fix can: enable interrupts on rx

RaccoonLabHardware · Jun 30, 2024 · 741f054 · 741f054
1 parent dc90159
commit 741f054
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Showing 9 changed files with 61 additions and 5 deletions.
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
@@ -67,8 +67,15 @@ void Error_Handler(void);
 #define ADC_VIN_GPIO_Port GPIOA
 #define ADC_5V_Pin GPIO_PIN_1
 #define ADC_5V_GPIO_Port GPIOA
+#define ADC_CURRENT_Pin GPIO_PIN_6
+#define ADC_CURRENT_GPIO_Port GPIOA
 #define ADC_VERSION_Pin GPIO_PIN_7
 #define ADC_VERSION_GPIO_Port GPIOA
+#define CAN2_TERMINATOR_Pin GPIO_PIN_15
+#define CAN2_TERMINATOR_GPIO_Port GPIOB
+#define CAN1_TERMINATOR_Pin GPIO_PIN_15
+#define CAN1_TERMINATOR_GPIO_Port GPIOA
+
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */

diff --git a/Core/Inc/stm32g0xx_it.h b/Core/Inc/stm32g0xx_it.h
@@ -53,6 +53,7 @@ void PendSV_Handler(void);
 void SysTick_Handler(void);
 void DMA1_Channel1_IRQHandler(void);
 void TIM1_BRK_UP_TRG_COM_IRQHandler(void);
+void TIM16_FDCAN_IT0_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

diff --git a/Core/Src/adc.c b/Core/Src/adc.c
@@ -136,9 +136,10 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
     /**ADC1 GPIO Configuration
     PA0     ------> ADC1_IN0
     PA1     ------> ADC1_IN1
+    PA6     ------> ADC1_IN6
     PA7     ------> ADC1_IN7
     */
-    GPIO_InitStruct.Pin = ADC_VIN_Pin|ADC_5V_Pin|ADC_VERSION_Pin;
+    GPIO_InitStruct.Pin = ADC_VIN_Pin|ADC_5V_Pin|ADC_CURRENT_Pin|ADC_VERSION_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -181,9 +182,10 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
     /**ADC1 GPIO Configuration
     PA0     ------> ADC1_IN0
     PA1     ------> ADC1_IN1
+    PA6     ------> ADC1_IN6
     PA7     ------> ADC1_IN7
     */
-    HAL_GPIO_DeInit(GPIOA, ADC_VIN_Pin|ADC_5V_Pin|ADC_VERSION_Pin);
+    HAL_GPIO_DeInit(GPIOA, ADC_VIN_Pin|ADC_5V_Pin|ADC_CURRENT_Pin|ADC_VERSION_Pin);
 
     /* ADC1 DMA DeInit */
     HAL_DMA_DeInit(adcHandle->DMA_Handle);

diff --git a/Core/Src/fdcan.c b/Core/Src/fdcan.c
@@ -101,6 +101,9 @@ void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
     GPIO_InitStruct.Alternate = GPIO_AF3_FDCAN1;
     HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
+    /* FDCAN1 interrupt Init */
+    HAL_NVIC_SetPriority(TIM16_FDCAN_IT0_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM16_FDCAN_IT0_IRQn);
   /* USER CODE BEGIN FDCAN1_MspInit 1 */
 
   /* USER CODE END FDCAN1_MspInit 1 */
@@ -124,6 +127,8 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
     */
     HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
 
+    /* FDCAN1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(TIM16_FDCAN_IT0_IRQn);
   /* USER CODE BEGIN FDCAN1_MspDeInit 1 */
 
   /* USER CODE END FDCAN1_MspDeInit 1 */

diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
@@ -48,18 +48,39 @@ void MX_GPIO_Init(void)
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOF_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
   __HAL_RCC_GPIOD_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOC, INTERNAL_LED_RED_Pin|INTERNAL_LED_GREEN_Pin|INTERNAL_LED_BLUE_Pin, GPIO_PIN_RESET);
 
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(CAN2_TERMINATOR_GPIO_Port, CAN2_TERMINATOR_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(CAN1_TERMINATOR_GPIO_Port, CAN1_TERMINATOR_Pin, GPIO_PIN_RESET);
+
   /*Configure GPIO pins : PCPin PCPin PCPin */
   GPIO_InitStruct.Pin = INTERNAL_LED_RED_Pin|INTERNAL_LED_GREEN_Pin|INTERNAL_LED_BLUE_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = CAN2_TERMINATOR_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(CAN2_TERMINATOR_GPIO_Port, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = CAN1_TERMINATOR_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(CAN1_TERMINATOR_GPIO_Port, &GPIO_InitStruct);
+
 }
 
 /* USER CODE BEGIN 2 */

diff --git a/Core/Src/stm32g0xx_hal_msp.c b/Core/Src/stm32g0xx_hal_msp.c
@@ -20,6 +20,7 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+
 /* USER CODE BEGIN Includes */
 
 /* USER CODE END Includes */

diff --git a/Core/Src/stm32g0xx_hal_timebase_tim.c b/Core/Src/stm32g0xx_hal_timebase_tim.c
@@ -72,6 +72,7 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
   htim1.Instance = TIM1;
 
   /* Initialize TIMx peripheral as follow:
+
   + Period = [(TIM1CLK/1000) - 1]. to have a (1/1000) s time base.
   + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
   + ClockDivision = 0

diff --git a/Core/Src/stm32g0xx_it.c b/Core/Src/stm32g0xx_it.c
@@ -56,6 +56,7 @@
 
 /* External variables --------------------------------------------------------*/
 extern DMA_HandleTypeDef hdma_adc1;
+extern FDCAN_HandleTypeDef hfdcan1;
 extern TIM_HandleTypeDef htim1;
 
 /* USER CODE BEGIN EV */
@@ -170,6 +171,20 @@ void TIM1_BRK_UP_TRG_COM_IRQHandler(void)
   /* USER CODE END TIM1_BRK_UP_TRG_COM_IRQn 1 */
 }
 
+/**
+  * @brief This function handles TIM16, FDCAN1_IT0 and FDCAN2_IT0 Interrupt.
+  */
+void TIM16_FDCAN_IT0_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM16_FDCAN_IT0_IRQn 0 */
+
+  /* USER CODE END TIM16_FDCAN_IT0_IRQn 0 */
+  HAL_FDCAN_IRQHandler(&hfdcan1);
+  /* USER CODE BEGIN TIM16_FDCAN_IT0_IRQn 1 */
+
+  /* USER CODE END TIM16_FDCAN_IT0_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/project_v3.ioc b/project_v3.ioc
@@ -92,15 +92,16 @@ Mcu.PinsNb=18
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32G0B1CEUx
-MxCube.Version=6.6.0
-MxDb.Version=DB.6.0.60
+MxCube.Version=6.10.0
+MxDb.Version=DB.6.0.100
 NVIC.DMA1_Channel1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.SVC_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.SysTick_IRQn=true\:3\:0\:false\:false\:true\:false\:true\:false
+NVIC.TIM16_FDCAN_IT0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.TIM1_BRK_UP_TRG_COM_IRQn=true\:3\:0\:false\:false\:true\:false\:true\:true
 NVIC.TimeBase=TIM1_BRK_UP_TRG_COM_IRQn
 NVIC.TimeBaseIP=TIM1
@@ -173,7 +174,7 @@ ProjectManager.FreePins=false
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x200
 ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=true
+ProjectManager.LastFirmware=false
 ProjectManager.LibraryCopy=1
 ProjectManager.MainLocation=Core/Src
 ProjectManager.NoMain=false
@@ -186,6 +187,8 @@ ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=STM32CubeIDE
 ProjectManager.ToolChainLocation=
+ProjectManager.UAScriptAfterPath=
+ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=true
 ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_FDCAN1_Init-FDCAN1-false-HAL-true,5-MX_ADC1_Init-ADC1-false-HAL-true
 RCC.ADCFreq_Value=64000000