Abstract base class defining the unified CAN bus API. More...

#include <BaseCan.h>

Inheritance diagram for BaseCan:

Collaboration diagram for BaseCan:

Public Member Functions
virtual	~BaseCan () noexcept=default
	Virtual destructor ensures proper cleanup in derived classes.

	BaseCan (const BaseCan &)=delete

BaseCan &	operator= (const BaseCan &)=delete

	BaseCan (BaseCan &&)=delete

BaseCan &	operator= (BaseCan &&)=delete

bool	EnsureInitialized () noexcept
	Ensures that the CAN bus is initialized (lazy initialization).

bool	EnsureDeinitialized () noexcept
	Ensures that the CAN bus is deinitialized.

bool	IsInitialized () const noexcept
	Checks if the class is initialized.

virtual hf_can_err_t	Initialize () noexcept=0
	Initialize the CAN controller (must be implemented by derived classes).

virtual hf_can_err_t	Deinitialize () noexcept=0
	Deinitialize the CAN controller (must be implemented by derived classes).

virtual hf_can_err_t	SendMessage (const hf_can_message_t &message, hf_u32_t timeout_ms=1000) noexcept=0
	Send a CAN message.

virtual hf_can_err_t	ReceiveMessage (hf_can_message_t &message, hf_u32_t timeout_ms=0) noexcept=0
	Receive a CAN message.

virtual hf_can_err_t	SetReceiveCallback (hf_can_receive_callback_t callback) noexcept=0
	Set callback for received messages.

virtual hf_can_err_t	SetAcceptanceFilter (hf_u32_t id, hf_u32_t mask, bool extended=false) noexcept=0
	Set acceptance filter for incoming messages.

virtual hf_can_err_t	GetStatus (hf_can_status_t &status) noexcept=0
	Get current CAN bus status.

virtual hf_can_err_t	Reset () noexcept=0
	Reset the CAN controller.

virtual void	ClearReceiveCallback () noexcept
	Clear the receive callback.

virtual hf_can_err_t	ClearAcceptanceFilter () noexcept
	Clear all acceptance filters (accept all messages).

virtual hf_can_err_t	SetReceiveCallbackFD (hf_can_fd_receive_callback_t callback) noexcept
	Set CAN-FD receive callback with enhanced information.

virtual bool	SupportsCanFD () const noexcept
	Check if CAN-FD is supported by this controller.

virtual bool	SetCanFDMode (bool enable, hf_u32_t data_baudrate=2000000, hf_u32_t timeout_ms=1000) noexcept
	Enable or disable CAN-FD mode.

virtual bool	ConfigureCanFDTiming (hf_u16_t nominal_prescaler, hf_u8_t nominal_tseg1, hf_u8_t nominal_tseg2, hf_u16_t data_prescaler, hf_u8_t data_tseg1, hf_u8_t data_tseg2, hf_u8_t sjw=1) noexcept
	Configure CAN-FD timing parameters.

virtual bool	SetTransmitterDelayCompensation (hf_u8_t tdc_offset, hf_u8_t tdc_filter) noexcept
	Set transmitter delay compensation (CAN-FD feature).

virtual hf_u32_t	SendMessageBatch (const hf_can_message_t *messages, hf_u32_t count, hf_u32_t timeout_ms=1000) noexcept
	Send multiple messages in a batch.

virtual hf_u32_t	ReceiveMessageBatch (hf_can_message_t *messages, hf_u32_t max_count, hf_u32_t timeout_ms=100) noexcept
	Receive multiple messages in a batch.

virtual hf_can_err_t	ResetStatistics () noexcept
	Reset CAN operation statistics.

virtual hf_can_err_t	ResetDiagnostics () noexcept
	Reset CAN diagnostic information.

virtual hf_can_err_t	GetStatistics (hf_can_statistics_t &statistics) noexcept
	Get CAN operation statistics.

virtual hf_can_err_t	GetDiagnostics (hf_can_diagnostics_t &diagnostics) noexcept
	Get CAN diagnostic information.

Protected Member Functions
	BaseCan () noexcept
	Protected constructor.

Protected Attributes
bool	initialized_
	Initialization status.

hf_can_statistics_t	statistics_
	CAN operation statistics.

hf_can_diagnostics_t	diagnostics_
	CAN diagnostic information.

Detailed Description

Abstract base class defining the unified CAN bus API.

This abstract class defines the interface that all CAN controller implementations must provide. It ensures a consistent API across different platforms and CAN controller types, making the system extensible and maintainable.

Concrete implementation examples:

Microcontrollers with integrated CAN peripherals
External CAN controllers via SPI (e.g. MCP2515)

Features:

Lazy initialization support (initialize on first use)
Comprehensive error handling with detailed error codes
Thread-safe operations (implementation dependent)
Consistent API across different CAN hardware

Note: This is a header-only abstract base class - instantiate concrete implementations instead.

Constructor & Destructor Documentation

◆ ~BaseCan()

virtual BaseCan::~BaseCan ( )

virtualdefaultnoexcept

Virtual destructor ensures proper cleanup in derived classes.

◆ BaseCan() [1/3]

BaseCan::BaseCan ( const BaseCan & )

delete

◆ BaseCan() [2/3]

BaseCan::BaseCan ( BaseCan && )

delete

◆ BaseCan() [3/3]

BaseCan::BaseCan ( )

inlineprotectednoexcept

Protected constructor.

Member Function Documentation

◆ ClearAcceptanceFilter()

virtual hf_can_err_t BaseCan::ClearAcceptanceFilter ( )

inlinevirtualnoexcept

Clear all acceptance filters (accept all messages).

Returns: hf_can_err_t error code

Note: Default implementation sets filter to accept all (ID=0, Mask=0)

Reimplemented in EspCan.

◆ ClearReceiveCallback()

virtual void BaseCan::ClearReceiveCallback ( )

inlinevirtualnoexcept

Clear the receive callback.

Note: Default implementation does nothing

Reimplemented in EspCan.

◆ ConfigureCanFDTiming()

virtual bool BaseCan::ConfigureCanFDTiming	(	hf_u16_t	nominal_prescaler,
		hf_u8_t	nominal_tseg1,
		hf_u8_t	nominal_tseg2,
		hf_u16_t	data_prescaler,
		hf_u8_t	data_tseg1,
		hf_u8_t	data_tseg2,
		hf_u8_t	sjw = 1 )

inlinevirtualnoexcept

Configure CAN-FD timing parameters.

Parameters

nominal_prescaler	Nominal phase prescaler
nominal_tseg1	Nominal phase TSEG1
nominal_tseg2	Nominal phase TSEG2
data_prescaler	Data phase prescaler
data_tseg1	Data phase TSEG1
data_tseg2	Data phase TSEG2
sjw	Synchronization jump width

Returns: true if successful, false otherwise

Note: Default implementation returns false (not supported)

◆ Deinitialize()

virtual hf_can_err_t BaseCan::Deinitialize ( )

pure virtualnoexcept

Deinitialize the CAN controller (must be implemented by derived classes).

Returns: hf_can_err_t error code

Implemented in EspCan, and StmCan.

◆ EnsureDeinitialized()

bool BaseCan::EnsureDeinitialized ( )

inlinenoexcept

Ensures that the CAN bus is deinitialized.

Returns: true if the CAN bus is deinitialized, false otherwise.

◆ EnsureInitialized()

bool BaseCan::EnsureInitialized ( )

inlinenoexcept

Ensures that the CAN bus is initialized (lazy initialization).

Returns: true if the CAN bus is initialized, false otherwise.

◆ GetDiagnostics()

virtual hf_can_err_t BaseCan::GetDiagnostics ( hf_can_diagnostics_t & diagnostics )

inlinevirtualnoexcept

Get CAN diagnostic information.

Parameters

diagnostics Reference to diagnostics structure to fill

Returns: hf_can_err_t::CAN_SUCCESS if successful, error code otherwise

Note: Override this method to provide platform-specific diagnostics

Reimplemented in EspCan.

◆ GetStatistics()

virtual hf_can_err_t BaseCan::GetStatistics ( hf_can_statistics_t & statistics )

inlinevirtualnoexcept

Get CAN operation statistics.

Parameters

statistics Reference to statistics structure to fill

Returns: hf_can_err_t::CAN_SUCCESS if successful, error code otherwise

Note: Override this method to provide platform-specific statistics

Reimplemented in EspCan.

◆ GetStatus()

virtual hf_can_err_t BaseCan::GetStatus ( hf_can_status_t & status )

pure virtualnoexcept

Get current CAN bus status.

Parameters

status Reference to store status information

Returns: hf_can_err_t error code

Implemented in EspCan, and StmCan.

◆ Initialize()

virtual hf_can_err_t BaseCan::Initialize ( )

pure virtualnoexcept

Initialize the CAN controller (must be implemented by derived classes).

Returns: hf_can_err_t error code

Implemented in EspCan, and StmCan.

◆ IsInitialized()

bool BaseCan::IsInitialized ( ) const

inlinenoexcept

Checks if the class is initialized.

Returns: true if initialized, false otherwise

◆ operator=() [1/2]

BaseCan & BaseCan::operator= ( BaseCan && )

delete

◆ operator=() [2/2]

BaseCan & BaseCan::operator= ( const BaseCan & )

delete

◆ ReceiveMessage()

virtual hf_can_err_t BaseCan::ReceiveMessage	(	hf_can_message_t &	message,
		hf_u32_t	timeout_ms = 0 )

pure virtualnoexcept

Receive a CAN message.

Parameters

message	Reference to store received message
timeout_ms	Timeout in milliseconds (0 = non-blocking)

Returns: hf_can_err_t error code

Implemented in StmCan, and EspCan.

◆ ReceiveMessageBatch()

virtual hf_u32_t BaseCan::ReceiveMessageBatch	(	hf_can_message_t *	messages,
		hf_u32_t	max_count,
		hf_u32_t	timeout_ms = 100 )

inlinevirtualnoexcept

Receive multiple messages in a batch.

Parameters

messages	Array to store received messages
max_count	Maximum number of messages to receive
timeout_ms	Timeout in milliseconds

Returns: Number of messages actually received

Note: Default implementation receives messages one by one

◆ Reset()

virtual hf_can_err_t BaseCan::Reset ( )

pure virtualnoexcept

Reset the CAN controller.

Returns: hf_can_err_t error code

Implemented in EspCan, and StmCan.

◆ ResetDiagnostics()

virtual hf_can_err_t BaseCan::ResetDiagnostics ( )

inlinevirtualnoexcept

Reset CAN diagnostic information.

Returns: hf_can_err_t::CAN_SUCCESS if successful, error code otherwise

Note: Override this method to provide platform-specific diagnostics reset

◆ ResetStatistics()

virtual hf_can_err_t BaseCan::ResetStatistics ( )

inlinevirtualnoexcept

Reset CAN operation statistics.

Returns: hf_can_err_t::CAN_SUCCESS if successful, error code otherwise

Note: Override this method to provide platform-specific statistics reset

Reimplemented in EspCan.

◆ SendMessage()

virtual hf_can_err_t BaseCan::SendMessage	(	const hf_can_message_t &	message,
		hf_u32_t	timeout_ms = 1000 )

pure virtualnoexcept

Send a CAN message.

Parameters

message	CAN message to send
timeout_ms	Timeout in milliseconds (0 = non-blocking)

Returns: hf_can_err_t error code

Implemented in StmCan, and EspCan.

◆ SendMessageBatch()

virtual hf_u32_t BaseCan::SendMessageBatch	(	const hf_can_message_t *	messages,
		hf_u32_t	count,
		hf_u32_t	timeout_ms = 1000 )

inlinevirtualnoexcept

Send multiple messages in a batch.

Parameters

messages	Array of messages to send
count	Number of messages to send
timeout_ms	Timeout in milliseconds

Returns: Number of messages successfully sent

Note: Default implementation sends messages sequentially

Reimplemented in EspCan.

◆ SetAcceptanceFilter()

virtual hf_can_err_t BaseCan::SetAcceptanceFilter	(	hf_u32_t	id,
		hf_u32_t	mask,
		bool	extended = false )

pure virtualnoexcept

Set acceptance filter for incoming messages.

Parameters

id	CAN ID to accept
mask	Acceptance mask (0 = don't care bits)
extended	true for extended frames, false for standard

Returns: hf_can_err_t error code

Implemented in StmCan, and EspCan.

◆ SetCanFDMode()

virtual bool BaseCan::SetCanFDMode	(	bool	enable,
		hf_u32_t	data_baudrate = 2000000,
		hf_u32_t	timeout_ms = 1000 )

inlinevirtualnoexcept

Enable or disable CAN-FD mode.

Parameters

enable	true to enable CAN-FD, false to disable
data_baudrate	Data phase baudrate for CAN-FD (default: 2Mbps)
timeout_ms	Timeout for mode change operation in milliseconds (default: 1000ms)

Returns: true if successful, false otherwise

Note: Default implementation returns false (not supported)

◆ SetReceiveCallback()

virtual hf_can_err_t BaseCan::SetReceiveCallback ( hf_can_receive_callback_t callback )

pure virtualnoexcept

Set callback for received messages.

Parameters

callback Callback function to handle received messages

Returns: hf_can_err_t error code

Implemented in EspCan, and StmCan.

◆ SetReceiveCallbackFD()

virtual hf_can_err_t BaseCan::SetReceiveCallbackFD ( hf_can_fd_receive_callback_t callback )

inlinevirtualnoexcept

Set CAN-FD receive callback with enhanced information.

Parameters

callback CAN-FD callback function

Returns: hf_can_err_t error code

Note: Default implementation returns CAN_ERR_UNSUPPORTED_OPERATION

◆ SetTransmitterDelayCompensation()

virtual bool BaseCan::SetTransmitterDelayCompensation	(	hf_u8_t	tdc_offset,
		hf_u8_t	tdc_filter )

inlinevirtualnoexcept

Set transmitter delay compensation (CAN-FD feature).

Parameters

tdc_offset	TDC offset value
tdc_filter	TDC filter value

Returns: true if successful, false otherwise

Note: Default implementation returns false (not supported)

◆ SupportsCanFD()

virtual bool BaseCan::SupportsCanFD ( ) const

inlinevirtualnoexcept

Check if CAN-FD is supported by this controller.

Returns: true if CAN-FD is supported, false otherwise

Note: Default implementation returns false

Reimplemented in StmCan.

Member Data Documentation

◆ diagnostics_

hf_can_diagnostics_t BaseCan::diagnostics_

protected

CAN diagnostic information.

◆ initialized_

bool BaseCan::initialized_

protected

Initialization status.

◆ statistics_

hf_can_statistics_t BaseCan::statistics_

protected

CAN operation statistics.

The documentation for this class was generated from the following file:

inc/base/BaseCan.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~BaseCan()

◆ BaseCan() [1/3]

◆ BaseCan() [2/3]

◆ BaseCan() [3/3]

Member Function Documentation

◆ ClearAcceptanceFilter()

◆ ClearReceiveCallback()

◆ ConfigureCanFDTiming()

◆ Deinitialize()

◆ EnsureDeinitialized()

◆ EnsureInitialized()

◆ GetDiagnostics()

◆ GetStatistics()

◆ GetStatus()

◆ Initialize()

◆ IsInitialized()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ ReceiveMessage()

◆ ReceiveMessageBatch()

◆ Reset()

◆ ResetDiagnostics()

◆ ResetStatistics()

◆ SendMessage()

◆ SendMessageBatch()

◆ SetAcceptanceFilter()

◆ SetCanFDMode()

◆ SetReceiveCallback()

◆ SetReceiveCallbackFD()

◆ SetTransmitterDelayCompensation()

◆ SupportsCanFD()

Member Data Documentation

◆ diagnostics_

◆ initialized_

◆ statistics_