From 052d3fc5c04529223bf3f5887d594491da27556c Mon Sep 17 00:00:00 2001
From: Erick Ahmed <engineering@erickahmed.com>
Date: Thu, 18 Jun 2026 08:44:25 +0200
Subject: [PATCH] Enable CAN bus NVIC interrupts with higher priority

- This was blocking the CPU from vectoring to
  HAL_CAN_RxFifo0MsgPendingCallback
---
 Core/Src/canlog.c | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/Core/Src/canlog.c b/Core/Src/canlog.c
index e6a9811..e821c99 100644
--- a/Core/Src/canlog.c
+++ b/Core/Src/canlog.c
@@ -49,6 +49,12 @@ void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
     filter.FilterActivation = ENABLE;
     filter.SlaveStartFilterBank = 14;
 
+    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 6, 0);
+    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
+
+    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 6, 0);
+    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
+
     filter.FilterBank = 0;
     if (HAL_CAN_ConfigFilter(hcan1, &filter) != HAL_OK) Error_Handler();
     if (HAL_CAN_Start(hcan1) != HAL_OK) Error_Handler();