Move debugger connection check to main

- 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

@@ -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;
@@ -113,19 +112,21 @@ 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)
+    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

@@ -101,38 +101,25 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
   */
 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
+  CanMessage_t message;
+  char tx_buffer[45];
 
   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)
     {
-      DEBUG_PRINT("Waiting for CAN traffic...\r\n");
-      if (osMessageQueueGet(xUARTQueue, &message, NULL, osWaitForever) == osOK)
+      osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever);
+      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 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");
+          DEBUG_PRINT("CAN frame sent via UART\r\n");
+      }
+      else
+      {
+        osSemaphoreRelease(xUARTDMASemaphore);
+        DEBUG_PRINT("HAL error, CAN frame NOT sent!\r\n");
       }
     }
   }

Core/Src/main.c

@@ -77,11 +77,8 @@ 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 +95,14 @@ 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 +172,7 @@ 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 +278,7 @@ 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 +315,7 @@ 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;