ChibiOS Free Embedded RTOS

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#0  0x080032b4 in chSysHalt (reason=0x80096f0 "SV#11") at ChibiOS/os/rt/src/chsys.c:175
#1  chDbgCheckClassS () at ChibiOS/os/rt/src/chdebug.c:253
#2  0x0800334e in chSchGoSleepTimeoutS (newstate=newstate@entry=4 '\004', time=10) at ChibiOS/os/rt/src/chschd.c:332
#3  0x080034ce in chThdEnqueueTimeoutS (tqp=<optimized out>, timeout=<optimized out>) at ChibiOS/os/rt/src/chthreads.c:652
#4  0x0800520c in osalThreadEnqueueTimeoutS () at ChibiOS/os/hal/osal/rt/osal.h:784
#5  canReceive (canp=<optimized out>, mailbox=0, timeout=10, crfp=0x20001614 <dncm_can_reader_thr_wa+420>) at ChibiOS/os/hal/src/can.c:224
#6  dncm_can_reader_thr.lto_priv.137 (arg=<optimized out>) at src/can.c:58
#7  0x080002f6 in _port_thread_start ()

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static THD_WORKING_AREA(dncm_can_reader_thr_wa, 128);
static THD_FUNCTION(dncm_can_reader_thr, arg)
{
        (void)arg;
        CANRxFrame msg;
        msg_t rc;

        chRegSetThreadName("can_rx");

        while (1) {
                rc = canReceive(&CAND1, CAN_ANY_MAILBOX, &msg, MS2ST(1));
                if (rc == MSG_OK)
                        di_can_receive(msg.EID, msg.data8, msg.DLC);
                chThdYield();
        }
}

void dncm_can_init(void)
{
        CANConfig cfg = {
        /*.mcr = */ CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
        /*.btr = */ CAN_BTR_SJW(0) | CAN_BTR_TS2(4) | CAN_BTR_TS1(14) | CAN_BTR_BRP(1)
        };

        palSetPadMode(DNCM_CAN_PORT, DNCM_CAN_PIN_LOW,  DNCM_CAN_PIN_LOW_PAL_MODE);
        palSetPadMode(DNCM_CAN_PORT, DNCM_CAN_PIN_HIGH, DNCM_CAN_PIN_HIGH_PAL_MODE);

        canStart(&DNCM_CAN_DEV, &cfg);

        chThdCreateStatic(dncm_can_reader_thr_wa, sizeof(dncm_can_reader_thr_wa), NORMALPRIO,
                          dncm_can_reader_thr, NULL);
        chThdCreateStatic(dncm_can_pub_thr_wa, sizeof(dncm_can_pub_thr_wa), NORMALPRIO,
                          dncm_can_pub_thr, NULL);
}