141 lines
4.3 KiB
C
141 lines
4.3 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 Erick Ahmed.
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*
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* SPDX-License-Identifier: GPL-3.0-or-later
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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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/* 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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if (HAL_CAN_ActivateNotification(hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) Error_Handler();
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if (HAL_CAN_ActivateNotification(hcan2, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) Error_Handler();
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}
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/* END CAN_Logger_Init */
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/* BEGIN HAL_CAN_RxFifo0MsgPendingCallback */
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/**
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* @brief ISR for CAN message pending in FIFO0
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* @param argument: Can handle hcan (hcan1 or hcan2)
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* @retval None
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*/
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void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
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{
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/* CODE BEGIN */
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CanMessage_t message;
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CAN_RxHeaderTypeDef rxHeader;
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uint8_t data[8];
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if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) Error_Handler();
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message.id = rxHeader.ExtId;
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message.dlc = rxHeader.DLC;
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message.isExtended = (rxHeader.IDE == CAN_ID_EXT);
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memcpy(message.payload, data, rxHeader.DLC);
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osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
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if (osMessageQueuePut(queue, &message, 0U, 0U) != osOK)
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{
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// TODO: better handling: flash error_led on osTimeout, call Error_Handler() when other errors
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// send errors like queue full via UART
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}
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osSemaphoreId_t semaphore = (hcan->Instance == CAN1) ? xSemaphoreCAN1 : xSemaphoreCAN2;
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osSemaphoreRelease(semaphore);
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/* CODE END */
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}
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/* END HAL_CAN_RxFifo0MsgPendingCallback */
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/* BEGIN vCANLoggerListen */
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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 vCANLoggerListen(void *argument)
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{
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/* CODE BEGIN */
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CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
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osMessageQueueId_t queue;
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CanMessage_t message;
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queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
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for (;;)
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{
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if (osMessageQueueGet(queue, &message, NULL, osWaitForever) == osOK)
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{
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//
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}
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}
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/* CODE END */
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}
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/* END vCANLoggerListen */
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/* BEGIN vLEDHeartbeat */
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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 vLEDHeartbeat(void *argument)
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{
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/* CODE BEGIN */
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LEDContext *context = (LEDContext*)argument;
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for (;;)
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{
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if (osSemaphoreAcquire(context->semaphore, 25U) == osOK) HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_SET);
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else HAL_GPIO_WritePin(context->led->port, context->led->pin, GPIO_PIN_RESET);
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}
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/* CODE END */
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}
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/* END vLEDHeartbeat */
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/* USER CODE END FunctionPrototypes */
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