Check semaphore acquire status

- They were wrongly calculated on 168MHz but APB1 bus is at 42 MHz (168
  / 4)

Core/Inc/stm32f4xx_it.h

@@ -52,6 +52,7 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void USART1_IRQHandler(void);
 void SDIO_IRQHandler(void);
 void TIM6_DAC_IRQHandler(void);
 void DMA2_Stream3_IRQHandler(void);

Core/Src/canlog.c

@@ -51,11 +51,9 @@ 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(hcan2) != HAL_OK) Error_Handler();
 }
 /* END CAN_Logger_Init */
 
@@ -77,7 +75,8 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
     // TODO: manage the case of FIFO overflow
     if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) return;
 
-    message.id = rxHeader.ExtId;
+    if (rxHeader.IDE == CAN_ID_EXT) message.id = rxHeader.ExtId;
+    else message.id = rxHeader.StdId;
     message.dlc = rxHeader.DLC;
     message.isExtended = (rxHeader.IDE == CAN_ID_EXT);
     message.source = (hcan->Instance == CAN1) ? 1 : 2;
@@ -113,15 +112,19 @@ void vCANListener(void *argument)
   osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
   CanMessage_t message;
 
+  if (HAL_CAN_Start(hcan) != HAL_OK) Error_Handler();
   HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
 
+  uint32_t irqn = (hcan->Instance == CAN1) ? CAN1_RX0_IRQn : CAN2_RX0_IRQn;
+  HAL_NVIC_SetPriority(irqn, 6, 0);
+  HAL_NVIC_EnableIRQ(irqn);
+
   for (;;)
   {
     if (osMessageQueueGet(queue, &message, NULL, 1000) == osOK)
     {
           // J1939 decoding
 
-          // RELAY: Push to the UART queue
       osMessageQueuePut(xUARTQueue, &message, 0U, 0U);
     }
     else DEBUG_PRINT("No CAN yet!\r\n");

Core/Src/cansend.c

@@ -101,8 +101,8 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
   */
 void vUARTLogger(void *argument)
 {
-    CanMessage_t message;
-    char tx_buffer[45];
+  CanMessage_t message;
+  char tx_buffer[45];
 
   #ifdef DEBUG_DUMMY_FRAME
   CanMessage_t dummy_frame = {
@@ -118,23 +118,37 @@ void vUARTLogger(void *argument)
   {
     DEBUG_PRINT("Waiting for CAN traffic...\r\n");
 
+    #ifdef DEBUG_DUMMY_FRAME
+    #define uint32_t queue_timeout = 1000U;
+    #else
+    #define uint32_t queue_timeout = osWaitForever;
+    #endif
+
     #ifdef DEBUG_DUMMY_FRAME
     osMessageQueuePut(xUARTQueue, &dummy_frame, 0U, 0U);
     osDelay(1000);
     #endif
 
-    if (osMessageQueueGet(xUARTQueue, &message, NULL, osWaitForever) == osOK)
-    {
-      DEBUG_PRINT("Waiting for CAN traffic...\r\n");
-      if (osMessageQueueGet(xUARTQueue, &message, NULL, osWaitForever) == osOK)
-      {
-        DEBUG_PRINT("CAN frame detected\r\n");
-        int len = 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");
-      }
-    }
-  }
+   	if (osMessageQueueGet(xUARTQueue, &message, NULL, queue_timeout) == osOK)
+	{
+         if (osSemaphoreAcquire(xUARTDMASemaphore, queue_timeout) == osOK)
+         {
+             int len = format_can_message(tx_buffer, message.source, &message);
+
+             if (HAL_UART_Transmit_DMA(&huart1, (uint8_t*)tx_buffer, len) == HAL_OK)
+             {
+               DEBUG_PRINT("CAN frame sent via UART\r\n");
+             }
+             else
+             {
+               osSemaphoreRelease(xUARTDMASemaphore);
+               DEBUG_PRINT("HAL error, CAN frame NOT sent!\r\n");
+             }
+         }
+         else
+         {
+             DEBUG_PRINT("ERROR: Semaphore timeout! UART might be stuck in BUSY state.\r\n");
+         }
+       }
 }
 /* END vUARTLoggerListen */

Core/Src/main.c

@@ -77,11 +77,10 @@ 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;
+int _write(int file, char *ptr, int len)
+{
+  for (int i = 0; i < len; i++) ITM_SendChar((*ptr++));
+  return len;
 }
 /* USER CODE END PFP */
 
@@ -98,10 +97,14 @@ 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;
+  if (CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk)
+  {
+    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 */
 
@@ -171,7 +174,7 @@ int main(void)
   /* USER CODE END RTOS_MUTEX */
 
   /* USER CODE BEGIN RTOS_SEMAPHORES */
-  xUARTDMASemaphore = osSemaphoreNew(1, 0, NULL);
+  xUARTDMASemaphore = osSemaphoreNew(1, 1, NULL);
   if (xUARTDMASemaphore == NULL) Error_Handler();
   /* USER CODE END RTOS_SEMAPHORES */
 
@@ -277,7 +280,7 @@ static void MX_CAN1_Init(void)
 
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 4;
+  hcan1.Init.Prescaler = 8;
   hcan1.Init.Mode = CAN_MODE_SILENT;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
@@ -314,7 +317,7 @@ static void MX_CAN2_Init(void)
 
   /* USER CODE END CAN2_Init 1 */
   hcan2.Instance = CAN2;
-  hcan2.Init.Prescaler = 8;
+  hcan2.Init.Prescaler = 16;
   hcan2.Init.Mode = CAN_MODE_SILENT;
   hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;

Core/Src/stm32f4xx_hal_msp.c

@@ -392,6 +392,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 
     __HAL_LINKDMA(huart,hdmatx,hdma_usart1_tx);
 
+    /* USART1 interrupt Init */
+    HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(USART1_IRQn);
     /* USER CODE BEGIN USART1_MspInit 1 */
 
     /* USER CODE END USART1_MspInit 1 */
@@ -424,6 +427,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 
     /* USART1 DMA DeInit */
     HAL_DMA_DeInit(huart->hdmatx);
+
+    /* USART1 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(USART1_IRQn);
     /* USER CODE BEGIN USART1_MspDeInit 1 */
 
     /* USER CODE END USART1_MspDeInit 1 */

Core/Src/stm32f4xx_it.c

@@ -59,6 +59,7 @@ extern DMA_HandleTypeDef hdma_sdio_rx;
 extern DMA_HandleTypeDef hdma_sdio_tx;
 extern SD_HandleTypeDef hsd;
 extern DMA_HandleTypeDef hdma_usart1_tx;
+extern UART_HandleTypeDef huart1;
 extern TIM_HandleTypeDef htim6;
 
 /* USER CODE BEGIN EV */
@@ -163,6 +164,20 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32f4xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles USART1 global interrupt.
+  */
+void USART1_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART1_IRQn 0 */
+
+  /* USER CODE END USART1_IRQn 0 */
+  HAL_UART_IRQHandler(&huart1);
+  /* USER CODE BEGIN USART1_IRQn 1 */
+
+  /* USER CODE END USART1_IRQn 1 */
+}
+
 /**
   * @brief This function handles SDIO global interrupt.
   */

can_logger.ioc

@@ -124,6 +124,7 @@ NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
 NVIC.TIM6_DAC_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.TimeBase=TIM6_DAC_IRQn
 NVIC.TimeBaseIP=TIM6
+NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX