BaseCan.h File Reference

Abstract base class for CAN bus implementations in the HardFOC system. More...

#include "HardwareTypes.h"
#include <atomic>
#include <cstdint>
#include <string_view>

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Classes
struct	hf_can_config_t
	Platform-agnostic CAN bus configuration. More...
struct	hf_can_message_t
	Platform-agnostic CAN message structure. More...
struct	hf_can_status_t
	CAN bus status information structure. More...
struct	hf_can_reception_info_t
	CAN-FD specific receive callback with enhanced information. More...
struct	hf_can_statistics_t
	CAN bus statistics structure for performance monitoring. More...
struct	hf_can_diagnostics_t
	CAN diagnostics structure for detailed error analysis. More...
class	BaseCan
	Abstract base class defining the unified CAN bus API. More...

Macros
#define	HF_CAN_ERR_LIST(X)
	HardFOC CAN error codes.
#define	X(NAME, VALUE, DESC)   NAME = VALUE,
#define	X(NAME, VALUE, DESC)

Typedefs
using	hf_can_receive_callback_t = void (*)(const hf_can_message_t& message)
	CAN message receive callback function type.
using	hf_can_fd_receive_callback_t

Enumerations
enum class	hf_can_err_t : hf_u8_t {   X , CAN_SUCCESS = 0 , CAN_ERR_FAILURE = 1 , CAN_ERR_NOT_INITIALIZED = 2 ,   CAN_ERR_ALREADY_INITIALIZED = 3 , CAN_ERR_INVALID_PARAMETER = 4 , CAN_ERR_NULL_POINTER = 5 , CAN_ERR_OUT_OF_MEMORY = 6 ,   CAN_ERR_BUS_OFF = 7 , CAN_ERR_BUS_ERROR = 8 , CAN_ERR_BUS_BUSY = 9 , CAN_ERR_BUS_NOT_AVAILABLE = 10 ,   CAN_ERR_BUS_RECOVERY_FAILED = 11 , CAN_ERR_BUS_ARBITRATION_LOST = 12 , CAN_ERR_MESSAGE_TIMEOUT = 13 , CAN_ERR_MESSAGE_LOST = 14 ,   CAN_ERR_MESSAGE_INVALID = 15 , CAN_ERR_MESSAGE_TOO_LONG = 16 , CAN_ERR_MESSAGE_INVALID_ID = 17 , CAN_ERR_MESSAGE_INVALID_DLC = 18 ,   CAN_ERR_QUEUE_FULL = 19 , CAN_ERR_QUEUE_EMPTY = 20 , CAN_ERR_TX_FAILED = 21 , CAN_ERR_TX_ABORTED = 22 ,   CAN_ERR_TX_ERROR_PASSIVE = 23 , CAN_ERR_TX_ERROR_WARNING = 24 , CAN_ERR_RX_OVERRUN = 25 , CAN_ERR_RX_ERROR_PASSIVE = 26 ,   CAN_ERR_RX_ERROR_WARNING = 27 , CAN_ERR_RX_FIFO_FULL = 28 , CAN_ERR_HARDWARE_FAULT = 29 , CAN_ERR_COMMUNICATION_FAILURE = 30 ,   CAN_ERR_DEVICE_NOT_RESPONDING = 31 , CAN_ERR_VOLTAGE_OUT_OF_RANGE = 32 , CAN_ERR_CLOCK_ERROR = 33 , CAN_ERR_TRANSCEIVER_ERROR = 34 ,   CAN_ERR_INVALID_CONFIGURATION = 35 , CAN_ERR_UNSUPPORTED_OPERATION = 36 , CAN_ERR_INVALID_BAUD_RATE = 37 , CAN_ERR_INVALID_CONTROLLER_ID = 38 ,   CAN_ERR_FILTER_ERROR = 39 , CAN_ERR_FILTER_FULL = 40 , CAN_ERR_STUFF_ERROR = 41 , CAN_ERR_FORM_ERROR = 42 ,   CAN_ERR_CRC_ERROR = 43 , CAN_ERR_ACK_ERROR = 44 , CAN_ERR_BIT_ERROR = 45 , CAN_ERR_SYSTEM_ERROR = 46 ,   CAN_ERR_PERMISSION_DENIED = 47 , CAN_ERR_OPERATION_ABORTED = 48 , CAN_ERR_FAIL = 49 , CAN_ERR_RESOURCE_BUSY = 50 ,   CAN_ERR_INVALID_STATE = 51 , CAN_ERR_NOT_SUPPORTED = 52 , CAN_ERR_TIMEOUT_ALT = 53 , CAN_ERR_UNKNOWN = 54 }

Functions
constexpr std::string_view	HfCanErrToString (hf_can_err_t err) noexcept
	Convert hf_can_err_t to human-readable string.

Detailed Description

Abstract base class for CAN bus implementations in the HardFOC system.

This header-only file defines the abstract base class for CAN bus communication that provides a consistent API across different CAN controller implementations. Concrete implementations for various microcontrollers inherit from this class.

ERROR HANDLING:

• All CAN error codes are defined in this file using the hf_can_err_t enumeration
• Lower-level types (McuTypes_CAN.h) maintain minimal error constants for compatibility
• All virtual methods return hf_can_err_t for comprehensive error reporting
• No legacy compatibility code - use hf_can_message_t structure for all operations

Author

Nebiyu Tadesse

Date

2025

Copyright

HardFOC

Note

This is a header-only abstract base class following the same pattern as BaseAdc.

Users should program against this interface, not specific implementations.

All legacy camelCase types and bool-returning methods have been removed.

Macro Definition Documentation

X [1/2]

#define X	(		NAME,
			VALUE,
			DESC )   NAME = VALUE,

X [2/2]

#define X	(		NAME,
			VALUE,
			DESC )

Value:

  case hf_can_err_t::NAME:                                                                         \
    return DESC;

Typedef Documentation

hf_can_fd_receive_callback_t

using hf_can_fd_receive_callback_t

Initial value:

 
    void (*)(const hf_can_message_t& message, const hf_can_reception_info_t& info)

hf_can_receive_callback_t

using hf_can_receive_callback_t = void (*)(const hf_can_message_t& message)

CAN message receive callback function type.

Note

Updated to use new hf_can_message_t structure

Enumeration Type Documentation

hf_can_err_t

enum class hf_can_err_t : hf_u8_t

strong

Enumerator
X
CAN_SUCCESS
CAN_ERR_FAILURE
CAN_ERR_NOT_INITIALIZED
CAN_ERR_ALREADY_INITIALIZED
CAN_ERR_INVALID_PARAMETER
CAN_ERR_NULL_POINTER
CAN_ERR_OUT_OF_MEMORY
CAN_ERR_BUS_OFF
CAN_ERR_BUS_ERROR
CAN_ERR_BUS_BUSY
CAN_ERR_BUS_NOT_AVAILABLE
CAN_ERR_BUS_RECOVERY_FAILED
CAN_ERR_BUS_ARBITRATION_LOST
CAN_ERR_MESSAGE_TIMEOUT
CAN_ERR_MESSAGE_LOST
CAN_ERR_MESSAGE_INVALID
CAN_ERR_MESSAGE_TOO_LONG
CAN_ERR_MESSAGE_INVALID_ID
CAN_ERR_MESSAGE_INVALID_DLC
CAN_ERR_QUEUE_FULL
CAN_ERR_QUEUE_EMPTY
CAN_ERR_TX_FAILED
CAN_ERR_TX_ABORTED
CAN_ERR_TX_ERROR_PASSIVE
CAN_ERR_TX_ERROR_WARNING
CAN_ERR_RX_OVERRUN
CAN_ERR_RX_ERROR_PASSIVE
CAN_ERR_RX_ERROR_WARNING
CAN_ERR_RX_FIFO_FULL
CAN_ERR_HARDWARE_FAULT
CAN_ERR_COMMUNICATION_FAILURE
CAN_ERR_DEVICE_NOT_RESPONDING
CAN_ERR_VOLTAGE_OUT_OF_RANGE
CAN_ERR_CLOCK_ERROR
CAN_ERR_TRANSCEIVER_ERROR
CAN_ERR_INVALID_CONFIGURATION
CAN_ERR_UNSUPPORTED_OPERATION
CAN_ERR_INVALID_BAUD_RATE
CAN_ERR_INVALID_CONTROLLER_ID
CAN_ERR_FILTER_ERROR
CAN_ERR_FILTER_FULL
CAN_ERR_STUFF_ERROR
CAN_ERR_FORM_ERROR
CAN_ERR_CRC_ERROR
CAN_ERR_ACK_ERROR
CAN_ERR_BIT_ERROR
CAN_ERR_SYSTEM_ERROR
CAN_ERR_PERMISSION_DENIED
CAN_ERR_OPERATION_ABORTED
CAN_ERR_FAIL
CAN_ERR_RESOURCE_BUSY
CAN_ERR_INVALID_STATE
CAN_ERR_NOT_SUPPORTED
CAN_ERR_TIMEOUT_ALT
CAN_ERR_UNKNOWN

Function Documentation

HfCanErrToString()

constexpr std::string_view HfCanErrToString ( hf_can_err_t err )

constexprnoexcept

Convert hf_can_err_t to human-readable string.

Parameters

err	The error code to convert

Returns

String view of the error description