STM32 FDCAN: Get all messages from FIFO in RX ISR

modm-io · May 9, 2023 · 66ef90e · 66ef90e
1 parent bfafcd3
commit 66ef90e
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/src/modm/platform/can/stm32-fdcan/can.cpp.in b/src/modm/platform/can/stm32-fdcan/can.cpp.in
@@ -239,23 +239,23 @@ MODM_ISR({{ reg }}_IT1)
 %% if options["buffer.rx"] > 0
 	RxMessage rxMessage;
 
-	if (rxFifo0HasMessage()) {
+	while (rxFifo0HasMessage()) {
 		readMsg(rxMessage.message, 0, &rxMessage.filter_id, &rxMessage.timestamp);
 		// acknowledge interrupt flag
-		{{ reg }}->IR = FDCAN_IR_RF0N;
 
 		modm_assert_continue_ignore(rxQueue.push(rxMessage), "fdcan.rx.buffer",
 			"CAN receive software buffer overflowed!", {{ id }});
 	}
+	{{ reg }}->IR = FDCAN_IR_RF0N;
 
-	if (rxFifo1HasMessage()) {
+	while (rxFifo1HasMessage()) {
 		readMsg(rxMessage.message, 1, &rxMessage.filter_id, &rxMessage.timestamp);
 		// acknowledge interrupt flag
-		{{ reg }}->IR = FDCAN_IR_RF1N;
 
 		modm_assert_continue_ignore(rxQueue.push(rxMessage), "fdcan.rx.buffer",
 			"CAN receive software buffer overflowed!", {{ id }});
 	}
+	{{ reg }}->IR = FDCAN_IR_RF1N;
 %% endif
 }
 

diff --git a/src/modm/platform/can/stm32-fdcan/can.hpp.in b/src/modm/platform/can/stm32-fdcan/can.hpp.in
@@ -14,6 +14,8 @@
 #ifndef MODM_STM32_FDCAN{{ id }}_HPP
 #define MODM_STM32_FDCAN{{ id }}_HPP
 
+#include <optional>
+
 #include <modm/architecture/interface/can.hpp>
 #include <modm/architecture/interface/can_filter.hpp>
 #include <modm/platform/gpio/connector.hpp>