Fifo0msgpendingcallback function doesn't work - stm32

Question

I have two nucleo-f446re boards and I try to make a can connection between this two.
two boards work correctly when I set the operation mode in normal mode but when I connect this two and try to send data from first one to second one it doesn't go to Fifo0msgpendingcallback function and can't get data.
I have tried both fifo0 and fifo1 and still doesn't work.
transceiver code :
'''
/* USER CODE BEGIN 0 */
uint16_t adcval;
double min_adc; //min of adc when rim seal doesn't actuated
uint32_t CT2 = 0; //counter timer 2
uint32_t CT3 = 0; //counter timer 3
uint16_t stop_status=0;
uint16_t flag1 = 0;
uint16_t flag1_2 = 0;
uint16_t flag2 = 0;
uint16_t flag2_3 = 0;
uint16_t flag3 = 0;
uint16_t flag3_4 = 0;
uint16_t flag4 = 0;
uint16_t flag4_1 = 0;
CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
uint8_t TxData[8];
uint8_t RxData[8];
uint32_t Txmailbox;
uint16_t start_flag;
uint16_t stop_flag;
uint16_t reset_flag;
/* USER CODE END 0 */
int main(void)
{
/* USER CODE BEGIN 2 */
HAL_ADC_Start_IT(&hadc1);
HAL_CAN_Start(&hcan1);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
float voltage;
TxHeader.DLC = 2;
TxHeader.IDE = CAN_ID_STD;
TxHeader.RTR = CAN_RTR_DATA;
TxHeader.StdId = 0x446;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
adcval = HAL_ADC_GetValue(&hadc1);
min_adc = 4095*1.398/3.3 +100;
voltage = adcval*3.3/4095;
if(start_flag == 1){
if(voltage<0.8){
TxData[0] = 146;
TxData[1] = 50;
}
else if(0.92<voltage && voltage<3.3)// zone 1
{
flag1 = 1;
TxData[0] = 146;
TxData[1] = 1;
}
else if(0.59<voltage && voltage<0.92) // zone 1&2
{
flag1_2 = 1;
TxData[0] = 146;
TxData[1] = 12;
}
else if(0.46<voltage && voltage<0.59)// zone 2
{
flag2 = 1;
TxData[0] = 146;
TxData[1] = 2;
}
else if(0.36<voltage && voltage<0.46) // zone 2&3
{
flag2_3 = 1;
TxData[0] = 146;
TxData[1] = 23;
}
else if(0.31<voltage && voltage<0.36) // zone 3
{
flag3 = 1;
TxData[0] = 146;
TxData[1] = 3;
}
else if(0.26<voltage && voltage<0.31) // zone 3&4
{
flag3_4 = 1;
TxData[0] = 146;
TxData[1] = 34;
}
else if(0.23<voltage && voltage<0.26) // zone 4
{
flag4 = 1;
TxData[0] = 146;
TxData[1] = 4;
}
else if(0.24<voltage && voltage<0.26) // zone 4&1
{
flag4_1 = 1;
TxData[0] = 146;
TxData[1] = 41;
}
else if(1.5<voltage && voltage<3.3) // zone 4&1 2th condition
{
flag4_1 = 1;
TxData[0] = 146;
TxData[1] = 41;
}
else
{
flag1 = 0;flag1_2 = 0;flag2 = 0;
flag2_3 = 0;flag3 = 0;flag3_4 =0;
flag4 = 0;flag4_1 = 0;
}
}
if(stop_flag == 1){
flag1 = 0;flag1_2 = 0;flag2 = 0;
flag2_3 = 0;flag3 = 0;flag3_4 =0;
flag4 = 0;flag4_1 = 0;
TxData[0] = 146;
TxData[1] = 100;
}
if(reset_flag){
flag1 = 0;flag1_2 = 0;flag2 = 0;
flag2_3 = 0;flag3 = 0;flag3_4 =0;
flag4 = 0;flag4_1 = 0;
TxData[0] = 146;
TxData[1] = 200;
}
HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &Txmailbox);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* #brief System Clock Configuration
* #retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 84;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 2;
RCC_OscInitStruct.PLL.PLLR = 2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLRCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/**
* #brief ADC1 Initialization Function
* #param None
* #retval None
*/
static void MX_ADC1_Init(void)
{
/* USER CODE BEGIN ADC1_Init 0 */
/* USER CODE END ADC1_Init 0 */
ADC_ChannelConfTypeDef sConfig = {0};
/* USER CODE BEGIN ADC1_Init 1 */
/* USER CODE END ADC1_Init 1 */
/** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc1.Instance = ADC1;
hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
hadc1.Init.Resolution = ADC_RESOLUTION_12B;
hadc1.Init.ScanConvMode = DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.DMAContinuousRequests = DISABLE;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* #brief CAN1 Initialization Function
* #param None
* #retval None
*/
static void MX_CAN1_Init(void)
{
/* USER CODE BEGIN CAN1_Init 0 */
/* USER CODE END CAN1_Init 0 */
/* USER CODE BEGIN CAN1_Init 1 */
/* USER CODE END CAN1_Init 1 */
hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 21;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_2TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = ENABLE;
hcan1.Init.AutoRetransmission = ENABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN1_Init 2 */
CAN_FilterTypeDef canfilterconfig;
canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
canfilterconfig.FilterBank = 18;
canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
canfilterconfig.FilterIdHigh = 0x103<<5;
canfilterconfig.FilterIdLow = 0;
canfilterconfig.FilterMaskIdHigh = 0x103<<5;
canfilterconfig.FilterMaskIdLow = 0x0000;
canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
canfilterconfig.SlaveStartFilterBank = 20;
HAL_CAN_ConfigFilter(&hcan1, &canfilterconfig);
//HAL_CAN_Init(&hcan);
/* USER CODE END CAN1_Init 2 */
}
/**
* #brief GPIO Initialization Function
* #param None
* #retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_12, GPIO_PIN_RESET);
/*Configure GPIO pin : B1_Pin */
GPIO_InitStruct.Pin = B1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PC1 PC2 PC3 */
GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : LD2_Pin */
GPIO_InitStruct.Pin = LD2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PC12 */
GPIO_InitStruct.Pin = GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI1_IRQn);
HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI2_IRQn);
HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI3_IRQn);
}
/* USER CODE BEGIN 4 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin == GPIO_PIN_1){
HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
start_flag = 1;
stop_flag = 0;
reset_flag = 0;
}
if(GPIO_Pin == GPIO_PIN_2){
HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
start_flag = 0;
stop_flag = 1;
reset_flag = 0;
}
if(GPIO_Pin == GPIO_PIN_3){
HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
start_flag = 0;
stop_flag = 0;
reset_flag = 1;
}
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData);
}
/* USER CODE END 4 */
/**
* #brief This function is executed in case of error occurrence.
* #retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* #brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* #param file: pointer to the source file name
* #param line: assert_param error line source number
* #retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
'''
receiver code :
''' /* USER CODE BEGIN Header */
/**
******************************************************************************
* #file : main.c
* #brief : Main program body
******************************************************************************
* #attention
*
* Copyright (c) 2022 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan1;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint16_t datacheck;
CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
uint8_t TxData[8];
uint8_t RxData[8];
uint32_t Txmailbox;
/* USER CODE END 0 */
/**
* #brief The application entry point.
* #retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_CAN1_Init();
/* USER CODE BEGIN 2 */
HAL_CAN_Start(&hcan1);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO1_MSG_PENDING);
TxHeader.DLC = 2;
TxHeader.IDE = CAN_ID_STD;
TxHeader.RTR = CAN_RTR_DATA;
TxHeader.StdId = 0x445;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
if(datacheck==1){
if(RxData[0]==146 && RxData[1]== 200){
HAL_GPIO_WritePin(START_LED_GPIO_Port, START_LED_Pin, RESET);
HAL_GPIO_WritePin(STOP_LED_GPIO_Port, STOP_LED_Pin, RESET);
HAL_GPIO_WritePin(RESET_LED_GPIO_Port, RESET_LED_Pin, SET);
}
else if(RxData[0]==146 && RxData[1]== 100){
HAL_GPIO_WritePin(START_LED_GPIO_Port, START_LED_Pin, RESET);
HAL_GPIO_WritePin(STOP_LED_GPIO_Port, STOP_LED_Pin, SET);
HAL_GPIO_WritePin(RESET_LED_GPIO_Port, RESET_LED_Pin, RESET);
}
else if(RxData[0]==146 && RxData[1]== 1){
HAL_GPIO_WritePin(START_LED_GPIO_Port, START_LED_Pin, SET);
HAL_GPIO_WritePin(STOP_LED_GPIO_Port, STOP_LED_Pin, RESET);
HAL_GPIO_WritePin(RESET_LED_GPIO_Port, RESET_LED_Pin, RESET);
}
else if(RxData[0]==146 && RxData[1]== 12){
HAL_GPIO_WritePin(START_LED_GPIO_Port, START_LED_Pin, SET);
HAL_GPIO_WritePin(STOP_LED_GPIO_Port, STOP_LED_Pin, RESET);
HAL_GPIO_WritePin(RESET_LED_GPIO_Port, RESET_LED_Pin, RESET);
}
else if(RxData[0]==146 && RxData[1]== 41){
HAL_GPIO_WritePin(START_LED_GPIO_Port, START_LED_Pin, SET);
HAL_GPIO_WritePin(STOP_LED_GPIO_Port, STOP_LED_Pin, RESET);
HAL_GPIO_WritePin(RESET_LED_GPIO_Port, RESET_LED_Pin, RESET);
}
datacheck = 0;
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* #brief System Clock Configuration
* #retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 16;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
RCC_OscInitStruct.PLL.PLLQ = 2;
RCC_OscInitStruct.PLL.PLLR = 2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/**
* #brief CAN1 Initialization Function
* #param None
* #retval None
*/
static void MX_CAN1_Init(void)
{
/* USER CODE BEGIN CAN1_Init 0 */
/* USER CODE END CAN1_Init 0 */
/* USER CODE BEGIN CAN1_Init 1 */
/* USER CODE END CAN1_Init 1 */
hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 21;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_2TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = ENABLE;
hcan1.Init.AutoRetransmission = ENABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN1_Init 2 */
CAN_FilterTypeDef canfilterconfig;
canfilterconfig.FilterActivation = CAN_FILTER_ENABLE;
canfilterconfig.FilterBank = 18;
canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO1;
canfilterconfig.FilterIdHigh = 0x446<<5;
canfilterconfig.FilterIdLow = 0;
canfilterconfig.FilterMaskIdHigh = 0x446<<5;
canfilterconfig.FilterMaskIdLow = 0x0000;
canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
canfilterconfig.SlaveStartFilterBank = 20;
HAL_CAN_ConfigFilter(&hcan1, &canfilterconfig);
/* USER CODE END CAN1_Init 2 */
}
/**
* #brief GPIO Initialization Function
* #param None
* #retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, START_LED_Pin|STOP_LED_Pin|RESET_LED_Pin|LD2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : B1_Pin */
GPIO_InitStruct.Pin = B1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PC1 PC2 PC3 */
GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : START_LED_Pin */
GPIO_InitStruct.Pin = START_LED_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(START_LED_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : STOP_LED_Pin RESET_LED_Pin LD2_Pin */
GPIO_InitStruct.Pin = STOP_LED_Pin|RESET_LED_Pin|LD2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI1_IRQn);
HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI2_IRQn);
HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI3_IRQn);
}
/* USER CODE BEGIN 4 */
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
datacheck = 2;
HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData);
if(RxHeader.DLC == 2){
datacheck = 1;
}
}
/* USER CODE END 4 */
/**
* #brief This function is executed in case of error occurrence.
* #retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* #brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* #param file: pointer to the source file name
* #param line: assert_param error line source number
* #retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
'''