Put in normal mode to avoid blocking ACK sending

- No transmitter side clock error in this way

Core/Src/main.c

@@ -196,6 +196,9 @@ int main(void)
   xUartTask = osThreadNew(vUARTLogger, NULL, &UartLoggerAttributes);
   xCAN1LedTask = osThreadNew(vLEDHeartbeat, &led_can1, &LEDHeartbeatCAN1Attributes);
   xCAN2LedTask = osThreadNew(vLEDHeartbeat, &led_can2, &LEDHeartbeatCAN2Attributes);
+
+  if (xCAN1rxTask == NULL || xCAN2rxTask == NULL || xUartTask == NULL ||
+      xCAN1LedTask == NULL || xCAN2LedTask == NULL) Error_Handler();
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
@@ -282,7 +285,7 @@ static void MX_CAN1_Init(void)
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
   hcan1.Init.Prescaler = 4;
-  hcan1.Init.Mode = CAN_MODE_SILENT;
+  hcan1.Init.Mode = CAN_MODE_NORMAL;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
   hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
@@ -319,7 +322,7 @@ static void MX_CAN2_Init(void)
   /* USER CODE END CAN2_Init 1 */
   hcan2.Instance = CAN2;
   hcan2.Init.Prescaler = 8;
-  hcan2.Init.Mode = CAN_MODE_SILENT;
+  hcan2.Init.Mode = CAN_MODE_NORMAL;
   hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan2.Init.TimeSeg1 = CAN_BS1_16TQ;
   hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
@@ -391,7 +394,7 @@ static void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 1152000;
+  huart1.Init.BaudRate = 1000000;
   huart1.Init.WordLength = UART_WORDLENGTH_8B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_NONE;
@@ -554,18 +557,21 @@ void Error_Handler(void)
 
   /* USER CODE BEGIN Error_Handler_Debug */
   /* User can add his own implementation to report the HAL error return state */
+  if (HAL_CAN_GetState(&hcan1) != HAL_CAN_STATE_READY)
+  {
+    DEBUG_PRINT("[E] CAN1 error code: 0x%08lX\r\n", (unsigned long)HAL_CAN_GetError(&hcan1));
+  }
+  if (HAL_CAN_GetState(&hcan2) != HAL_CAN_STATE_READY)
+  {
+    DEBUG_PRINT("[E] CAN2 error code: 0x%08lX\r\n", (unsigned long)HAL_CAN_GetError(&hcan2));
+  }
+
+  // TODO: write error to SD
+
+  /* Disabling interrupts here (after reporting above) freezes the FreeRTOS
+     scheduler for good, since it relies on SysTick/PendSV. */
   __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);