Core/Inc/canlog.h

@@ -28,6 +28,7 @@
 
 extern osMessageQueueId_t xCAN1RxQueue;
 extern osMessageQueueId_t xCAN2RxQueue;
+extern osMessageQueueId_t xUARTQueue;
 
 /* USER CODE BEGIN PTD */
 typedef struct {
@@ -40,6 +41,7 @@ typedef struct {
     uint8_t  payload[8];
     uint8_t  dlc;
     uint8_t  isExtended;
+    uint8_t  source;
     //uint32_t timestamp; //Enable TIM2: 42 MHz / (41+1) = 1 MHz → 1 µs tick; 32bit autoreload freerunning
     // this is for getting timestamps on can messages
 } CanMessage_t;

Core/Inc/cansend.h

@@ -20,6 +20,8 @@
 #ifndef CANSEND_H
 #define CANSEND_H
 
+#include "main.h"
+
 void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart);
 void vUARTLogger(void *argument);
 

Core/Src/canlog.c

@@ -27,8 +27,6 @@ extern CAN_HandleTypeDef hcan2;
 extern osThreadId_t xCAN1LedTask;
 extern osThreadId_t xCAN2LedTask;
 
-extern osEventFlagsId_t xCanEventFlags;
-
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
 /**
@@ -82,6 +80,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
     message.id = rxHeader.ExtId;
     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)
@@ -99,16 +98,8 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 
     if (osMessageQueuePut(queue, &message, 0U, 0U) == osOK)
     {
-        osEventFlagsSet(xCanEventFlags, flag);
         osThreadFlagsSet(led_task, 0x01);
     }
-    else
-    {
-        // TODO: better handling: flash error_led on osTimeout, call Error_Handler() when other errors
-
-        // send errors like queue full via UART
-    }
-    /* CODE END */
 }
 /* END HAL_CAN_RxFifo0MsgPendingCallback */
 
@@ -128,11 +119,14 @@ void vCANLoggerListen(void *argument)
 
   for (;;)
   {
-    if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
-	{
-	}
+      if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
+      {
+          // J1939 decoding
+
+          // RELAY: Push to the UART queue
+          osMessageQueuePut(xUARTQueue, &message, 0U, 0U);
+      }
   }
-	/* CODE END */
 }
 /* END vCANLoggerListen */
 
@@ -153,7 +147,6 @@ void vLEDHeartbeat(void *argument)
     if (notification & 0x01) HAL_GPIO_WritePin(led->port, led->pin, GPIO_PIN_SET);
     else HAL_GPIO_WritePin(led->port, led->pin, GPIO_PIN_RESET);
   }
-  /* CODE END */
 }
 /* END vLEDHeartbeat */
 /* USER CODE END FunctionPrototypes */

Core/Src/cansend.c

@@ -17,7 +17,9 @@
 #include "cansend.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "main.h"
 #include "cmsis_os.h"
+#include "canlog.h"
 /* USER CODE END Includes */
 
 /* BEGIN format_can_message */
@@ -80,7 +82,7 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
   if (huart->Instance == USART1)
   {
     BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-    osSemaphoreReleaseFromISR(xUartDmaSem, &xHigherPriorityTaskWoken);
+    osSemaphoreReleaseFromISR(xUARTDMASemaphore, &xHigherPriorityTaskWoken);
     portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
   }
 }
@@ -94,39 +96,17 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
   */
 void vUARTLogger(void *argument)
 {
-  CanMessage_t message;
-  char tx_buffer[45]; // converted extended frame
-  bool queues_empty;
+    CanMessage_t msg;
+    char tx_buffer[45];
 
-  for (;;)
-  {
-    osEventFlagsWait(xCanEventFlags, 0x03, osFlagsWaitAny, osWaitForever);
-
-    do
+    for (;;)
     {
-      queues_empty = true;
-
-      if (osMessageQueueGet(xCAN1RxQueue, &message, NULL, 0U) == osOK)
+      if (osMessageQueueGet(xUARTQueue, &msg, NULL, osWaitForever) == osOK)
       {
-        format_can_message(tx_buffer, 1, &message);
-
+        format_can_message(tx_buffer, msg.source, &msg); // Assuming you add 'source' to the struct
         HAL_UART_Transmit_DMA(&huart1, (uint8_t*)tx_buffer, 44);
-        osSemaphoreAcquire(xUartDmaSem, osWaitForever);
-
-        quesues_empty = false;
+        osSemaphoreAcquire(xUARTDMASemaphore, osWaitForever);
       }
-      if (osMessageQueueGet(xCAN2RxQueue, &message, NULL, 0U) == osOK)
-      {
-        format_can_message(tx_buffer, 2, &message);
-
-        HAL_UART_Transmit_DMA(&huart1, (uint8_t*)tx_buffer, 44);
-        osSemaphoreAcquire(xUartDmaSem, osWaitForever);
-
-        queues_empty = false;
-      }
-
     }
-    while (!queues_empty);
-  }
 }
 /* END vUARTLoggerListen */

Core/Src/main.c

@@ -54,10 +54,11 @@ LED_Config led_error = {GPIOB, GPIO_PIN_3};
 
 osMessageQueueId_t xCAN1RxQueue;
 osMessageQueueId_t xCAN2RxQueue;
+osMessageQueueId_t xUARTQueue;
 
-osEventFlagsId_t xCanEventFlags;
 osSemaphoreId_t xUARTDMASemaphore;
 osThreadId_t xUartTask;
+
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -168,8 +169,9 @@ int main(void)
   /* USER CODE BEGIN RTOS_QUEUES */
   xCAN1RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
   xCAN2RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
+  xUARTQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
 
-  if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL) Error_Handler();
+  if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL || xUARTQueue == NULL) Error_Handler();
   /* USER CODE END RTOS_QUEUES */
 
   /* USER CODE BEGIN RTOS_THREADS */
@@ -181,8 +183,6 @@ int main(void)
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
-  xCanEventFlags = osEventFlagsNew(NULL);
-  if (xCanEventFlags == NULL) Error_Handler();
   /* USER CODE END RTOS_EVENTS */
 
   /* Start scheduler */