Add flag for CAN

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,
@@ -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);
   }
 }
+