Merge branch 'main' into feature/lan8670

Author: bjackson312006

platforms/stm32h563/include/fdcan.h

@@ -24,7 +24,7 @@ typedef struct
 	uint32_t extended_filter_index;
 } can_t;
 
-HAL_StatusTypeDef can_init(can_t *can);
+HAL_StatusTypeDef can_init(can_t *can, FDCAN_HandleTypeDef *hcan);
 HAL_StatusTypeDef can_send_msg(can_t *can, can_msg_t *msg);
 HAL_StatusTypeDef can_add_filter_standard(can_t *can, uint16_t can_ids[2]);
 HAL_StatusTypeDef can_add_filter_extended(can_t *can, uint32_t can_ids[2]);

platforms/stm32h563/src/fdcan.c

@@ -2,14 +2,16 @@
 #include "fdcan.h"
 #include <stdint.h>
 #include <string.h>
+#include <stdio.h>
 
 /* Initializes CAN */
-HAL_StatusTypeDef can_init(can_t *can)
+HAL_StatusTypeDef can_init(can_t *can, FDCAN_HandleTypeDef *hcan)
 {
 
-	/* Init these guys to 0 */
+	/* Init these guys */
 	can->standard_filter_index = 0;
 	can->extended_filter_index = 0;
+	can->hcan = hcan;
 
 	/* Config interrupts */
 	HAL_StatusTypeDef status = HAL_FDCAN_ConfigInterruptLines(can->hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, FDCAN_INTERRUPT_LINE0);
@@ -55,7 +57,7 @@ HAL_StatusTypeDef can_add_filter_standard(can_t *can, uint16_t can_ids[2])
 	HAL_StatusTypeDef status = HAL_FDCAN_ConfigFilter(can->hcan, &filter);
 	if (status != HAL_OK)
 	{
-		printf("[fdcan.c/can_add_filter_standard()] ERROR: Failed to config standard FDCAN filter (Status: %d, Filter Index: %d).\n", status, filter.FilterIndex);
+		printf("[fdcan.c/can_add_filter_standard()] ERROR: Failed to config standard FDCAN filter (Status: %d, Filter Index: %ld).\n", status, filter.FilterIndex);
 		return status;
 	}
 
@@ -81,7 +83,7 @@ HAL_StatusTypeDef can_add_filter_extended(can_t *can, uint32_t can_ids[2])
 	HAL_StatusTypeDef status = HAL_FDCAN_ConfigFilter(can->hcan, &filter);
 	if (status != HAL_OK)
 	{
-		printf("[fdcan.c/can_add_filter_extended()] ERROR: Failed to config extended FDCAN filter (Status: %d, Filter Index: %d). \n", status, filter.FilterIndex);
+		printf("[fdcan.c/can_add_filter_extended()] ERROR: Failed to config extended FDCAN filter (Status: %d, Filter Index: %ld). \n", status, filter.FilterIndex);
 		return status;
 	}
 
@@ -96,7 +98,7 @@ HAL_StatusTypeDef can_send_msg(can_t *can, can_msg_t *msg)
 	/* Validate message length */
 	if (msg->len > 8)
 	{
-		printf("[fdcan.c/can_send_msg()] ERROR: FDCAN message length exceeds 8 bytes (Length: %d, Message ID: %d).\n", msg->len, msg->id);
+		printf("[fdcan.c/can_send_msg()] ERROR: FDCAN message length exceeds 8 bytes (Length: %d, Message ID: %ld).\n", msg->len, msg->id);
 		return HAL_ERROR;
 	}
 
@@ -119,7 +121,7 @@ HAL_StatusTypeDef can_send_msg(can_t *can, can_msg_t *msg)
 
 	HAL_StatusTypeDef status = HAL_FDCAN_AddMessageToTxFifoQ(can->hcan, &tx_header, msg->data);
 	if (status != HAL_OK) {
-		printf("[fdcan.c/can_send_msg()] ERROR: HAL_FDCAN_AddMessageToTxFifoQ() failed (Status: %d, Message ID: %d).\n", status, msg->id);
+		printf("[fdcan.c/can_send_msg()] ERROR: HAL_FDCAN_AddMessageToTxFifoQ() failed (Status: %d, Message ID: %ld).\n", status, msg->id);
 		return status;
 	}