In order to use CAN with FreeRTOS, I have replaced the interrupt handler with my own that includes a semaphore for task switching. I've modified the function MCAN_TransferCreateHandle in fsl_mcan.c in the SDK as follows:
//s_mcanIsr = MCAN_TransferHandleIRQ;
s_mcanIsr = can_TransferHandleIRQ_FreeRTOS;
I also have added the header for my code file to fsl_mcan.c. I'm doing this because s_mcanIsr is defined within the module as a static variable and is used by other driver functions. I really want to do this in a way that does not modify the fsl_mcan driver. Is there another way to do this without modifying the driver?