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Mask step 1 #17

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29 changes: 15 additions & 14 deletions src/can.c
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,20 @@ static can_bus_state_t bus_state = OFF_BUS;
static uint8_t can_autoretransmit = ENABLE;
static can_txbuf_t txqueue = {0};

static void can_set_filter() {
// Initialize default CAN filter configuration
filter.FilterIdHigh = 0;
filter.FilterIdLow = 0;
filter.FilterMaskIdHigh = 0;
filter.FilterMaskIdLow = 0;
filter.FilterFIFOAssignment = CAN_RX_FIFO0;
filter.FilterBank = 0;
filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterScale = CAN_FILTERSCALE_32BIT;
filter.FilterActivation = ENABLE;

HAL_CAN_ConfigFilter(&can_handle, &filter);
}

// Initialize CAN peripheral settings, but don't actually start the peripheral
void can_init(void)
Expand All @@ -36,19 +50,6 @@ void can_init(void)
GPIO_InitStruct.Alternate = GPIO_AF4_CAN;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);


// Initialize default CAN filter configuration
filter.FilterIdHigh = 0;
filter.FilterIdLow = 0;
filter.FilterMaskIdHigh = 0;
filter.FilterMaskIdLow = 0;
filter.FilterFIFOAssignment = CAN_RX_FIFO0;
filter.FilterBank = 0;
filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterScale = CAN_FILTERSCALE_32BIT;
filter.FilterActivation = ENABLE;


// default to 125 kbit/s
prescaler = 48;
can_handle.Instance = CAN;
Expand Down Expand Up @@ -79,7 +80,7 @@ void can_enable(void)
can_handle.Init.TransmitFifoPriority = ENABLE;
HAL_CAN_Init(&can_handle);

HAL_CAN_ConfigFilter(&can_handle, &filter);
can_set_filter();

HAL_CAN_Start(&can_handle);
bus_state = ON_BUS;
Expand Down