Add IRQ handler for CAN bus interrupt

transmit

Core/Inc/cansend.h

@@ -22,6 +22,7 @@
 
 #include "main.h"
 
+void uart_printf(const char *fmt, ...);
 void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart);
 void vUARTLogger(void *argument);
 

Core/Inc/main.h

@@ -46,13 +46,13 @@ extern "C" {
 /* Exported macro ------------------------------------------------------------*/
 /* USER CODE BEGIN EM */
 //#define DEBUG_ITM
-//#define DEBUG_DUMMY_FRAME
+#define DEBUG_DUMMY_FRAME
 
 #ifdef DEBUG_ITM
 #include <stdio.h>
 #define DEBUG_PRINT(...) printf(__VA_ARGS__)
 #else
-#define DEBUG_PRINT(...)
+#define DEBUG_PRINT(...) uart_printf(__VA_ARGS__)
 #endif
 /* USER CODE END EM */
 

Core/Src/canlog.c

@@ -18,6 +18,7 @@
 #include "main.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "cansend.h"
 #include "cmsis_os.h"
 #include <string.h>
 /* USER CODE END Includes */
@@ -93,10 +94,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
         led_task = xCAN2LedTask;
     }
 
-    if (osMessageQueuePut(queue, &message, 0U, 0U) == osOK)
-    {
-        osThreadFlagsSet(led_task, 0x01);
-    }
+    if (osMessageQueuePut(queue, &message, 0U, 0U) == osOK) osThreadFlagsSet(led_task, 0x01);
 }
 /* END HAL_CAN_RxFifo0MsgPendingCallback */
 
@@ -116,7 +114,7 @@ void vCANListener(void *argument)
   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_SetPriority(irqn, 5, 0);
   HAL_NVIC_EnableIRQ(irqn);
 
   for (;;)
@@ -127,15 +125,13 @@ void vCANListener(void *argument)
 
       osMessageQueuePut(xUARTQueue, &message, 0U, 0U);
     }
-    else DEBUG_PRINT("No CAN yet!\r\n");
-
   }
 }
 /* END vCANListener */
 
 /* BEGIN vLEDHeartbeat */
 /**
-  * @brief  Blink a LED in heartbeat mode when CAN traffic is detected
+  * @brief  Turn on LED when CAN traffic is detected
   * @param  argument: LED GPIO (port and pin)
   * @retval None
   */

Core/Src/cansend.c

@@ -20,11 +20,49 @@
 #include "main.h"
 #include "cmsis_os.h"
 #include "canlog.h"
+#include <stdio.h>
+#include <stdarg.h>
+#include "cmsis_os.h"
+#include "stm32f4xx.h"
 /* USER CODE END Includes */
 
 extern UART_HandleTypeDef huart1;
 extern osSemaphoreId_t xUARTDMASemaphore;
 extern osMessageQueueId_t xUARTQueue;
+extern UART_HandleTypeDef huart1;
+extern osSemaphoreId_t xUARTDMASemaphore;
+
+/* BEGIN uart_printf */
+/**
+  * @brief  Implementation of a simple print to UART.
+  * @param  arguments: strings to print
+  * @retval None
+  */
+void uart_printf(const char *fmt, ...)
+{
+  static char buf[128];
+  va_list args;
+  va_start(args, fmt);
+  int len = vsnprintf(buf, sizeof(buf), fmt, args);
+  va_end(args);
+
+  if (len > 0)
+  {
+    if (osKernelGetState() == osKernelRunning && __get_IPSR() == 0)
+    {
+      if (osSemaphoreAcquire(xUARTDMASemaphore, 100U) == osOK)
+      {
+        HAL_UART_Transmit(&huart1, (uint8_t*)buf, len, HAL_MAX_DELAY);
+        osSemaphoreRelease(xUARTDMASemaphore);
+      }
+    }
+    else
+    {
+      HAL_UART_Transmit(&huart1, (uint8_t*)buf, len, HAL_MAX_DELAY);
+    }
+  }
+}
+/* END uart_printf */
 
 /* BEGIN format_can_message */
 /**
@@ -86,14 +124,35 @@ 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);
-  }
+  if (huart->Instance == USART1) osSemaphoreRelease(xUARTDMASemaphore);
 }
 /* END HAL_UART_TxCpltCallback */
 
-/* BEGIN vUARTLoggerListen */
+/* BEGIN HAL_UART_ErrorCallback */
+/**``MEN
+  * @brief  Handle UART errors
+  * @param  argument: UART handle
+  * @retval None
+  */
+void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
+{
+  if (huart->Instance == USART1)
+  {
+    __HAL_UART_CLEAR_OREFLAG(huart);
+    __HAL_UART_CLEAR_FEFLAG(huart);
+    __HAL_UART_CLEAR_NEFLAG(huart);
+    __HAL_UART_CLEAR_PEFLAG(huart);
+
+    HAL_UART_DMAStop(huart);
+
+    huart->gState = HAL_UART_STATE_READY;
+
+    osSemaphoreRelease(xUARTDMASemaphore);
+  }
+}
+/* END HAL_UART_ErrorCallback */
+
+/* BEGIN vUARTLogger */
 /**
   * @brief  Send CAN bus traffic saved in FIFO buffer to USART1
   * @param  argument: Not used
@@ -102,7 +161,7 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
 void vUARTLogger(void *argument)
 {
   CanMessage_t message;
-  char tx_buffer[45];
+  static char tx_buffer[45];
 
   #ifdef DEBUG_DUMMY_FRAME
   CanMessage_t dummy_frame = {
@@ -116,40 +175,21 @@ 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;
-    #endif
-
-    #ifdef DEBUG_DUMMY_FRAME
-    osMessageQueuePut(xUARTQueue, &dummy_frame, 0U, 0U);
-    osDelay(1000);
-    #endif
-
-   	if (osMessageQueueGet(xUARTQueue, &message, NULL, queue_timeout) == osOK)
+    if (osMessageQueueGet(xUARTQueue, &message, NULL, 1000U) == osOK)
     {
-      if (osSemaphoreAcquire(xUARTDMASemaphore, queue_timeout) == osOK)
+      if (osSemaphoreAcquire(xUARTDMASemaphore, 100U) == 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
+        if (HAL_UART_Transmit_DMA(&huart1, (uint8_t*)tx_buffer, len) != HAL_OK)
         {
           osSemaphoreRelease(xUARTDMASemaphore);
-          DEBUG_PRINT("HAL error, CAN frame NOT sent!\r\n");
+          DEBUG_PRINT("[E] HAL error, CAN frame NOT sent!\r\n");
         }
       }
-      else
-      {
-        DEBUG_PRINT("ERROR: Semaphore timeout! UART might be stuck in BUSY state.\r\n");
+      else DEBUG_PRINT("[E] Semaphore timeout! UART might be stuck in BUSY state.\r\n");
+	}
+   	else DEBUG_PRINT("[D] Waiting for CAN traffic...\r\n");
   }
 }
-  }
-}
-/* END vUARTLoggerListen */
+/* END vUARTLogger */

Core/Src/main.c

@@ -76,6 +76,8 @@ static void MX_CAN2_Init(void);
 static void MX_SDIO_SD_Init(void);
 static void MX_USART1_UART_Init(void);
 
+void uart_printf(const char *fmt, ...);
+
 /* USER CODE BEGIN PFP */
 int _write(int file, char *ptr, int len)
 {
@@ -95,7 +97,6 @@ int _write(int file, char *ptr, int len)
   */
 int main(void)
 {
-
   /* USER CODE BEGIN 1 */
   if (CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk)
   {
@@ -105,7 +106,7 @@ 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--------------------------------------------------------*/
@@ -114,7 +115,7 @@ int main(void)
   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 */
 
@@ -122,35 +123,35 @@ 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 */
-  MX_GPIO_Init();
   MX_DMA_Init();
+  MX_GPIO_Init();
+  MX_USART1_UART_Init();
   MX_CAN1_Init();
   MX_CAN2_Init();
   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 = {
     .name = "CAN1rx",
-    .stack_size = 128 * 4,
+    .stack_size = 512 * 4,
     .priority = (osPriority_t) osPriorityRealtime1,
   };
   const osThreadAttr_t CAN2rxAttributes = {
     .name = "CAN2rx",
-    .stack_size = 128 * 4,
+    .stack_size = 512 * 4,
     .priority = (osPriority_t) osPriorityRealtime,
   };
   const osThreadAttr_t UartLoggerAttributes = {
@@ -201,7 +202,7 @@ 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 */
@@ -213,7 +214,7 @@ 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 */
   }
 }
@@ -280,7 +281,7 @@ static void MX_CAN1_Init(void)
 
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 8;
+  hcan1.Init.Prescaler = 4;
   hcan1.Init.Mode = CAN_MODE_SILENT;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
@@ -296,7 +297,7 @@ 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 */
 
 }
@@ -317,7 +318,7 @@ static void MX_CAN2_Init(void)
 
   /* USER CODE END CAN2_Init 1 */
   hcan2.Instance = CAN2;
-  hcan2.Init.Prescaler = 16;
+  hcan2.Init.Prescaler = 8;
   hcan2.Init.Mode = CAN_MODE_SILENT;
   hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
@@ -333,7 +334,7 @@ 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 */
 
 }
@@ -369,7 +370,7 @@ static void MX_SDIO_SD_Init(void)
   //  Error_Handler();
   //}
   /* USER CODE BEGIN SDIO_Init 2 */
-  //DEBUG_PRINT("SDIO initialized!\r\n");
+  //DEBUG_PRINT("[L] SDIO initialized\r\n");
   /* USER CODE END SDIO_Init 2 */
 
 }
@@ -390,11 +391,11 @@ static void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 115200;
+  huart1.Init.BaudRate = 1152000;
   huart1.Init.WordLength = UART_WORDLENGTH_8B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_NONE;
-  huart1.Init.Mode = UART_MODE_TX_RX;
+  huart1.Init.Mode = UART_MODE_TX;
   huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
   huart1.Init.OverSampling = UART_OVERSAMPLING_16;
   if (HAL_UART_Init(&huart1) != HAL_OK)
@@ -402,7 +403,7 @@ 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 */
 
 }
@@ -428,7 +429,7 @@ 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 */
 }
 
@@ -497,8 +498,24 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+  //*Configure CAN1 pins : PB8, PB9 */
+  GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+  GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  //*Configure CAN2 pins : PB12, PB13 */
+  GPIO_InitStruct.Pin = GPIO_PIN_12 | GPIO_PIN_13;
+  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+  GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
+  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 */
 }
 
@@ -533,7 +550,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
   */
 void Error_Handler(void)
 {
-  DEBUG_PRINT("ERROR: entering error handler\r\n");
+  DEBUG_PRINT("[E] Entering error handler\r\n");
 
   /* USER CODE BEGIN Error_Handler_Debug */
   /* User can add his own implementation to report the HAL error return state */
@@ -555,7 +572,7 @@ void Error_Handler(void)
   while (1)
   {
       HAL_GPIO_TogglePin(led_error.port, led_error.pin);
-    HAL_Delay(250);
+      for(volatile uint32_t i = 0; i < 4000000; i++);
   }
   /* USER CODE END Error_Handler_Debug */
 }

Core/Src/stm32f4xx_it.c

@@ -41,7 +41,8 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
-
+extern CAN_HandleTypeDef hcan1;
+extern CAN_HandleTypeDef hcan2;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -250,4 +251,20 @@ void DMA2_Stream7_IRQHandler(void)
 
 /* USER CODE BEGIN 1 */
 
+/**
+  * @brief This function handles CAN1 RX0 interrupt.
+  */
+void CAN1_RX0_IRQHandler(void)
+{
+  HAL_CAN_IRQHandler(&hcan1);
+}
+
+/**
+  * @brief This function handles CAN2 RX0 interrupt.
+  */
+void CAN2_RX0_IRQHandler(void)
+{
+  HAL_CAN_IRQHandler(&hcan2);
+}
+
 /* USER CODE END 1 */