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CANdigger/Core/Src/main.c
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
* Copyright (c) 2026 STMicroelectronics.
* Copyright (c) 2026 Erick Ahmed.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "canlog.h"
#include "cansend.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;
SD_HandleTypeDef hsd;
DMA_HandleTypeDef hdma_sdio_rx;
DMA_HandleTypeDef hdma_sdio_tx;
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_tx;
/* USER CODE BEGIN PV */
LED_Config led_can1 = {GPIOB, GPIO_PIN_5};
LED_Config led_can2 = {GPIOB, GPIO_PIN_6};
LED_Config led_error = {GPIOB, GPIO_PIN_7};
osThreadId_t xCAN1rxTask;
osThreadId_t xCAN2rxTask;
osThreadId_t xCAN1LedTask;
osThreadId_t xCAN2LedTask;
osMessageQueueId_t xCAN1RxQueue;
osMessageQueueId_t xCAN2RxQueue;
osMessageQueueId_t xUARTQueue;
osSemaphoreId_t xUARTDMASemaphore;
osThreadId_t xUartTask;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
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 BEGIN PFP */
int _write(int file, char *ptr, int len)
{
if ((CoreDebug->DEMCR & CoreDebug_DEMCR_TRCENA_Msk) && (ITM->TCR & ITM_TCR_ITMENA_Msk))
{
for (int i = 0; i < len; i++)
{
ITM_SendChar((*ptr++));
}
}
return len;
}
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
ITM->LAR = 0xC5ACCE55;
ITM->TER = 1 << 0;
ITM->TCR = ITM_TCR_ITMENA_Msk | ITM_TCR_SYNCENA_Msk | ITM_TCR_SWOENA_Msk;
DEBUG_PRINT("Booting system\r\n");
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
DEBUG_PRINT("Configuring system clock\r\n");
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
DEBUG_PRINT("Initializing configured peripherals...\r\n");
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_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");
CAN_Logger_Init(&hcan1, &hcan2);
/* USER CODE END 2 */
/* Init scheduler */
osKernelInitialize();
DEBUG_PRINT("Creating RTOS entities\r\n");
/* USER CODE BEGIN RTOS_TASKS */
const osThreadAttr_t CAN1rxAttributes = {
.name = "CAN1rx",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityRealtime1,
};
const osThreadAttr_t CAN2rxAttributes = {
.name = "CAN2rx",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityRealtime,
};
const osThreadAttr_t UartLoggerAttributes = {
.name = "UART_Logger",
.stack_size = 256 * 4,
.priority = (osPriority_t) osPriorityHigh,
};
const osThreadAttr_t LEDHeartbeatCAN1Attributes = {
.name = "LED_HB_CAN1",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityLow1,
};
const osThreadAttr_t LEDHeartbeatCAN2Attributes = {
.name = "LED_HB_CAN2",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityLow,
};
/* USER CODE END RTOS_TASKS */
/* USER CODE BEGIN RTOS_MUTEX */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
xUARTDMASemaphore = osSemaphoreNew(1, 1, NULL);
if (xUARTDMASemaphore == NULL) Error_Handler();
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* USER CODE END RTOS_TIMERS */
/* USER CODE BEGIN RTOS_QUEUES */
xCAN1RxQueue = osMessageQueueNew(64, sizeof(CanMessage_t), NULL);
xCAN2RxQueue = osMessageQueueNew(64, sizeof(CanMessage_t), NULL);
xUARTQueue = osMessageQueueNew(128, sizeof(CanMessage_t), NULL);
if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL || xUARTQueue == NULL) Error_Handler();
/* USER CODE END RTOS_QUEUES */
/* USER CODE BEGIN RTOS_THREADS */
xCAN1rxTask = osThreadNew(vCANListener, &hcan1, &CAN1rxAttributes);
xCAN2rxTask = osThreadNew(vCANListener, &hcan2, &CAN2rxAttributes);
xUartTask = osThreadNew(vUARTLogger, NULL, &UartLoggerAttributes);
xCAN1LedTask = osThreadNew(vLEDHeartbeat, &led_can1, &LEDHeartbeatCAN1Attributes);
xCAN2LedTask = osThreadNew(vLEDHeartbeat, &led_can2, &LEDHeartbeatCAN2Attributes);
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS */
/* USER CODE END RTOS_EVENTS */
/* Start scheduler */
DEBUG_PRINT("Starting RTOS init scheduler\r\n");
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
DEBUG_PRINT("ERROR: RTOS scheduler crashed!\r\n");
/* USER CODE END 3 */
}
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 16;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 7;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV4;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief CAN1 Initialization Function
* @param None
* @retval None
*/
static void MX_CAN1_Init(void)
{
/* USER CODE BEGIN CAN1_Init 0 */
/* USER CODE END CAN1_Init 0 */
/* USER CODE BEGIN CAN1_Init 1 */
/* USER CODE END CAN1_Init 1 */
hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 8;
hcan1.Init.Mode = CAN_MODE_SILENT;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = ENABLE;
hcan1.Init.AutoRetransmission = DISABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN1_Init 2 */
DEBUG_PRINT("CAN1 initialized!\r\n");
/* USER CODE END CAN1_Init 2 */
}
/**
* @brief CAN2 Initialization Function
* @param None
* @retval None
*/
static void MX_CAN2_Init(void)
{
/* USER CODE BEGIN CAN2_Init 0 */
/* USER CODE END CAN2_Init 0 */
/* USER CODE BEGIN CAN2_Init 1 */
/* USER CODE END CAN2_Init 1 */
hcan2.Instance = CAN2;
hcan2.Init.Prescaler = 16;
hcan2.Init.Mode = CAN_MODE_SILENT;
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
hcan2.Init.TimeTriggeredMode = DISABLE;
hcan2.Init.AutoBusOff = DISABLE;
hcan2.Init.AutoWakeUp = ENABLE;
hcan2.Init.AutoRetransmission = DISABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE;
hcan2.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN2_Init 2 */
DEBUG_PRINT("CAN2 initialized!\r\n");
/* USER CODE END CAN2_Init 2 */
}
/**
* @brief SDIO Initialization Function
* @param None
* @retval None
*/
static void MX_SDIO_SD_Init(void)
{
/* USER CODE BEGIN SDIO_Init 0 */
/* USER CODE END SDIO_Init 0 */
/* USER CODE BEGIN SDIO_Init 1 */
/* USER CODE END SDIO_Init 1 */
hsd.Instance = SDIO;
hsd.Init.ClockEdge = SDIO_CLOCK_EDGE_RISING;
hsd.Init.ClockBypass = SDIO_CLOCK_BYPASS_DISABLE;
hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE;
hsd.Init.BusWide = SDIO_BUS_WIDE_1B;
hsd.Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE;
hsd.Init.ClockDiv = 0;
//if (HAL_SD_Init(&hsd) != HAL_OK)
//{
// Error_Handler();
//}
//if (HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B) != HAL_OK)
//{
// Error_Handler();
//}
/* USER CODE BEGIN SDIO_Init 2 */
//DEBUG_PRINT("SDIO initialized!\r\n");
/* USER CODE END SDIO_Init 2 */
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
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.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
DEBUG_PRINT("USART1 initialized!\r\n");
/* USER CODE END USART1_Init 2 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA2_CLK_ENABLE();
/* DMA interrupt init */
/* DMA2_Stream3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
/* DMA2_Stream6_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
/* DMA2_Stream7_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn);
/* USER CODE BEGIN MX_DMA_Init 1 */
DEBUG_PRINT("DMA initialized!\r\n");
/* USER CODE END MX_DMA_Init 1 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pins : PC13 PC14 PC15 PC0
PC1 PC2 PC3 PC4
PC5 PC6 PC7 */
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_0
|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4
|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pins : PH0 PH1 */
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
/*Configure GPIO pins : PA0 PA1 PA2 PA3
PA4 PA5 PA6 PA7
PA8 PA11 PA12 PA15 */
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3
|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7
|GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PB0 PB1 PB2 PB10
PB11 PB14 PB15 PB3
PB4 */
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10
|GPIO_PIN_11|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_3
|GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : PB5 PB6 PB7 */
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
DEBUG_PRINT("GPIO initialized!\r\n");
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM6 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM6)
{
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
DEBUG_PRINT("ERROR: entering error handler\r\n");
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__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_Delay(250);
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
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