Core/Inc/canlog.h

@@ -45,7 +45,6 @@ typedef struct {
 typedef struct {
     LED_Config *led;
     osSemaphoreId_t semaphore;
-    osTimerId_t timer;
 } LEDContext;
 /* USER CODE END PTD */
 

Core/Src/canlog.c

@@ -47,14 +47,11 @@ 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(hcan1) != HAL_OK) Error_Handler();
     if (HAL_CAN_Start(hcan2) != HAL_OK) Error_Handler();
-
-    if (HAL_CAN_ActivateNotification(hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) Error_Handler();
-    if (HAL_CAN_ActivateNotification(hcan2, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) Error_Handler();
 }
 /* END CAN_Logger_Init */
 
@@ -85,6 +82,9 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 
         // send errors like queue full via UART
     }
+
+    osSemaphoreId_t semaphore = (hcan->Instance == CAN1) ? xSemaphoreCAN1 : xSemaphoreCAN2;
+    osSemaphoreRelease(semaphore);
     /* CODE END */
 }
 /* END HAL_CAN_RxFifo0MsgPendingCallback */
@@ -97,23 +97,21 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
   */
 void vCANLoggerListen(void *argument)
 {
-    /* CODE BEGIN */
+  /* CODE BEGIN */
-    CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
+  CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
-    osMessageQueueId_t queue;
+  osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
-    CanMessage_t message;
+  CanMessage_t message;
 
-    queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
+  HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
 
-    for (;;)
+  for (;;)
-    {
+  {
-        if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
+    if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
-        {
+	{
-            osSemaphoreRelease( (hcan->Instance == CAN1) ? xSemaphoreCAN1 : xSemaphoreCAN2 );
+					//
-            // TODO: use this semaphore
+	}
-        }
+  }
-
+	/* CODE END */
-    }
-    /* CODE END */
 }
 /* END vCANLoggerListen */
 
@@ -125,19 +123,15 @@ void vCANLoggerListen(void *argument)
   */
 void vLEDHeartbeat(void *argument)
 {
-  /* CODE BEGIN */
+    /* CODE BEGIN */
-  LEDContext *context = (LEDContext*)argument;
+    LEDContext *context = (LEDContext*)argument;
 
-  if (osSemaphoreAcquire(context->semaphore, 0U) == osOK)
+    for (;;)
-  {
+    {
-      HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_SET);
+      if (osSemaphoreAcquire(context->semaphore, 25U) == osOK) HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_SET);
-      osTimerStart(context->timer, 25U);
+      else HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_RESET);
-  }
+    }
-  else
+    /* CODE END */
-  {
-      HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_RESET);
-  }
-  /* CODE END */
 }
 /* END vLEDHeartbeat */
 /* USER CODE END FunctionPrototypes */

Core/Src/main.c

@@ -55,9 +55,6 @@ LEDContext ledContextCAN2;
 osSemaphoreId_t xSemaphoreCAN1;
 osSemaphoreId_t xSemaphoreCAN2;
 
-osTimerId_t xHeartbeatTimerCAN1;
-osTimerId_t xHeartbeatTimerCAN2;
-
 osMessageQueueId_t xCAN1RxQueue;
 osMessageQueueId_t xCAN2RxQueue;
 /* USER CODE END PV */
@@ -126,12 +123,27 @@ int main(void)
     .stack_size = 128 * 4,
     .priority = (osPriority_t) osPriorityRealtime1,
   };
+
   osThreadId_t xCAN2rx;
   const osThreadAttr_t CAN2rxAttributes = {
     .name = "CAN2rx",
     .stack_size = 128 * 4,
     .priority = (osPriority_t) osPriorityRealtime,
   };
+
+  osThreadId_t xLEDHeartbeatCAN1;
+  const osThreadAttr_t LEDHeartbeatCAN1Attributes = {
+    .name = "LED_HB_CAN1",
+    .stack_size = 128 * 4,
+    .priority = (osPriority_t) osPriorityVeryLow1,
+  };
+
+  osThreadId_t xLEDHeartbeatCAN2;
+  const osThreadAttr_t LEDHeartbeatCAN2Attributes = {
+    .name = "LED_HB_CAN2",
+    .stack_size = 128 * 4,
+    .priority = (osPriority_t) osPriorityVeryLow,
+  };
   /* USER END RTOS_TASKS */
 
   /* USER CODE BEGIN RTOS_MUTEX */
@@ -139,8 +151,8 @@ int main(void)
   /* USER CODE END RTOS_MUTEX */
 
   /* USER CODE BEGIN RTOS_SEMAPHORES */
-  xSemaphoreCAN1 = osSemaphoreNew(10, 0, NULL);
+  xSemaphoreCAN1 = osSemaphoreNew(32, 0, NULL);
-  xSemaphoreCAN2 = osSemaphoreNew(10, 0, NULL);
+  xSemaphoreCAN2 = osSemaphoreNew(32, 0, NULL);
 
   if (xSemaphoreCAN1 == NULL || xSemaphoreCAN2 == NULL) Error_Handler();
 
@@ -151,16 +163,7 @@ int main(void)
   /* USER CODE END RTOS_SEMAPHORES */
 
   /* USER CODE BEGIN RTOS_TIMERS */
-  xHeartbeatTimerCAN1 = osTimerNew(vLEDHeartbeat, osTimerOnce, &ledContextCAN1, NULL);
+  /* add timers, ... */
-  xHeartbeatTimerCAN2 = osTimerNew(vLEDHeartbeat, osTimerOnce, &ledContextCAN2, NULL);
-
-  osTimerStart(xHeartbeatTimerCAN1, 25U);
-  osTimerStart(xHeartbeatTimerCAN2, 25U);
-
-  if (xHeartbeatTimerCAN1 == NULL || xHeartbeatTimerCAN2 == NULL) Error_Handler();
-
-  ledContextCAN1.timer = xHeartbeatTimerCAN1;
-  ledContextCAN2.timer = xHeartbeatTimerCAN2;
   /* USER CODE END RTOS_TIMERS */
 
   /* USER CODE BEGIN RTOS_QUEUES */
@@ -173,6 +176,8 @@ int main(void)
   /* USER CODE BEGIN RTOS_THREADS */
   xCAN1rx = osThreadNew(vCANLoggerListen, &hcan1, &CAN1rxAttributes);
   xCAN2rx = osThreadNew(vCANLoggerListen, &hcan2, &CAN2rxAttributes);
+  xLEDHeartbeatCAN1 = osThreadNew(vLEDHeartbeat, &ledContextCAN1, &LEDHeartbeatCAN1Attributes);
+  xLEDHeartbeatCAN2 = osThreadNew(vLEDHeartbeat, &ledContextCAN2, &LEDHeartbeatCAN2Attributes);
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
@@ -180,13 +185,6 @@ int main(void)
   /* USER CODE END RTOS_EVENTS */
 
   /* USER CODE BEGIN 3 */
-  ledContextCAN1.led = &led_can1;
-  ledContextCAN1.semaphore = xSemaphoreCAN1;
-  ledContextCAN1.timer = xHeartbeatTimerCAN1;
-
-  ledContextCAN2.led = &led_can2;
-  ledContextCAN2.semaphore = xSemaphoreCAN2;
-  ledContextCAN2.timer = xHeartbeatTimerCAN2;
   /* USER CODE END 3 */
 
   /* Start scheduler */