From c9482f46bbd750e179376a8f7eac3263859bc3cd Mon Sep 17 00:00:00 2001
From: Rakshitavecmocon <rakshita@vecmocon.com>
Date: Tue, 15 Oct 2024 21:15:22 +0530
Subject: [PATCH] fix: Correct CAN RX interrupt to handle extended IDs and
 remove CAN filters

- Fixed the MCAL layer of CAN where RX interrupts were discarding extended IDs and only processing standard IDs.
- Removed CAN filters from the CAN configuration to allow better reception of all messages.
---
 Core/Source/ivec_mcal_mcan.c | 67 ++++++++++++++++++------------------
 main.c                       |  3 --
 2 files changed, 33 insertions(+), 37 deletions(-)

diff --git a/Core/Source/ivec_mcal_mcan.c b/Core/Source/ivec_mcal_mcan.c
index 3b07382..c490c23 100644
--- a/Core/Source/ivec_mcal_mcan.c
+++ b/Core/Source/ivec_mcal_mcan.c
@@ -63,10 +63,14 @@ static DL_MCAN_ConfigParams gMCAN0ConfigParams={
     .timeoutSelect     = DL_MCAN_TIMEOUT_SELECT_CONT,
     .timeoutPreload    = 65535,
     .timeoutCntEnable  = false,
-    .filterConfig.rrfs = true,
-    .filterConfig.rrfe = true,
-    .filterConfig.anfe = 1,
-    .filterConfig.anfs = 1,
+    .filterConfig.rrfs = false,
+    .filterConfig.rrfe = false,
+    .filterConfig.anfe = 0,
+    .filterConfig.anfs = 0,
+//    .filterConfig.rrfs = true,
+//    .filterConfig.rrfe = true,
+//    .filterConfig.anfe = 1,
+//    .filterConfig.anfs = 1,
 };
 
 
@@ -120,20 +124,23 @@ static DL_MCAN_MsgRAMConfigParams gMCAN0MsgRAMConfigParams ={
     .rxFIFO1ElemSize      = DL_MCAN_ELEM_SIZE_8BYTES,
 };
 
-static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem = {
-    .sfec  = 0x1,  // Store in Rx FIFO 0 if filter matches
-    .sft   = 0x11, // Disable filter, receive all IDs
-    .sfid1 = 0,    // These values won't be used because filtering is disabled
-    .sfid2 = 0, // These values won't be used because filtering is disabled
-};
+//static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem = {
+//    .sfec  = 0x1,  // Store in Rx FIFO 0 if filter matches
+//    .sft   = 0x11, // Disable filter, receive all IDs
+//    .sfid1 = 0,    // These values won't be used because filtering is disabled
+//    .sfid2 = 0, // These values won't be used because filtering is disabled
+//};
+//
+//// Static filter element definition to disable filtering
+//static const DL_MCAN_ExtMsgIDFilterElement gMCAN0ExtFilterElem = {
+//    .efid1 = 0,   // These values won't be used because filtering is disabled
+//    .efec  = 0x0, // Disable filter element (0b000)
+//    .efid2 = 0xffffffff,   // These values won't be used because filtering is disabled
+//    .eft   = 0x3, // Set to 0b11 for disabling filtering (no specific filter applied)
+//};
+
+
 
-// Static filter element definition to disable filtering
-static const DL_MCAN_ExtMsgIDFilterElement gMCAN0ExtFilterElem = {
-    .efid1 = 0,   // These values won't be used because filtering is disabled
-    .efec  = 0x0, // Disable filter element (0b000)
-    .efid2 = 0,   // These values won't be used because filtering is disabled
-    .eft   = 0x3, // Set to 0b11 for disabling filtering (no specific filter applied)
-};
 
 static DL_MCAN_BitTimingParams   gMCAN0BitTimes_500 = {
     /* Arbitration Baud Rate Pre-scaler. */
@@ -342,19 +349,16 @@ void CANFD0_IRQHandler(void)
             }
         }
 
-        //        DL_MCAN_readMsgRam(CANFD0, DL_MCAN_MEM_TYPE_FIFO, 0, rxFS.num, &TempRxMsg);
-        //        DL_MCAN_writeRxFIFOAck(CANFD0, rxFS.num, rxFS.getIdx);
-
         xCanIdType_t idType = ERROR;
-        if (TempRxMsg.id >= 0 && TempRxMsg.id <= 0x7FF)
+        uint64_t idx = 0;
+        idx = TempRxMsg.id;
+        uint32_t value = ((TempRxMsg.id & (uint32_t) 0x1FFC0000) >> (uint32_t) 18);
+        if ((value > 0) && (value <= 0x7FF))
         {
             idType = STD_ID;
-        } else if (TempRxMsg.id <= 0x1FFFFFFF)
-        {
-            idType = EXT_ID;
+            idx = value;
         }
 
-        uint32_t idx = ((TempRxMsg.id & (uint32_t) 0x1FFC0000) >> (uint32_t) 18);
 
         if(idx)
         {
@@ -366,13 +370,6 @@ void CANFD0_IRQHandler(void)
         }
 
         b_ServiceInt = true;
-        //        if (rxFS.fifoFull) {
-            //            printf("rx fifo fill\n");
-        //            DL_MCAN_clearNewDataStatus(CANFD0, &statusLow); // Pass the proper structure
-        //        }
-        //DL_MCAN_clearIntrStatus(CANFD0, IntrStatus,DL_MCAN_INTR_SRC_MCAN_LINE_1);
-        //    }
-        //    else{
         DL_MCAN_getIntrStatus(CANFD0);
         DL_MCAN_clearIntrStatus(CANFD0, IntrStatus,DL_MCAN_INTR_SRC_MCAN_LINE_1);
     }
@@ -442,8 +439,10 @@ IVEC_McalStatus_e xMCAL_MCANInit(MCAN_Regs* MCAN, xCAN_baud_t BAUD)
     /* Configure Message RAM Sections */
     DL_MCAN_msgRAMConfig(MCAN, (DL_MCAN_MsgRAMConfigParams*) &gMCAN0MsgRAMConfigParams);
 
-    /* Configure Standard ID filter element */
-    DL_MCAN_addStdMsgIDFilter(MCAN, 0U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem);
+//    /* Configure Standard ID filter element */
+//    DL_MCAN_addStdMsgIDFilter(MCAN, 0U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem);
+//
+//    DL_MCAN_addExtMsgIDFilter(MCAN, 0U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0ExtFilterElem);
 
 
     /* Set Extended ID Mask. */
diff --git a/main.c b/main.c
index d15467a..b2de0c7 100644
--- a/main.c
+++ b/main.c
@@ -170,12 +170,9 @@ void CANDataProcess()
 int main(void)
 {
     xMCAL_McuInit();
-    printf("hii\n");
     xMCAL_SYSCTL_INIT(HFXT,STANDBY0);
     xMCAL_SYSTICK_INIT(Period_1ms);
 
-    // Initialize the timer with the desired timeout value
-    //xMCAL_TimerInit(TIMG0); // Initialize your timer instance (e.g., TIMG0)
 
     xECU_UARTInit(&prvUartHandle);
     xECU_CANInit(CANFD0,BAUD_500);