From 130fe0384e2bd6efa2c63ab00dd71c895f5e0e4e Mon Sep 17 00:00:00 2001
From: Hamza Iqbal <92900102+HamzaIqbal69@users.noreply.github.com>
Date: Sun, 4 Feb 2024 14:29:57 -0800
Subject: [PATCH] Receiver (#132)

* Disabled outgoing can

* Made reciever build

* Trying to make CAN work - 1/22

* temp changes

* Made CAN Sorta Work

* Made interrupts work

* Cleaned up dummy changes

* fixed typo

* Made ioc changes
---
 Core/Inc/stm32f4xx_hal_conf.h |  2 +-
 Core/Src/can_handler.c        | 10 ++++++++++
 Core/Src/main.c               | 14 +++++++++-----
 cerberus.ioc                  | 15 +++++++++++----
 4 files changed, 31 insertions(+), 10 deletions(-)

diff --git a/Core/Inc/stm32f4xx_hal_conf.h b/Core/Inc/stm32f4xx_hal_conf.h
index 184c66f6..7db2db95 100644
--- a/Core/Inc/stm32f4xx_hal_conf.h
+++ b/Core/Inc/stm32f4xx_hal_conf.h
@@ -155,7 +155,7 @@
 #define  DATA_CACHE_ENABLE            1U
 
 #define  USE_HAL_ADC_REGISTER_CALLBACKS         0U /* ADC register callback disabled       */
-#define  USE_HAL_CAN_REGISTER_CALLBACKS         0U /* CAN register callback disabled       */
+#define  USE_HAL_CAN_REGISTER_CALLBACKS         1U /* CAN register callback disabled       */
 #define  USE_HAL_CEC_REGISTER_CALLBACKS         0U /* CEC register callback disabled       */
 #define  USE_HAL_CRYP_REGISTER_CALLBACKS        0U /* CRYP register callback disabled      */
 #define  USE_HAL_DAC_REGISTER_CALLBACKS         0U /* DAC register callback disabled       */
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index e7231c24..0ab68a2e 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -123,6 +123,16 @@ void vCanDispatch(void* pv_params)
 				queue_fault(&fault_data);
 			}
 		}
+		/* Uncomment this if needed for debugging */
+		// CAN_RxHeaderTypeDef rx_header;
+		// can_msg_t new_msg;
+		// if(HAL_CAN_GetRxMessage(can1->hcan, CAN_RX_FIFO0, &rx_header, new_msg.data) != HAL_OK)
+		// {
+		// 	serial_print("IM SCARED \r\n");
+		// }
+		// else {
+		// 	serial_print("MESSAGE CONTENTS\r\nHeader\t%X\r\nData\t%X%X%X%X\r\n", rx_header.StdId, new_msg.data[0], new_msg.data[1], new_msg.data[2], new_msg.data[3]);
+		// }
 
 		/* Yield to other tasks */
 		osDelay(CAN_DISPATCH_DELAY);
diff --git a/Core/Src/main.c b/Core/Src/main.c
index f7708486..8e689c07 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -159,6 +159,7 @@ int main(void)
   MX_USART3_UART_Init();
   MX_ADC2_Init();
   MX_ADC3_Init();
+ 
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -208,7 +209,7 @@ int main(void)
   /* Messaging */
   /* Note that CAN Router initializes CAN */
   dti_router_handle = osThreadNew(vDTIRouter, mc, &dti_router_attributes);
-  //steeringio_router_handle = osThreadNew(vSteeringIORouter, wheel, &steeringio_router_attributes);
+  // steeringio_router_handle = osThreadNew(vSteeringIORouter, wheel, &steeringio_router_attributes);
   can_dispatch_handle = osThreadNew(vCanDispatch, can1, &can_dispatch_attributes);
   serial_monitor_handle = osThreadNew(vSerialMonitor, NULL, &serial_monitor_attributes);
 
@@ -460,17 +461,17 @@ static void MX_CAN1_Init(void)
 
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 1;
+  hcan1.Init.Prescaler = 3;
   hcan1.Init.Mode = CAN_MODE_NORMAL;
-  hcan1.Init.SyncJumpWidth = CAN_SJW_3TQ;
+  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan1.Init.TimeSeg1 = CAN_BS1_13TQ;
   hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = DISABLE;
-  hcan1.Init.AutoWakeUp = DISABLE;
+  hcan1.Init.AutoWakeUp = ENABLE;
   hcan1.Init.AutoRetransmission = DISABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
-  hcan1.Init.TransmitFifoPriority = DISABLE;
+  hcan1.Init.TransmitFifoPriority = ENABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)
   {
     Error_Handler();
@@ -478,6 +479,9 @@ static void MX_CAN1_Init(void)
   /* USER CODE BEGIN CAN1_Init 2 */
 
   /* USER CODE END CAN1_Init 2 */
+  HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
+	HAL_CAN_IRQHandler(&hcan1);
 
 }
 
diff --git a/cerberus.ioc b/cerberus.ioc
index 6e8a5691..bb505ef2 100644
--- a/cerberus.ioc
+++ b/cerberus.ioc
@@ -29,10 +29,15 @@ ADC3.ScanConvMode=ENABLE
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
-CAN1.CalculateBaudRate=333333
-CAN1.CalculateTimeBit=3000
-CAN1.CalculateTimeQuantum=1000.0
-CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate
+CAN1.AWUM=ENABLE
+CAN1.BS1=CAN_BS1_13TQ
+CAN1.CalculateBaudRate=355555
+CAN1.CalculateTimeBit=2812
+CAN1.CalculateTimeQuantum=187.5
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,AWUM,NART,TXFP
+CAN1.NART=ENABLE
+CAN1.Prescaler=3
+CAN1.TXFP=ENABLE
 FREERTOS.IPParameters=Tasks01
 FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
 File.Version=6
@@ -107,6 +112,7 @@ NVIC.SavedSvcallIrqHandlerGenerated=true
 NVIC.SavedSystickIrqHandlerGenerated=true
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:false\:true\:false
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 PA0-WKUP.Locked=true
 PA0-WKUP.Signal=ADCx_IN0
 PA1.Locked=true
@@ -250,3 +256,4 @@ VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 board=custom
 rtos.0.ip=FREERTOS
+isbadioc=false