eeeck
e351c762d3
- The logger should be more universal, while the data parser should focus on the protocol specs
155 lines
4.5 KiB
C
155 lines
4.5 KiB
C
/* USER CODE BEGIN Header */
|
|
/**
|
|
******************************************************************************
|
|
* @file : canlog.c
|
|
* @brief : SAE J1939 CAN Real Time listening and decoding
|
|
******************************************************************************
|
|
* @attention
|
|
*
|
|
* Copyright (c) 2026 Erick Ahmed.
|
|
*
|
|
* SPDX-License-Identifier: GPL-3.0-or-later
|
|
*
|
|
******************************************************************************
|
|
*/
|
|
/* USER CODE END Header */
|
|
/* Includes ------------------------------------------------------------------*/
|
|
#include "canlog.h"
|
|
#include "main.h"
|
|
/* Private includes ----------------------------------------------------------*/
|
|
/* USER CODE BEGIN Includes */
|
|
#include "cansend.h"
|
|
#include "cmsis_os.h"
|
|
#include <string.h>
|
|
/* USER CODE END Includes */
|
|
|
|
extern CAN_HandleTypeDef hcan1;
|
|
extern CAN_HandleTypeDef hcan2;
|
|
|
|
extern osThreadId_t xCAN1LedTask;
|
|
extern osThreadId_t xCAN2LedTask;
|
|
|
|
/* Private function prototypes -----------------------------------------------*/
|
|
/* USER CODE BEGIN FunctionPrototypes */
|
|
/**
|
|
* @brief Initializes the CAN logger modules, OS threads, queues, and hardware.
|
|
* @param hcan1 Pointer to the CAN1 handle
|
|
* @param hcan2 Pointer to the CAN2 handle
|
|
* @retval None
|
|
*/
|
|
void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
|
|
{
|
|
CAN_FilterTypeDef filter = {0};
|
|
filter.FilterMode = CAN_FILTERMODE_IDMASK;
|
|
filter.FilterScale = CAN_FILTERSCALE_32BIT;
|
|
filter.FilterIdHigh = 0x0000;
|
|
filter.FilterMaskIdHigh = 0x0000;
|
|
filter.FilterIdLow = 0x0000;
|
|
filter.FilterMaskIdLow = 0x0000;
|
|
filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
|
|
filter.FilterActivation = ENABLE;
|
|
filter.SlaveStartFilterBank = 14;
|
|
|
|
filter.FilterBank = 0;
|
|
if (HAL_CAN_ConfigFilter(hcan1, &filter) != HAL_OK) Error_Handler();
|
|
|
|
filter.FilterBank = 14;
|
|
if (HAL_CAN_ConfigFilter(hcan2, &filter) != HAL_OK) Error_Handler();
|
|
}
|
|
/* END CAN_Logger_Init */
|
|
|
|
/* BEGIN HAL_CAN_RxFifo0MsgPendingCallback */
|
|
/**
|
|
* @brief ISR for CAN message pending in FIFO0
|
|
* @param hcan: CAN handle hcan (hcan1 or hcan2)
|
|
* @retval None
|
|
*/
|
|
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
|
|
{
|
|
CanMessage_t message;
|
|
CAN_RxHeaderTypeDef rxHeader;
|
|
uint8_t data[8];
|
|
|
|
osMessageQueueId_t queue;
|
|
osThreadId_t led_task;
|
|
|
|
if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0) != RESET) __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
|
|
|
|
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) return;
|
|
|
|
if (rxHeader.DLC > 8) return;
|
|
|
|
if (rxHeader.IDE == CAN_ID_EXT) message.id = rxHeader.ExtId;
|
|
else message.id = rxHeader.StdId;
|
|
|
|
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)
|
|
{
|
|
queue = xCAN1RxQueue;
|
|
led_task = xCAN1LedTask;
|
|
}
|
|
else
|
|
{
|
|
queue = xCAN2RxQueue;
|
|
led_task = xCAN2LedTask;
|
|
}
|
|
|
|
if (osMessageQueuePut(queue, &message, 0U, 0U) == osOK) osThreadFlagsSet(led_task, 0x01);
|
|
}
|
|
/* END HAL_CAN_RxFifo0MsgPendingCallback */
|
|
|
|
/* BEGIN vCANListener */
|
|
/**
|
|
* @brief Log incoming CAN bus traffic in FIFO buffer
|
|
* @param argument: Not used
|
|
* @retval None
|
|
*/
|
|
void vCANListener(void *argument)
|
|
{
|
|
CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef*)argument;
|
|
osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
|
|
CanMessage_t message;
|
|
|
|
if (HAL_CAN_Start(hcan) != HAL_OK) Error_Handler();
|
|
HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
|
|
|
|
uint32_t irqn = (hcan->Instance == CAN1) ? CAN1_RX0_IRQn : CAN2_RX0_IRQn;
|
|
HAL_NVIC_SetPriority(irqn, 5, 0);
|
|
HAL_NVIC_EnableIRQ(irqn);
|
|
|
|
for (;;)
|
|
{
|
|
if (osMessageQueueGet(queue, &message, NULL, 1000) == osOK) osMessageQueuePut(xUARTQueue, &message, 0U, 0U);
|
|
}
|
|
}
|
|
/* END vCANListener */
|
|
|
|
/* BEGIN vLEDHeartbeat */
|
|
/**
|
|
* @brief Turn on LED when CAN traffic is detected
|
|
* @param argument: LED GPIO (port and pin)
|
|
* @retval None
|
|
*/
|
|
void vLEDHeartbeat(void *argument)
|
|
{
|
|
LED_Config *led = (LED_Config*)argument;
|
|
|
|
for (;;)
|
|
{
|
|
uint32_t notification = osThreadFlagsWait(0x01, osFlagsWaitAny, osWaitForever);
|
|
|
|
if (notification & 0x01)
|
|
{
|
|
HAL_GPIO_WritePin(led->port, led->pin, GPIO_PIN_SET);
|
|
osDelay(LED_BLINK_MS);
|
|
HAL_GPIO_WritePin(led->port, led->pin, GPIO_PIN_RESET);
|
|
}
|
|
}
|
|
}
|
|
/* END vLEDHeartbeat */
|
|
/* USER CODE END FunctionPrototypes */
|