File CAN.h

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CAN peripheral driver for LHRS embedded systems. More...

#include "stm32xx_hal.h"
#include "CAN_Common.h"

Public Functions

Type	Name
can_status_t	can_deinit (CAN_HandleTypeDef * handle) Deinitializes the bxCAN peripheral.
can_status_t	can_init (CAN_HandleTypeDef * handle, CAN_FilterTypeDef * filter) Initializes the bxCAN peripheral.
can_status_t	can_recv (CAN_HandleTypeDef * handle, uint32_t id, CAN_RxHeaderTypeDef * header, uint8_t data, TickType_t delay_ticks) Receives a CAN message.
void	can_rx_callback_hook (CAN_HandleTypeDef * hcan, const can_rx_payload_t * payload) Weakly defined hook function. Called in RX callback (ISR context) after receiving a message from RX FIFO. Implementation must be short and non-blocking!
can_status_t	can_send (CAN_HandleTypeDef * handle, const CAN_TxHeaderTypeDef * header, const uint8_t data, TickType_t delay_ticks) Sends a CAN message.
can_status_t	can_start (CAN_HandleTypeDef * handle) Starts the CAN peripheral.
can_status_t	can_stop (CAN_HandleTypeDef * handle) Stops the CAN peripheral.
void	can_tx_callback_hook (CAN_HandleTypeDef * hcan, const can_tx_payload_t * payload) Weakly defined hook function. Called inside CAN send before adding a message to the queue or mailbox. Implementation must be short and non-blocking!

Detailed Description

This driver provides initialization, deinitialization, start/stop, sending, and receiving functionality for CAN peripherals.

Function Descriptions:

Init: Initializes the CAN peripheral given the configuration (does not start the CAN peripheral).
DeInit: Deinitializes the CAN peripheral; resets configuration to default values.
Start: Starts the CAN peripheral, enabling interrupts and message handling.
Stop: Stops the CAN peripheral; configuration is unchanged, but interrupts and message handling are disabled.
Send: Prepares a message to be sent when the CAN peripheral is ready (puts it into a queue).
Recv: Reads a message from the queue depending on ID.

How to Use This Driver:

Init to initialize the CAN peripheral.
Start to activate the CAN peripheral.
Use Send, Recv, Stop, and Start as needed.
DeInit to deinitialize the CAN peripheral.

Usage Notes:

CAN2 is usually a slave CAN, sharing transistors with CAN1. Ensure CAN1 is initialized before CAN2.
CAN2 often shares filter banks with CAN1; carefully consider filter configurations passed to can_init.
CAN3 is usually a master CAN; no sharing considerations are needed.
This driver uses a macro to define which messages a CAN interface should receive. See can1_recv_entries.h for examples. Ensure entries align with filter configurations.

Public Functions Documentation

function can_deinit

Deinitializes the bxCAN peripheral.

can_status_t can_deinit (
    CAN_HandleTypeDef * handle
)

This function deinitializes the HAL CAN driver and disables CAN interrupts.

Parameters:

handle Pointer to the CAN handle structure.

Returns:

can_status_t Returns CAN_OK on success, CAN_ERR on failure.

function can_init

Initializes the bxCAN peripheral.

can_status_t can_init (
    CAN_HandleTypeDef * handle,
    CAN_FilterTypeDef * filter
)

This function initializes the CAN peripheral, sets up send/receive queues, configures the HAL CAN driver, applies the filter configuration, and enables CAN interrupts.

Parameters:

handle Pointer to the CAN handle structure.
filter Pointer to the CAN filter configuration structure.

Returns:

can_status_t Returns CAN_OK on success, CAN_ERR on failure.

function can_recv

Receives a CAN message.

can_status_t can_recv (
    CAN_HandleTypeDef * handle,
    uint32_t id,
    CAN_RxHeaderTypeDef * header,
    uint8_t data,
    TickType_t delay_ticks
)

Reads a message from the receive queue corresponding to the specified ID. Supports blocking or non-blocking behavior depending on delay_ticks.

Parameters:

handle Pointer to the CAN handle structure.
id CAN identifier of the message to receive.
header Pointer to a CAN_RxHeaderTypeDef structure to store the received header.
data Array to store the received data.
delay_ticks Maximum delay to wait if queue is empty (FreeRTOS ticks).

Returns:

can_status_t Returns CAN_RECV if a message was received, CAN_EMPTY if the queue was empty, CAN_ERR on failure or invalid ID.

function can_rx_callback_hook

Weakly defined hook function. Called in RX callback (ISR context) after receiving a message from RX FIFO. Implementation must be short and non-blocking!

void can_rx_callback_hook (
    CAN_HandleTypeDef * hcan,
    const can_rx_payload_t * payload
)

function can_send

Sends a CAN message.

can_status_t can_send (
    CAN_HandleTypeDef * handle,
    const CAN_TxHeaderTypeDef * header,
    const uint8_t data,
    TickType_t delay_ticks
)

Places a CAN message into the transmit mailbox if available, otherwise queues it in the send queue for later transmission.

Parameters:

handle Pointer to the CAN handle structure.
header Pointer to the CAN transmit header structure.
data Array containing the data to send.
delay_ticks Maximum delay to wait if queue is full (FreeRTOS ticks).

Returns:

can_status_t Returns CAN_OK if message was successfully sent or queued, CAN_ERR on failure.

function can_start

Starts the CAN peripheral.

can_status_t can_start (
    CAN_HandleTypeDef * handle
)

Activates the CAN peripheral so it can transmit and receive messages.

Parameters:

handle Pointer to the CAN handle structure.

Returns:

can_status_t Returns CAN_OK on success, CAN_ERR on failure.

function can_stop

Stops the CAN peripheral.

can_status_t can_stop (
    CAN_HandleTypeDef * handle
)

Stops the CAN peripheral; the configuration is preserved, but the peripheral will not process messages or trigger interrupts.

Parameters:

handle Pointer to the CAN handle structure.

Returns:

can_status_t Returns CAN_OK on success, CAN_ERR on failure.

function can_tx_callback_hook

Weakly defined hook function. Called inside CAN send before adding a message to the queue or mailbox. Implementation must be short and non-blocking!

void can_tx_callback_hook (
    CAN_HandleTypeDef * hcan,
    const can_tx_payload_t * payload
)

The documentation for this class was generated from the following file bsp/Inc/CAN.h