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Fix FDCan Stuff #392

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Merged
caiodasilva2005 merged 4 commits into from
Apr 20, 2026
Merged

Fix FDCan Stuff #392

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b47199f
fd can updates
bjackson312006 Apr 18, 2026
f069d49
fixed can_init() for interrupts
bjackson312006 Apr 19, 2026
8d4b111
whoops
bjackson312006 Apr 19, 2026
38575e1
cleanup
caiodasilva2005 Apr 20, 2026
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2 changes: 2 additions & 0 deletions platforms/stm32h563/include/fdcan.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,8 @@ HAL_StatusTypeDef can_init(can_t *can, FDCAN_HandleTypeDef *hcan);
HAL_StatusTypeDef can_send_msg(can_t *can, can_msg_t *msg);
HAL_StatusTypeDef can_add_filter_standard(can_t *can, uint16_t can_ids[2]);
HAL_StatusTypeDef can_add_filter_extended(can_t *can, uint32_t can_ids[2]);
bool can_is_bus_off(can_t *can);
HAL_StatusTypeDef can_recover_bus_off(can_t *can);

// clang-format on
#endif // FDCAN_H
52 changes: 47 additions & 5 deletions platforms/stm32h563/src/fdcan.c
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Original file line number Diff line number Diff line change
Expand Up @@ -13,19 +13,31 @@ HAL_StatusTypeDef can_init(can_t *can, FDCAN_HandleTypeDef *hcan)
can->extended_filter_index = 0;
can->hcan = hcan;

/* Config interrupts */
/* Config incoming message interrupt. */
HAL_StatusTypeDef status = HAL_FDCAN_ConfigInterruptLines(can->hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, FDCAN_INTERRUPT_LINE0);
if (status != HAL_OK)
{
printf("[fdcan.c/can_init()] ERROR: Failed to run HAL_FDCAN_ConfigInterruptLines() (Status: %d).\n", status);
printf("[fdcan.c/can_init()] ERROR: Failed to run HAL_FDCAN_ConfigInterruptLines(can->hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, FDCAN_INTERRUPT_LINE0); (Status: %d).\n", status);
return status;
}

/* Activate interrupt notifications */
status = HAL_FDCAN_ActivateNotification(can->hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
if (status != HAL_OK)
{
printf("[fdcan.c/can_init()] ERROR: Failed to run HAL_FDCAN_ActivateNotification() (Status: %d).\n", status);
printf("[fdcan.c/can_init()] ERROR: Failed to run HAL_FDCAN_ActivateNotification(can->hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0); (Status: %d).\n", status);
return status;
}

/* Config BusOff interrupt. */
status = HAL_FDCAN_ConfigInterruptLines(can->hcan, FDCAN_IT_BUS_OFF, FDCAN_INTERRUPT_LINE1);
if (status != HAL_OK)
{
printf("[fdcan.c/can_init()] ERROR: Failed to run HAL_FDCAN_ConfigInterruptLines(can->hcan, FDCAN_IT_BUS_OFF, FDCAN_INTERRUPT_LINE1); (Status: %d).\n", status);
return status;
}
status = HAL_FDCAN_ActivateNotification(can->hcan, FDCAN_IT_BUS_OFF, 1);
if (status != HAL_OK)
{
printf("[fdcan.c/can_init()] ERROR: Failed to run HAL_FDCAN_ActivateNotification(can->hcan, FDCAN_IT_BUS_OFF, 1); (Status: %d).\n", status);
return status;
}

Expand Down Expand Up @@ -101,6 +113,36 @@ HAL_StatusTypeDef can_add_filter_extended(can_t *can, uint32_t can_ids[2])
return status;
}

/* Returns true if the CAN node is in bus-off state. */
bool can_is_bus_off(can_t *can) {
FDCAN_ProtocolStatusTypeDef status;
HAL_FDCAN_GetProtocolStatus(can->hcan, &status);
return (bool)status.BusOff;
}

/* Recovers from bus-off by stopping and restarting the FDCAN peripheral.
Filters survive Stop/Start but notifications do not, so RX FIFO interrupt is re-enabled. */
HAL_StatusTypeDef can_recover_bus_off(can_t *can) {
HAL_StatusTypeDef status = HAL_FDCAN_Stop(can->hcan);
if (status != HAL_OK) {
printf("[fdcan.c/can_recover_bus_off()] ERROR: HAL_FDCAN_Stop() failed (Status: %d).\n", status);
return status;
}

status = HAL_FDCAN_Start(can->hcan);
if (status != HAL_OK) {
printf("[fdcan.c/can_recover_bus_off()] ERROR: HAL_FDCAN_Start() failed (Status: %d).\n", status);
return status;
}

status = HAL_FDCAN_ActivateNotification(can->hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
if (status != HAL_OK) {
printf("[fdcan.c/can_recover_bus_off()] ERROR: HAL_FDCAN_ActivateNotification() failed (Status: %d).\n", status);
}

return status;
}

/* Sends a CAN message. */
HAL_StatusTypeDef can_send_msg(can_t *can, can_msg_t *msg)
{
Expand Down
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