern CAN_HandleTypeDef hcan2;
 extern osThreadId_t xCAN1LedTask;
 extern osThreadId_t xCAN2LedTask;
 
+volatile uint32_t can1_rx_isr_count = 0;
+volatile uint32_t can2_rx_isr_count = 0;
+
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
 /**
@@ -38,22 +41,21 @@ extern osThreadId_t xCAN2LedTask;
   */
 void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
 {
-    CAN_FilterTypeDef filter = {0};
+  CAN_FilterTypeDef filter = {0};
-    filter.FilterMode = CAN_FILTERMODE_IDMASK;
+  filter.FilterMode = CAN_FILTERMODE_IDMASK;
-    filter.FilterScale = CAN_FILTERSCALE_32BIT;
+  filter.FilterScale = CAN_FILTERSCALE_32BIT;
-    filter.FilterIdHigh = 0x0000;
+  filter.FilterIdHigh = 0x0000;
-    filter.FilterMaskIdHigh = 0x0000;
+  filter.FilterMaskIdHigh = 0x0000;
-    filter.FilterIdLow = 0x0000;
+  filter.FilterIdLow = 0x0000;
-    filter.FilterMaskIdLow = 0x0000;
+  filter.FilterMaskIdLow = 0x0000;
-    filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
+  filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
-    filter.FilterActivation = ENABLE;
+  filter.FilterActivation = ENABLE;
-    filter.SlaveStartFilterBank = 14;
+  filter.SlaveStartFilterBank = 14;
 
-    filter.FilterBank = 0;
+  filter.FilterBank = 0;
-    if (HAL_CAN_ConfigFilter(hcan1, &filter) != HAL_OK) Error_Handler();
+  if (HAL_CAN_ConfigFilter(hcan1, &filter) != HAL_OK) Error_Handler();
-
+  filter.FilterBank = 14;
-    filter.FilterBank = 14;
+  if (HAL_CAN_ConfigFilter(hcan2, &filter) != HAL_OK) Error_Handler();
-    if (HAL_CAN_ConfigFilter(hcan2, &filter) != HAL_OK) Error_Handler();
 }
 /* END CAN_Logger_Init */
 
@@ -65,38 +67,38 @@ void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
   */
 void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 {
-    CanMessage_t message;
+  if (hcan->Instance == CAN1) can1_rx_isr_count++;
-    CAN_RxHeaderTypeDef rxHeader;
+  else can2_rx_isr_count++;
-    uint8_t data[8];
 
-    osMessageQueueId_t queue;
+  CanMessage_t message;
-    osThreadId_t led_task;
+  CAN_RxHeaderTypeDef rxHeader;
+  uint8_t data[8];
 
-    // TODO: manage the case of FIFO overflow
+  osMessageQueueId_t queue;
-    if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) return;
+  osThreadId_t led_task;
 
-    if (rxHeader.IDE == CAN_ID_EXT) message.id = rxHeader.ExtId;
+  // TODO: manage the case of FIFO overflow
-    else message.id = rxHeader.StdId;
+  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) return;
-    message.dlc = rxHeader.DLC;
-    message.isExtended = (rxHeader.IDE == CAN_ID_EXT);
-    message.source = (hcan->Instance == CAN1) ? 1 : 2;
-    memcpy(message.payload, data, rxHeader.DLC);
 
-    if (hcan->Instance == CAN1)
+  if (rxHeader.IDE == CAN_ID_EXT) message.id = rxHeader.ExtId;
-    {
+  else message.id = rxHeader.StdId;
-        queue    = xCAN1RxQueue;
+  message.dlc = rxHeader.DLC;
-        led_task = xCAN1LedTask;
+  message.isExtended = (rxHeader.IDE == CAN_ID_EXT);
-    }
+  message.source = (hcan->Instance == CAN1) ? 1 : 2;
-    else
+  memcpy(message.payload, data, rxHeader.DLC);
-    {
-        queue    = xCAN2RxQueue;
-        led_task = xCAN2LedTask;
-    }
 
-    if (osMessageQueuePut(queue, &message, 0U, 0U) == osOK)
+  if (hcan->Instance == CAN1)
-    {
+  {
-        osThreadFlagsSet(led_task, 0x01);
+    queue    = xCAN1RxQueue;
-    }
+    led_task = xCAN1LedTask;
+  }
+  else
+  {
+    queue    = xCAN2RxQueue;
+    led_task = xCAN2LedTask;
+  }
+
+  if (osMessageQueuePut(queue, &message, 0U, 0U) == osOK) osThreadFlagsSet(led_task, 0x01);
 }
 /* END HAL_CAN_RxFifo0MsgPendingCallback */
 
@@ -127,8 +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

@@ -20,11 +20,17 @@
 #include "main.h"
 #include "cmsis_os.h"
 #include "canlog.h"
+#include <stdio.h>
+#include <stdarg.h>
 /* USER CODE END Includes */
 
 extern UART_HandleTypeDef huart1;
 extern osSemaphoreId_t xUARTDMASemaphore;
 extern osMessageQueueId_t xUARTQueue;
+extern volatile uint32_t can1_rx_isr_count;
+extern volatile uint32_t can2_rx_isr_count;
+extern CAN_HandleTypeDef hcan1;
+extern CAN_HandleTypeDef hcan2;
 
 /* BEGIN format_can_message */
 /**
@@ -86,10 +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 */
 
@@ -102,7 +104,9 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
 void vUARTLogger(void *argument)
 {
   CanMessage_t message;
-  char tx_buffer[45];
+
+  static char tx_buffer[45];
+  static char diag_buf[128];
 
   #ifdef DEBUG_DUMMY_FRAME
   CanMessage_t dummy_frame = {
@@ -116,40 +120,37 @@ void vUARTLogger(void *argument)
 
   for (;;)
   {
-    DEBUG_PRINT("Waiting for CAN traffic...\r\n");
-
-    #ifdef DEBUG_DUMMY_FRAME
     uint32_t queue_timeout = 1000U;
-    #else
+
-    uint32_t queue_timeout = osWaitForever;
+    //ALT: uint32_t queue_timeout = osWaitForever;
-    #endif
 
     #ifdef DEBUG_DUMMY_FRAME
-    osMessageQueuePut(xUARTQueue, &dummy_frame, 0U, 0U);
+    osMessageQueuePut(xCAN1RxQueue, &dummy_frame, 0U, 0U);
     osDelay(1000);
     #endif
 
-   	if (osMessageQueueGet(xUARTQueue, &message, NULL, queue_timeout) == osOK)
+    if (osMessageQueueGet(xUARTQueue, &message, NULL, queue_timeout) == osOK)
-	{
+    {
-      if (osSemaphoreAcquire(xUARTDMASemaphore, queue_timeout) == osOK)
+      if (huart1.gState != HAL_UART_STATE_READY)
       {
-        int len = format_can_message(tx_buffer, message.source, &message);
+        HAL_UART_Abort(&huart1);
+        HAL_UART_Init(&huart1);
+      }
 
-        if (HAL_UART_Transmit_DMA(&huart1, (uint8_t*)tx_buffer, len) == HAL_OK)
+      osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever);
-        {
+
-          DEBUG_PRINT("CAN frame sent via UART\r\n");
+      int len = format_can_message(tx_buffer, message.source, &message);
-        }
+      HAL_UART_Transmit(&huart1, (uint8_t*)tx_buffer, len, 100);
-        else
+
-        {
+      osSemaphoreRelease(xUARTDMASemaphore);
-          osSemaphoreRelease(xUARTDMASemaphore);
+    }
-          DEBUG_PRINT("HAL error, CAN frame NOT sent!\r\n");
+    else
-        }
+    {
-      }
+      DEBUG_PRINT("[D] ISR1:%lu ISR2:%lu | ST1:%lu ST2:%lu | ER1:0x%lX ER2:0x%lX\r\n",
-      else
+          (unsigned long)can1_rx_isr_count, (unsigned long)can2_rx_isr_count,
-      {
+          (unsigned long)HAL_CAN_GetState(&hcan1), (unsigned long)HAL_CAN_GetState(&hcan2),
-        DEBUG_PRINT("ERROR: Semaphore timeout! UART might be stuck in BUSY state.\r\n");
+          (unsigned long)HAL_CAN_GetError(&hcan1), (unsigned long)HAL_CAN_GetError(&hcan2));
-      }
+    }
-	}
   }
 }
 /* END vUARTLoggerListen */

Core/Src/main.c

@@ -21,6 +21,8 @@
 /* USER CODE BEGIN Includes */
 #include "canlog.h"
 #include "cansend.h"
+#include <stdio.h>
+#include <stdarg.h>
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -53,6 +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;
@@ -64,7 +68,6 @@ osMessageQueueId_t xUARTQueue;
 
 osSemaphoreId_t xUARTDMASemaphore;
 osThreadId_t xUartTask;
-
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -75,14 +78,43 @@ static void MX_CAN1_Init(void);
 static void MX_CAN2_Init(void);
 static void MX_SDIO_SD_Init(void);
 static void MX_USART1_UART_Init(void);
+/* USER CODE END PFP */
 
-/* USER CODE BEGIN PFP */
+/* 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;
 }
-/* USER CODE END PFP */
+
+#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;
+
+  va_start(args, fmt);
+  int len = vsnprintf(buf, sizeof(buf), fmt, args);
+  va_end(args);
+
+  if (len > 0) HAL_UART_Transmit(&huart1, (uint8_t*)buf, len, 100);
+
+  if (osKernelGetState() == osKernelRunning) osSemaphoreRelease(xUARTDMASemaphore);
+}
+#endif
+/* USER CODE END PF */
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
@@ -104,16 +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 */
 
@@ -121,7 +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 */
@@ -132,14 +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 = {
@@ -170,6 +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 */
@@ -200,7 +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 */
@@ -212,7 +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 */
   }
 }
@@ -295,7 +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 */
 
 }
@@ -332,7 +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 */
 
 }
@@ -401,7 +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 */
 
 }
@@ -427,7 +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 */
 }
 
@@ -497,7 +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 */
 }
 
@@ -532,7 +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 */