Fix baudrates

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

Core/Inc/main.h

@@ -45,10 +45,8 @@ extern "C" {
 
 /* Exported macro ------------------------------------------------------------*/
 /* USER CODE BEGIN EM */
-#define DEBUG_ITM
-#define DEBUG_DUMMY_FRAME
-
-#ifdef DEBUG_ITM
+#define DEBUG
+#ifdef DEBUG
 #include <stdio.h>
 #define DEBUG_PRINT(...) printf(__VA_ARGS__)
 #else

Core/Src/canlog.c

@@ -49,6 +49,12 @@ void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
     filter.FilterActivation = ENABLE;
     filter.SlaveStartFilterBank = 14;
 
+    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 6, 0);
+    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
+
+    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 6, 0);
+    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
+
     filter.FilterBank = 0;
     if (HAL_CAN_ConfigFilter(hcan1, &filter) != HAL_OK) Error_Handler();
     if (HAL_CAN_Start(hcan1) != HAL_OK) Error_Handler();
@@ -117,15 +123,12 @@ void vCANListener(void *argument)
 
   for (;;)
   {
-    if (osMessageQueueGet(queue, &message, NULL, 1000) == osOK)
+    if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
     {
           // J1939 decoding
 
-          // RELAY: Push to the UART queue
       osMessageQueuePut(xUARTQueue, &message, 0U, 0U);
     }
-    else DEBUG_PRINT("No CAN yet!\r\n");
-
   }
 }
 /* END vCANListener */

Core/Src/cansend.c

@@ -104,26 +104,7 @@ void vUARTLogger(void *argument)
     CanMessage_t message;
     char tx_buffer[45];
 
-  #ifdef DEBUG_DUMMY_FRAME
-  CanMessage_t dummy_frame = {
-    .id = 0x0CF00400,       // J1939 EEC1 ID
-    .dlc = 8,               // 8 bytes of data
-    .isExtended = 1,        // 29-bit Extended ID
-    .source = 1,            // CAN1
-    .payload = {0xAA, 0xBB, 0xCC, 0xDD, 0xEE, 0xFF, 0x11, 0x22}
-  };
-  #endif
-
-  for (;;)
-  {
-    DEBUG_PRINT("Waiting for CAN traffic...\r\n");
-
-    #ifdef DEBUG_DUMMY_FRAME
-    osMessageQueuePut(xUARTQueue, &dummy_frame, 0U, 0U);
-    osDelay(1000);
-    #endif
-
-    if (osMessageQueueGet(xUARTQueue, &message, NULL, osWaitForever) == osOK)
+    for (;;)
     {
       DEBUG_PRINT("Waiting for CAN traffic...\r\n");
       if (osMessageQueueGet(xUARTQueue, &message, NULL, osWaitForever) == osOK)
@@ -135,6 +116,5 @@ void vUARTLogger(void *argument)
         DEBUG_PRINT("CAN frame sent via UART\r\n");
       }
     }
-  }
 }
 /* END vUARTLoggerListen */

Core/Src/main.c

@@ -277,7 +277,7 @@ 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 +314,7 @@ 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;