From b36103201cffc0b349b93379da7b3cf10ae83250 Mon Sep 17 00:00:00 2001
From: lulko <keklolov7@gmail.com>
Date: Sun, 4 May 2025 22:53:42 +0300
Subject: [PATCH] Add flag for CAN

---
 controller/fw/embed/src/main.cpp | 50 ++++++++++++++++++++++----------
 1 file changed, 35 insertions(+), 15 deletions(-)

diff --git a/controller/fw/embed/src/main.cpp b/controller/fw/embed/src/main.cpp
index 6554a89..57b8b31 100644
--- a/controller/fw/embed/src/main.cpp
+++ b/controller/fw/embed/src/main.cpp
@@ -12,6 +12,7 @@
 #include "wiring_analog.h"
 #include "wiring_constants.h"
 // clang-format on
+
 #include "reg_cah.h"
 #include "flash.h"
 
@@ -33,6 +34,10 @@ volatile uint8_t msg_ch;
 volatile uint8_t crc_h;
 volatile uint8_t crc_l;
 
+/* bool for test CAN    */
+volatile bool CAN_GET = false;
+
+
 volatile float kt = 0.1;  // Torque calculation constant
 
 static FLASH_RECORD* flash_rec;
@@ -68,9 +73,7 @@ void doMotor(char *cmd) {
   delayMicroseconds(2);
 }
 
-// Empty interrupt handler to prevent default handling
-void CAN2_RX0_IRQHandler() {
-}
+
 
 void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
                DRV8313Driver *driver, LowsideCurrentSense *current_sense,
@@ -142,12 +145,12 @@ void send_can_with_id_crc(uint32_t id, uint8_t message_type, const void* data, s
   Can.write(msg);
   __NOP();
 }
-
-void send_velocity() {
-  float current_velocity = motor.shaftVelocity();
-  flash_rec = load_params();
-  if (flash_rec == nullptr) {  // Null check
-      // Error handling: logging, alerts, etc.
+  
+void send_velocity() {  
+  float current_velocity = motor.shaftVelocity(); 
+  flash_rec = load_params();  
+  if (flash_rec == nullptr) {  // Null check  
+      // Error handling: logging, alerts, etc.  
       return;
   }
   uint8_t value = flash_rec[vel].value;
@@ -372,9 +375,10 @@ void foc_step(BLDCMotor *motor, Commander *commander) {
   commander->run();
 }
 
-void setup(){
+
+  void setup(){
   // Vector table initialization (commented out)
-  // __set_MSP(*(volatile uint32_t*)0x08008000);
+  // __set_MSP(*(volatile uintф32_t*)0x08008000);
   // SCB->VTOR = (volatile uint32_t)0x08008000;
   
   Serial.setRx(HARDWARE_SERIAL_RX_PIN);
@@ -384,10 +388,11 @@ void setup(){
   pinMode(PC11, OUTPUT);
   pinMode(PC10,OUTPUT);
   GPIOC->ODR &= ~GPIO_ODR_OD10;
-  
+  // Can.enableMBInterrupts();
   Can.begin();
   Can.setBaudRate(1000000);
-  
+  // Настройка прерываний CAN
+  CAN2->IER |= CAN_IER_FMPIE0;
   // Load parameters from flash
   flash_rec = load_params();
   for(int i = 0;i < PARAM_COUNT;i++)
@@ -396,21 +401,36 @@ void setup(){
   // Initialize FOC system
   setup_foc(&encoder, &motor, &driver, &current_sense, &command, doMotor);
   
+  CAN2->IER |= CAN_IER_FMPIE0 |  // Сообщение в FIFO0
+  CAN_IER_FFIE0 |   // FIFO0 full
+  CAN_IER_FOVIE0;    // FIFO0 overflow
+  HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 1, 0);
+  // HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
+
   // Default motor configuration
   GPIOC->ODR |= GPIO_ODR_OD11;
   motor.torque_controller = TorqueControlType::foc_current;
   motor.controller = MotionControlType::torque;
   __enable_irq();
+  
 }
 
+
+
 void loop() {
+  __enable_irq();
   foc_step(&motor, &command);
   CAN_message_t msg;
   GPIOC->ODR ^= GPIO_ODR_OD11;  // Toggle status LED
   delay(500);
   
-  // Process incoming CAN messages
+  // // Process incoming CAN messages
   while (Can.read(msg)) {
+    CAN_GET = true;
+  }
+  /*  If receive data from  CAN */
+  if(CAN_GET) {
     listen_can(msg);
   }
-}
\ No newline at end of file
+}
+