eeeck
59a58d1f1f
- Less memory overhead (no stack allocation) - Better timing accuracy (less jitter) - CAN bus still has higher priority than timers
113 lines
3.3 KiB
C
113 lines
3.3 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : canlog.c
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* @brief : SAE J1939 CAN Real Time listening and decoding
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "canlog.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "cmsis_os.h"
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#include <string.h>
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/* USER CODE END Includes */
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extern CAN_HandleTypeDef hcan1;
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extern CAN_HandleTypeDef hcan2;
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/* USER CODE BEGIN RTOS_TASKS */
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/* Definitions for CAN1rx incoming */
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osThreadId_t vCAN1_rx;
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const osThreadAttr_t vCAN1_rx_attributes = {
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.name = "vCAN1_rx",
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.stack_size = 128 * 4,
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.priority = (osPriority_t) osPriorityRealtime1,
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};
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/* Definitions for CAN2rx incoming*/
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osThreadId_t vCAN2_rx;
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const osThreadAttr_t vCAN2_rx_attributes = {
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.name = "vCAN2_rx",
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.stack_size = 128 * 4,
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.priority = (osPriority_t) osPriorityRealtime,
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};
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/* USER END RTOS_TASKS */
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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/* BEGIN CAN_Logger_Init */
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/**
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* @brief Initialize CAN bus logger.
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* @param argument: hcan1, hcan2
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* @retval None
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*/
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void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
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{
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CAN_FilterTypeDef filter = {0};
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filter.FilterMode = CAN_FILTERMODE_IDMASK;
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filter.FilterScale = CAN_FILTERSCALE_32BIT;
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filter.FilterIdHigh = 0x0000;
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filter.FilterMaskIdHigh = 0x0000;
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filter.FilterIdLow = 0x0000;
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filter.FilterMaskIdLow = 0x0000;
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filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
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filter.FilterActivation = ENABLE;
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filter.SlaveStartFilterBank = 14;
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filter.FilterBank = 0;
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if (HAL_CAN_ConfigFilter(hcan1, &filter) != HAL_OK) Error_Handler();
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filter.FilterBank = 14;
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if (HAL_CAN_ConfigFilter(hcan2, &filter) != HAL_OK) Error_Handler();
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if (HAL_CAN_Start(hcan1) != HAL_OK) Error_Handler();
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if (HAL_CAN_Start(hcan2) != HAL_OK) Error_Handler();
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}
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/* END CAN_Logger_Init */
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/* BEGIN vCAN_Logger_Listen */
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/**
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* @brief Log incoming CAN bus traffic in FIFO buffer
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* @param argument: Not used
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* @retval None
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*/
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void vCAN_Logger_Listen(void *argument)
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{
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/* CODE BEGIN */
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/* Infinite loop */
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for(;;)
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{
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osDelay(1);
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}
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/* CODE END */
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}
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/* END vCAN_Logger_Listen */
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/* BEGIN vLED_Heartbeat */
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/**
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* @brief Blink a LED in heartbeat mode when CAN traffic is detected
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* @param argument: LED GPIO (port and pin)
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* @retval None
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*/
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void vLED_Heartbeat(void *argument)
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{
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/* CODE BEGIN */
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LED_Config *led = (LED_Config*)argument;
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HAL_GPIO_TogglePin(led->port, led->pin);
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/* CODE END */
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}
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/* END vLED_HeartbeatOnCanRx */
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/* USER CODE END FunctionPrototypes */
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