From 480dde4ee4f0b837ceed1c5d4a2da5e45f2a4547 Mon Sep 17 00:00:00 2001
From: Ian McIntyre <ianpmcintyre@gmail.com>
Date: Mon, 2 Jan 2023 11:03:59 -0500
Subject: [PATCH] Test CAN1 set_fifo_interrupt(false) behaviors

This commit corresponds to a FlexCAN PR review question in imxrt-hal.
I'm sharing it to make reproduction easier.

https://github.com/imxrt-rs/imxrt-hal/pull/122#discussion_r1060106501
---
 Cargo.toml      |  8 ++++++++
 examples/can.rs | 15 +++++++++++----
 2 files changed, 19 insertions(+), 4 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index ceaa9d52..b73592c5 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -53,9 +53,17 @@ path = "teensy4-fcb"
 version = "0.4"
 
 [dependencies.imxrt-hal]
+version = "0.4.2"
+features = ["imxrt1062"]
+
+[patch.crates-io.imxrt-hal]
 git = "https://github.com/dstric-aqueduct/imxrt-hal" 
 branch = "dev/can"
 
+[patch.crates-io.imxrt-iomuxc]
+git = "https://github.com/dstric-aqueduct/imxrt-iomuxc.git"
+tag = "v0.1.5-can"
+
 [dependencies.teensy4-pins]
 version = "0.2"
 path = "teensy4-pins"
diff --git a/examples/can.rs b/examples/can.rs
index 0067e683..ca842ce2 100644
--- a/examples/can.rs
+++ b/examples/can.rs
@@ -2,8 +2,8 @@
 //!
 //! Pinout:
 //!
-//! - Teensy 4 Pin 22 (CAN1 TX) to TX pin of CAN Transceiver 
-//! - Teensy 4 Pin 23 (CAN2 RX) to RX pin of CAN Transceiver 
+//! - Teensy 4 Pin 22 (CAN1 TX) to TX pin of CAN Transceiver
+//! - Teensy 4 Pin 23 (CAN2 RX) to RX pin of CAN Transceiver
 //!
 //! A Can transceiver (such as the Texas Instruments SN65HVD230) is required for this demo.
 //!
@@ -46,11 +46,11 @@ fn main() -> ! {
     );
 
     let mut can1 = can1_builder.build(pins.p22, pins.p23);
-    
+
     can1.set_baud_rate(1_000_000);
     can1.set_max_mailbox(16);
     can1.enable_fifo();
-    can1.set_fifo_interrupt(true);
+    can1.set_fifo_interrupt(false);
     can1.set_fifo_accept_all();
     can1.print_registers();
 
@@ -58,6 +58,7 @@ fn main() -> ! {
     let data: [u8; 8] = [0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07];
     let frame = bsp::hal::can::Frame::new_data(id, data);
 
+    unsafe { cortex_m::peripheral::NVIC::unmask(bsp::interrupt::CAN1) };
     loop {
         systick.delay_ms(1000);
         led.toggle();
@@ -65,3 +66,9 @@ fn main() -> ! {
         can1.transmit(&frame).ok();
     }
 }
+
+use bsp::interrupt;
+#[cortex_m_rt::interrupt]
+fn CAN1() {
+    log::warn!("CAN1 interrupt fired");
+}