can_rtos.h File Reference

FreeRTOS CAN receive and transmit tasks for STM32H7xx. More...

#include <stdint.h>
#include <stdbool.h>
#include "iem_types.h"
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "stm32h7xx_hal.h"

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Data Structures
struct	CAN_Msg_t
struct	canlib_scheduled_msg_params

Macros
#define	CAN_BUS_CNT   ((uint8_t)CAN_BUS_MAX)
#define	IS_CAN_BUS(bus)
#define	CANLIB_TIMEOUT_INVALID   UINT32_MAX
#define	CAN_DATA_MAX   8U

Typedefs
typedef void(*	CAN_Rx_Handler_t) (CAN_Msg_t *msg_ptr)

Enumerations
enum	can_bus { CAN_1 = 0U , CAN_2 , CAN_3 , CAN_BUS_MAX }
	CAN bus ID enum. More...

Functions
void	canlib_tx_task_init (Task_Init_t *init_ptr, enum can_bus bus, FDCAN_HandleTypeDef *hfdcan, uint16_t tx_queue_length)
	Initializes a FreeRTOS CAN transmit task for bus and creates a transmit queue with capacity tx_queue_length.
void	canlib_rx_task_init (Task_Init_t *init_ptr, enum can_bus bus, FDCAN_HandleTypeDef *hfdcan, uint32_t rx_location, CAN_Rx_Handler_t handler)
	Initializes a FreeRTOS CAN receive task for bus that receives messages from rx_location. Calls callback when a new message is received.
void	canlib_start (void)
	Starts all STM32 FDCAN peripherals that were registered to a CAN transmit or receive task.
void	canlib_register_timeout_ids (enum can_bus bus, FDCAN_HandleTypeDef *hfdcan, uint32_t timeout_ids_ptr[], unsigned timeout_ids_cnt)
	Registers CAN messages for timeout tracking by the CAN receive task for a CAN bus (also sorts the array of CAN IDs in ascending order, lol)
TimerHandle_t	canlib_register_scheduled_msgs (struct canlib_scheduled_msg_params *params_ptr)
	Registers an array of CAN messages for periodic transmission on a set interval with a FreeRTOS software timer.
uint32_t	canlib_get_msg_timeout (enum can_bus bus, uint32_t msg_id)
	Get the time since a message with ID msg_id was received on bus. If the CAN ID wasn't registered with canlib_register_timeout_ids() first on initialization, the returned value will be CANLIB_TIMEOUT_INVALID (UINT32_MAX)
bool	canlib_tx_generic (const CAN_Msg_t *msg_ptr, TickType_t block_time, bool is_critical)
	Queues a CAN message for transmission.
static __always_inline bool	canlib_tx (const CAN_Msg_t *msg_ptr, TickType_t block_time)
static __always_inline bool	canlib_tx_critical (const CAN_Msg_t *msg_ptr, TickType_t block_time)
bool	canlib_is_bus_ok (enum can_bus bus)
	Checks for protocol errors on bus.

Detailed Description

FreeRTOS CAN receive and transmit tasks for STM32H7xx.

Author

Jamie Pruett :)

Date

2025-01-14

Macro Definition Documentation

CAN_BUS_CNT

#define CAN_BUS_CNT   ((uint8_t)CAN_BUS_MAX)

CAN_DATA_MAX

#define CAN_DATA_MAX   8U

CANLIB_TIMEOUT_INVALID

#define CANLIB_TIMEOUT_INVALID   UINT32_MAX

IS_CAN_BUS

#define IS_CAN_BUS

(

bus

)

Value:

((bus) >= 0 && (bus) < CAN_BUS_MAX)