public

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Data Structures
struct	CAN_Msg_t
struct	canlib_scheduled_msg_params

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

Typedef Documentation

CAN_Rx_Handler_t

typedef void(* CAN_Rx_Handler_t) (CAN_Msg_t *msg_ptr)

Enumeration Type Documentation

can_bus

enum can_bus

CAN bus ID enum.

Enumerator
CAN_1
CAN_2
CAN_3
CAN_BUS_MAX

Function Documentation

canlib_get_msg_timeout()

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)

Parameters

bus
msg_id	CAN ID registered for timeout tracking

Returns

unsigned Milliseconds since the message was received, or CANLIB_TIMEOUT_INVALID

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canlib_is_bus_ok()

bool canlib_is_bus_ok

(

enum can_bus

bus

)

Checks for protocol errors on bus.

Parameters

bus

Returns

true if the CAN bus is active and operating normally, false otherwise

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canlib_register_scheduled_msgs()

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.

Parameters

params_ptr

Scheduled CAN message parameter struct

Returns

TimerHandle_t The FreeRTOS timer doing the transmitting. This can be stored and used to stop/start/restart transmission later, or simply discarded

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canlib_register_timeout_ids()

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)

Parameters

bus
timeout_ids_ptr	Array of CAN IDs on bus to keep track of timeout data for
timeout_ids_cnt	Length of array

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canlib_rx_task_init()

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.

Warning

Don't initialize more than one CAN receive task for the same bus/FDCAN peripheral! Do not start the FDCAN peripheral with HAL_FDCAN_Start(). Call canlib_start() after initializing all transmit/receive tasks Register Callbacks must be enabled from within STM32CubeMX for FDCAN peripherals

Parameters

init_ptr	Task initialization parameters
bus	CAN bus for the transmit task
hfdcan	HAL FDCAN peripheral handle
rx_location	Either FDCAN_RX_FIFO0 or FDCAN_RX_FIFO1
callback	Received message handler function for project-specific CAN message handling. Called when the task receives a new message

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canlib_start()

void canlib_start

(

void

)

Starts all STM32 FDCAN peripherals that were registered to a CAN transmit or receive task.

Warning

Call this function after (and only after) initializing all CAN transmit/receive tasks

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canlib_tx()

__always_inline bool canlib_tx ( const CAN_Msg_t * msg_ptr, TickType_t block_time )

static

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canlib_tx_critical()

__always_inline bool canlib_tx_critical ( const CAN_Msg_t * msg_ptr, TickType_t block_time )

static

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canlib_tx_generic()

bool canlib_tx_generic	(	const CAN_Msg_t *	msg_ptr,
		TickType_t	block_time,
		bool	is_critical )

Queues a CAN message for transmission.

Parameters

msg_ptr
block_time	In FreeRTOS kernel ticks

Returns

true on success. Fails if the transmit queue for the CAN bus is still full after block_time ticks

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canlib_tx_task_init()

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.

Warning

Don't initialize more than one CAN transmit task for the same bus/FDCAN peripheral! Do not start the FDCAN peripheral with HAL_FDCAN_Start(). Call canlib_start() after initializing all transmit/receive tasks Register Callbacks must be enabled from within STM32CubeMX for FDCAN peripherals

Parameters

init_ptr	Task initialization parameters
bus	CAN bus for the transmit task
hfdcan	HAL FDCAN peripheral handle
tx_queue_length	Transmit queue capacity for this bus/task (number of CAN messages)

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