Adapt error handler to log CAN errors and toggle error LED

Core/Src/canlog.c

@@ -42,7 +42,35 @@ const osThreadAttr_t vLED_CAN2_Heartbeat_attributes = {
 
 
 /* Private function prototypes -----------------------------------------------*/
-void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2){}
+/* BEGIN CAN_Logger_Init */
+/**
+  * @brief  Initialize CAN
+  * @param  argument: hcan1, hcan2
+  * @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();
+
+    if (HAL_CAN_Start(hcan1) != HAL_OK) Error_Handler();
+    if (HAL_CAN_Start(hcan2) != HAL_OK) Error_Handler();
+}
+/* END CAN_Logger_Init */
+
 static void CAN_Listen(void *argument){}
 
 /* BEGIN vCAN_Get */

Core/Src/main.c

@@ -54,6 +54,7 @@ DMA_HandleTypeDef hdma_sdio_tx;
 /* USER CODE BEGIN PV */
 LED_Config led_can1 = {GPIOB, GPIO_PIN_2};
 LED_Config led_can2 = {GPIOB, GPIO_PIN_5};
+LED_Config led_error = {GPIOB, GPIO_PIN_3};
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -441,8 +442,19 @@ void Error_Handler(void)
   /* 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;
+  if (hcan == &hcan1) error_code = HAL_CAN_GetError(&hcan1);
+  else if (hcan == &hcan2) error_code = HAL_CAN_GetError(&hcan2);
+
+  // TODO: write error to SD and/or serial
+
   while (1)
   {
+    HAL_GPIO_TogglePin(led_error.port, led_error.pin);
+    HAL_Delay(250);
   }
   /* USER CODE END Error_Handler_Debug */
 }