From 5e904177debc17f71da684aee614e4db031054f2 Mon Sep 17 00:00:00 2001
From: Pierre Barbier <pierrebarbier741@gmail.com>
Date: Tue, 2 Jun 2026 16:34:35 +0200
Subject: [PATCH] Basic code to handle the interupts for cam&crank using
 osThreads to call the respective handler TODO add the ring buffers to be able
 to process the timestamps

---
 STM32/CM7/Core/Src/main.c | 25 +++++++++++++++++++++++--
 1 file changed, 23 insertions(+), 2 deletions(-)

diff --git a/STM32/CM7/Core/Src/main.c b/STM32/CM7/Core/Src/main.c
index 1bbc3e6..a132e1e 100644
--- a/STM32/CM7/Core/Src/main.c
+++ b/STM32/CM7/Core/Src/main.c
@@ -20,6 +20,7 @@
 #include "main.h"
 #include "FreeRTOS.h"
 #include "cmsis_os2.h"
+#include "stm32h7xx_hal_tim.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -108,6 +109,24 @@ void camHandler(void *argument);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
+void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
+    if (htim->Instance == TIM2) {
+        switch (htim->Channel) {
+            //HAL_TIM_ACTIVE_CHANNEL_2 is the channel used for cam interupts
+            case HAL_TIM_ACTIVE_CHANNEL_2:
+              // TODO push timestamp to the cam ring buffer
+              osThreadFlagsSet(camTaskHandle,0x01);
+              break;
+            //HAL_TIM_ACTIVE_CHANNEL_1 is the channel used for crank interupts
+            case HAL_TIM_ACTIVE_CHANNEL_1:
+              // TODO push timestamp to the crank ring buffer
+              osThreadFlagsSet(crankTaskHandle,0x01);
+              break;
+            default:
+                break;
+      }
+  }
+}
 
 /* USER CODE END 0 */
 
@@ -420,7 +439,8 @@ void crankHandler(void *argument)
   /* Infinite loop */
   for(;;)
   {
-    osDelay(1);
+    osThreadFlagsWait(0x01,osFlagsWaitAny,osWaitForever);
+    //TODO Handle the call
   }
   /* USER CODE END crankHandler */
 }
@@ -438,7 +458,8 @@ void camHandler(void *argument)
   /* Infinite loop */
   for(;;)
   {
-    osDelay(1);
+    osThreadFlagsWait(0x01,osFlagsWaitAny,osWaitForever);
+    //TODO Handle the call
   }
   /* USER CODE END camHandler */
 }