added can support

Author: caiodasilva2005

threadX/inc/u_can.h

@@ -0,0 +1,10 @@
+#ifndef _U_CAN_H
+#define _U_CAN_H
+
+#include "stm32h5xx.h"
+#include <stdint.h>
+#include "fdcan.h"
+
+uint8_t can_filter_init(FDCAN_HandleTypeDef *hcan, can_t *can, uint16_t standard_ids[2], uint32_t extended_ids[2]);
+
+#endif

threadX/src/u_can.c

@@ -0,0 +1,30 @@
+#include "u_can.h"
+#include "u_debug.h"
+#include "fdcan.h"
+
+uint8_t can_filter_init(FDCAN_HandleTypeDef *hcan, can_t *can, uint16_t standard_ids[2], uint32_t extended_ids[2]) {
+ /* Init CAN interface */
+    HAL_StatusTypeDef status = can_init(can, hcan);
+    if(status != HAL_OK) {
+        DEBUG_PRINTLN("Failed to execute can_init() when initializing can1 (Status: %d/%s).", status, hal_status_toString(status));
+        return U_ERROR;
+    }
+
+    /* Add filters for standard IDs */
+    status = can_add_filter_standard(can, standard_ids);
+    if(status != HAL_OK) {
+        DEBUG_PRINTLN("Failed to add standard filter to can1 (Status: %d/%s, ID1: %d, ID2: %d).", status, hal_status_toString(status), standard_ids[0], standard_ids[1]);
+        return U_ERROR;
+    }
+
+    /* Add fitlers for extended IDs */
+    status = can_add_filter_extended(can, extended_ids);
+    if (status != HAL_OK) {
+        DEBUG_PRINTLN("Failed to add extended filter to can1 (Status: %d/%s, ID1: %ld, ID2: %ld).", status, hal_status_toString(status), extended_ids[0], extended_ids[1]);
+        return U_ERROR;
+    }
+
+    DEBUG_PRINTLN("Ran can1_init().");
+
+    return U_SUCCESS;
+}