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Handle ISR for CANrx by saving message in FIFO buffer

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Erick
2026-06-14 13:53:40 +02:00
parent dc3688d3d7
commit 8ef0980510
2 changed files with 32 additions and 0 deletions
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Core/Inc/canlog.h
+1
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@@ -45,6 +45,7 @@ extern const osThreadAttr_t vLED_CAN2_Heartbeat_attributes;
* @param hcan2 Pointer to the CAN2 handle
*/
void vCANLoggerInit(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2);
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
void vCANLoggerListen(void *argument);
void vLEDHeartbeat(void *argument);
Core/Src/canlog.c
+31
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@@ -61,6 +61,37 @@ void CAN_Logger_Init(CAN_HandleTypeDef *hcan1, CAN_HandleTypeDef *hcan2)
}
/* END CAN_Logger_Init */
/* BEGIN HAL_CAN_RxFifo0MsgPendingCallback */
/**
* @brief ISR for CAN message pending in FIFO0
* @param argument: Can handle hcan (hcan1 or hcan2)
* @retval None
*/
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
/* CODE BEGIN */
CanMessage_t message;
CAN_RxHeaderTypeDef rxHeader;
uint8_t data[8];
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) Error_Handler();
message.id = rxHeader.ExtId;
message.dlc = rxHeader.DLC;
message.isExtended = (rxHeader.IDE == CAN_ID_EXT);
memcpy(message.payload, data, rxHeader.DLC);
osMessageQueueId_t queue = (hcan->Instance == CAN1) ? xCAN1RxQueue : xCAN2RxQueue;
if (osMessageQueuePut(queue, &message, 0U, 0U) != osOK) Error_Handler();
// TODO: better handling: flash error_led on osTimeout, call Error_Handler() when other errors
// Issue #1: set an event flag for led task
// osEventFlagsSet(xCanEventFlags, (hcan->Instance == CAN1) ? 0x01 : 0x02);
/* CODE END */
}
/* END HAL_CAN_RxFifo0MsgPendingCallback */
/* BEGIN vCANLoggerListen */
/**
* @brief Log incoming CAN bus traffic in FIFO buffer