Use semaphore instead of HAL on write function

Core/Inc/cansend.h

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

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
+//#define DEBUG_DUMMY_FRAME
 
-#ifdef DEBUG_ITM
+#ifdef DEBUG_ITW
 #include <stdio.h>
 #define DEBUG_PRINT(...) printf(__VA_ARGS__)
 #else
-#define DEBUG_PRINT(...) uart_printf(__VA_ARGS__)
+#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

@@ -18,7 +18,6 @@
 #include "main.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "cansend.h"
 #include "cmsis_os.h"
 #include <string.h>
 /* USER CODE END Includes */
@@ -29,6 +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 */
 /**
@@ -39,22 +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 */
 
@@ -66,35 +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) osThreadFlagsSet(led_task, 0x01);
+  if (hcan->Instance == CAN1)
+  {
+    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 */
 
@@ -114,7 +118,7 @@ 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, 5, 0);
+  HAL_NVIC_SetPriority(irqn, 6, 0);
   HAL_NVIC_EnableIRQ(irqn);
 
   for (;;)
@@ -125,13 +129,14 @@ void vCANListener(void *argument)
 
       osMessageQueuePut(xUARTQueue, &message, 0U, 0U);
     }
+    else DEBUG_PRINT("LALALLALA CIAOOOOOO c:\r\n");
   }
 }
 /* END vCANListener */
 
 /* BEGIN vLEDHeartbeat */
 /**
-  * @brief  Turn on LED when CAN traffic is detected
+  * @brief  Blink a LED in heartbeat mode when CAN traffic is detected
   * @param  argument: LED GPIO (port and pin)
   * @retval None
   */

Core/Src/cansend.c

@@ -22,47 +22,15 @@
 #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 volatile uint32_t can1_rx_isr_count;
-extern osSemaphoreId_t xUARTDMASemaphore;
+extern volatile uint32_t can2_rx_isr_count;
-
+extern CAN_HandleTypeDef hcan1;
-/* BEGIN uart_printf */
+extern CAN_HandleTypeDef hcan2;
-/**
-  * @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 */
 /**
@@ -124,35 +92,10 @@ 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 */
 
-/* BEGIN HAL_UART_ErrorCallback */
+/* BEGIN vUARTLoggerListen */
-/**``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
@@ -161,7 +104,9 @@ void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
 void vUARTLogger(void *argument)
 {
   CanMessage_t message;
+
   static char tx_buffer[45];
+  static char diag_buf[128];
 
   #ifdef DEBUG_DUMMY_FRAME
   CanMessage_t dummy_frame = {
@@ -175,21 +120,37 @@ void vUARTLogger(void *argument)
 
   for (;;)
   {
-    if (osMessageQueueGet(xUARTQueue, &message, NULL, 1000U) == osOK)
+    uint32_t queue_timeout = 1000U;
-    {
-      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)
+    //ALT: uint32_t queue_timeout = osWaitForever;
-        {
+
-          osSemaphoreRelease(xUARTDMASemaphore);
+    #ifdef DEBUG_DUMMY_FRAME
-          DEBUG_PRINT("[E] HAL error, CAN frame NOT sent!\r\n");
+    osMessageQueuePut(xCAN1RxQueue, &dummy_frame, 0U, 0U);
-        }
+    osDelay(1000);
+    #endif
+
+    if (osMessageQueueGet(xUARTQueue, &message, NULL, queue_timeout) == osOK)
+    {
+      if (huart1.gState != HAL_UART_STATE_READY)
+      {
+        HAL_UART_Abort(&huart1);
+        HAL_UART_Init(&huart1);
       }
-      else DEBUG_PRINT("[E] Semaphore timeout! UART might be stuck in BUSY state.\r\n");
+
-	}
+      osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever);
-   	else DEBUG_PRINT("[D] Waiting for CAN traffic...\r\n");
+
+      int len = format_can_message(tx_buffer, message.source, &message);
+      HAL_UART_Transmit(&huart1, (uint8_t*)tx_buffer, len, 100);
+
+      osSemaphoreRelease(xUARTDMASemaphore);
+    }
+    else
+    {
+      DEBUG_PRINT("[D] ISR1:%lu ISR2:%lu | ST1:%lu ST2:%lu | ER1:0x%lX ER2:0x%lX\r\n",
+          (unsigned long)can1_rx_isr_count, (unsigned long)can2_rx_isr_count,
+          (unsigned long)HAL_CAN_GetState(&hcan1), (unsigned long)HAL_CAN_GetState(&hcan2),
+          (unsigned long)HAL_CAN_GetError(&hcan1), (unsigned long)HAL_CAN_GetError(&hcan2));
+    }
   }
 }
-/* END vUARTLogger */
+/* 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 -----------------------------------------------*/
@@ -75,16 +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 */
 
-void uart_printf(const char *fmt, ...);
+/* USER CODE BEGIN PF */
-
-/* USER CODE BEGIN PFP */
 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 */
@@ -111,7 +141,6 @@ int main(void)
 
   /* MCU Configuration--------------------------------------------------------*/
 
-  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
   HAL_Init();
 
   /* USER CODE BEGIN Init */
@@ -127,12 +156,12 @@ int main(void)
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
-  MX_DMA_Init();
   MX_GPIO_Init();
-  MX_USART1_UART_Init();
+  MX_DMA_Init();
   MX_CAN1_Init();
   MX_CAN2_Init();
   MX_SDIO_SD_Init();
+  MX_USART1_UART_Init();
   /* USER CODE BEGIN 2 */
   DEBUG_PRINT("[L] Initializing CAN bus logger\r\n");
   CAN_Logger_Init(&hcan1, &hcan2);
@@ -172,6 +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 */
@@ -196,9 +227,6 @@ int main(void)
   xUartTask = osThreadNew(vUARTLogger, NULL, &UartLoggerAttributes);
   xCAN1LedTask = osThreadNew(vLEDHeartbeat, &led_can1, &LEDHeartbeatCAN1Attributes);
   xCAN2LedTask = osThreadNew(vLEDHeartbeat, &led_can2, &LEDHeartbeatCAN2Attributes);
-
-  if (xCAN1rxTask == NULL || xCAN2rxTask == NULL || xUartTask == NULL ||
-      xCAN1LedTask == NULL || xCAN2LedTask == NULL) Error_Handler();
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
@@ -285,7 +313,7 @@ static void MX_CAN1_Init(void)
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
   hcan1.Init.Prescaler = 4;
-  hcan1.Init.Mode = CAN_MODE_NORMAL;
+  hcan1.Init.Mode = CAN_MODE_SILENT;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
   hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
@@ -322,7 +350,7 @@ static void MX_CAN2_Init(void)
   /* USER CODE END CAN2_Init 1 */
   hcan2.Instance = CAN2;
   hcan2.Init.Prescaler = 8;
-  hcan2.Init.Mode = CAN_MODE_NORMAL;
+  hcan2.Init.Mode = CAN_MODE_SILENT;
   hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
   hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
@@ -373,7 +401,7 @@ static void MX_SDIO_SD_Init(void)
   //  Error_Handler();
   //}
   /* USER CODE BEGIN SDIO_Init 2 */
-  //DEBUG_PRINT("[L] SDIO initialized\r\n");
+  //DEBUG_PRINT("SDIO initialized!\r\n");
   /* USER CODE END SDIO_Init 2 */
 
 }
@@ -394,11 +422,11 @@ static void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 1000000;
+  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;
+  huart1.Init.Mode = UART_MODE_TX_RX;
   huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
   huart1.Init.OverSampling = UART_OVERSAMPLING_16;
   if (HAL_UART_Init(&huart1) != HAL_OK)
@@ -501,22 +529,6 @@ 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("[L] GPIO initialized\r\n");
   /* USER CODE END MX_GPIO_Init_2 */
@@ -553,32 +565,29 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
   */
 void Error_Handler(void)
 {
-  DEBUG_PRINT("[E] 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 */
-  if (HAL_CAN_GetState(&hcan1) != HAL_CAN_STATE_READY)
-  {
-    DEBUG_PRINT("[E] CAN1 error code: 0x%08lX\r\n", (unsigned long)HAL_CAN_GetError(&hcan1));
-  }
-  if (HAL_CAN_GetState(&hcan2) != HAL_CAN_STATE_READY)
-  {
-    DEBUG_PRINT("[E] CAN2 error code: 0x%08lX\r\n", (unsigned long)HAL_CAN_GetError(&hcan2));
-  }
-
-  // TODO: write error to SD
-
-  /* Disabling interrupts here (after reporting above) freezes the FreeRTOS
-     scheduler for good, since it relies on SysTick/PendSV. */
   __disable_irq();
 
+  //TODO: check if it is necessary to stop FreeRTOS
+
+  uint32_t error_code_can1;
+  uint32_t error_code_can2;
+
+  if (HAL_CAN_GetState(&hcan1) != HAL_CAN_STATE_READY) error_code_can1 = HAL_CAN_GetError(&hcan1);
+  if (HAL_CAN_GetState(&hcan2) != HAL_CAN_STATE_READY) error_code_can2 = HAL_CAN_GetError(&hcan2);
+
+  // TODO: write error to SD and/or serial
+
   HAL_GPIO_WritePin(led_can1.port, led_can1.pin, GPIO_PIN_RESET);
   HAL_GPIO_WritePin(led_can2.port, led_can2.pin, GPIO_PIN_RESET);
 
   while (1)
   {
-      HAL_GPIO_TogglePin(led_error.port, led_error.pin);
+    HAL_GPIO_TogglePin(led_error.port, led_error.pin);
-      for(volatile uint32_t i = 0; i < 4000000; i++);
+    HAL_Delay(250);
   }
   /* USER CODE END Error_Handler_Debug */
 }

Core/Src/stm32f4xx_it.c

@@ -41,8 +41,7 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
-extern CAN_HandleTypeDef hcan1;
+
-extern CAN_HandleTypeDef hcan2;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -251,20 +250,4 @@ 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 */