CAN2 RX fix#9
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Pull request overview
Enables and initializes CAN1 so that CAN2 (bxCAN “slave” instance on STM32F4) can reliably receive messages by ensuring the master CAN peripheral is also brought up.
Changes:
- Added CAN1 MSP init/deinit handling and reference-counted CAN1 clock enabling alongside CAN2.
- Added CAN1 handle, init function, and startup sequence in
main.cprior to starting CAN2. - Updated CubeMX
.iocto enable CAN1 peripheral and assign PD0/PD1 for CAN1.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 4 comments.
| File | Description |
|---|---|
AutonomousDistroBoard/Core/Src/stm32f4xx_hal_msp.c |
Adds CAN1 MSP init/deinit (GPIO + clock refcount) so CAN1 can be enabled alongside CAN2. |
AutonomousDistroBoard/Core/Src/main.c |
Introduces hcan1, initializes/starts CAN1 before CAN2. |
AutonomousDistroBoard/AutonomousDistroBoard.ioc |
Enables CAN1 in CubeMX config and assigns CAN1 pins. |
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And not touching any of the params
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CAN2 is a slave of CAN1, so RX has to be "routed through" CAN1. Solution: even though we don't use CAN1, enable it and start it.