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fixed callback handling #44

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merged 1 commit into from
Dec 14, 2023
Merged

fixed callback handling #44

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18 changes: 14 additions & 4 deletions platforms/stm32f405/src/can.c
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Original file line number Diff line number Diff line change
@@ -1,5 +1,17 @@
#include "can.h"

// function pointer type for the callback
typedef void (*CAN_Callback)(CAN_HandleTypeDef *hcan);
CAN_Callback myCANCallback;

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
// Handle CAN reception event
if (myCANCallback != NULL)
{
myCANCallback(hcan);
}
}
HAL_StatusTypeDef can_init(can_t *can)
{
/* set up filter */
Expand Down Expand Up @@ -36,17 +48,15 @@ HAL_StatusTypeDef can_init(can_t *can)
sFilterConfig.FilterActivation = ENABLE; // Enable the filter

uint8_t err = 0;
err = HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK);
err = HAL_CAN_ConfigFilter(&can->hcan, &sFilterConfig);
if (err != HAL_OK) return err;

/* set up interrupt & activate CAN */
err = HAL_CAN_Start(can->hcan);
if (err != HAL_OK) return err;

// Override the default callback for CAN_IT_RX_FIFO0_MSG_PENDING
err = HAL_CAN_RegisterCallback(can->hcan, HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID, can->can_callback);
if (err != HAL_OK) return err;

myCANCallback = can->can_callback;
err = HAL_CAN_ActivateNotification(can->hcan, CAN_IT_RX_FIFO0_MSG_PENDING);

return err;
Expand Down
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