STM32 CAN implementation. More...

#include <StmCan.h>

Inheritance diagram for StmCan:

Collaboration diagram for StmCan:

Public Member Functions
	StmCan (CAN_HandleTypeDef *hcan) noexcept
	Construct for bxCAN.

	StmCan (FDCAN_HandleTypeDef *hfdcan) noexcept
	Construct for FDCAN.

	StmCan (const hf_stm32_can_config_t &config) noexcept
	Construct from config struct.

	~StmCan () noexcept override

	StmCan (const StmCan &)=delete

StmCan &	operator= (const StmCan &)=delete

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

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

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

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

hf_can_err_t	SetReceiveCallback (hf_can_receive_callback_t callback) noexcept override
	Set callback for received messages.

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

hf_can_err_t	GetStatus (hf_can_status_t &status) noexcept override
	Get current CAN bus status.

hf_can_err_t	Reset () noexcept override
	Reset the CAN controller.

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

StmCanVariant	GetVariant () const noexcept

void	NotifyRxFromIsr (const hf_can_message_t &msg) noexcept
	ISR helper — call from HAL CAN/FDCAN RX callback.

Public Member Functions inherited from BaseCan
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 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	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.

Private Member Functions
hf_can_err_t	SendBxCan (const hf_can_message_t &msg, hf_u32_t timeout_ms) noexcept

hf_can_err_t	ReceiveBxCan (hf_can_message_t &msg, hf_u32_t timeout_ms) noexcept

hf_can_err_t	SendFdCan (const hf_can_message_t &msg, hf_u32_t timeout_ms) noexcept

hf_can_err_t	ReceiveFdCan (hf_can_message_t &msg, hf_u32_t timeout_ms) noexcept

Private Attributes
StmCanVariant	variant_

union {

CAN_HandleTypeDef * hcan_

FDCAN_HandleTypeDef * hfdcan_

};

hf_can_receive_callback_t	rx_callback_

Additional Inherited Members
Protected Member Functions inherited from BaseCan
	BaseCan () noexcept
	Protected constructor.

Protected Attributes inherited from BaseCan
bool	initialized_
	Initialization status.

hf_can_statistics_t	statistics_
	CAN operation statistics.

hf_can_diagnostics_t	diagnostics_
	CAN diagnostic information.

Detailed Description

STM32 CAN implementation.

Design:

Supports both bxCAN and FDCAN via a variant tag + union of handles.
SendMessage/ReceiveMessage use blocking HAL calls.
Acceptance filter wraps HAL filter configuration.
Receive callback stored for ISR forwarding.

Constructor & Destructor Documentation

◆ StmCan() [1/4]

StmCan::StmCan ( CAN_HandleTypeDef * hcan )

explicitnoexcept

Construct for bxCAN.

◆ StmCan() [2/4]

StmCan::StmCan ( FDCAN_HandleTypeDef * hfdcan )

explicitnoexcept

Construct for FDCAN.

◆ StmCan() [3/4]

StmCan::StmCan ( const hf_stm32_can_config_t & config )

explicitnoexcept

Construct from config struct.

◆ ~StmCan()

StmCan::~StmCan ( )

overridenoexcept

◆ StmCan() [4/4]

StmCan::StmCan ( const StmCan & )

delete

Member Function Documentation

◆ Deinitialize()

hf_can_err_t StmCan::Deinitialize ( )

overridevirtualnoexcept

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

Returns: hf_can_err_t error code

Implements BaseCan.

◆ GetStatus()

hf_can_err_t StmCan::GetStatus ( hf_can_status_t & status )

overridevirtualnoexcept

Get current CAN bus status.

Parameters

status Reference to store status information

Returns: hf_can_err_t error code

Implements BaseCan.

◆ GetVariant()

StmCanVariant StmCan::GetVariant ( ) const

inlinenoexcept

◆ Initialize()

hf_can_err_t StmCan::Initialize ( )

overridevirtualnoexcept

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

Returns: hf_can_err_t error code

Implements BaseCan.

◆ NotifyRxFromIsr()

void StmCan::NotifyRxFromIsr ( const hf_can_message_t & msg )

noexcept

ISR helper — call from HAL CAN/FDCAN RX callback.

◆ operator=()

StmCan & StmCan::operator= ( const StmCan & )

delete

◆ ReceiveBxCan()

hf_can_err_t StmCan::ReceiveBxCan	(	hf_can_message_t &	msg,
		hf_u32_t	timeout_ms )

privatenoexcept

◆ ReceiveFdCan()

hf_can_err_t StmCan::ReceiveFdCan	(	hf_can_message_t &	msg,
		hf_u32_t	timeout_ms )

privatenoexcept

◆ ReceiveMessage()

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

overridevirtualnoexcept

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

Implements BaseCan.

◆ Reset()

hf_can_err_t StmCan::Reset ( )

overridevirtualnoexcept

Reset the CAN controller.

Returns: hf_can_err_t error code

Implements BaseCan.

◆ SendBxCan()

hf_can_err_t StmCan::SendBxCan	(	const hf_can_message_t &	msg,
		hf_u32_t	timeout_ms )

privatenoexcept

◆ SendFdCan()

hf_can_err_t StmCan::SendFdCan	(	const hf_can_message_t &	msg,
		hf_u32_t	timeout_ms )

privatenoexcept

◆ SendMessage()

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

overridevirtualnoexcept

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

Implements BaseCan.

◆ SetAcceptanceFilter()

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

overridevirtualnoexcept

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

Implements BaseCan.

◆ SetReceiveCallback()

hf_can_err_t StmCan::SetReceiveCallback ( hf_can_receive_callback_t callback )

overridevirtualnoexcept

Set callback for received messages.

Parameters

callback Callback function to handle received messages

Returns: hf_can_err_t error code

Implements BaseCan.

◆ SupportsCanFD()

bool StmCan::SupportsCanFD ( ) const

overridevirtualnoexcept

Check if CAN-FD is supported by this controller.

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

Note: Default implementation returns false

Reimplemented from BaseCan.

Member Data Documentation

◆ [union]

union { ... } StmCan

◆ hcan_

CAN_HandleTypeDef* StmCan::hcan_

◆ hfdcan_

FDCAN_HandleTypeDef* StmCan::hfdcan_

◆ rx_callback_

hf_can_receive_callback_t StmCan::rx_callback_

private

◆ variant_

StmCanVariant StmCan::variant_

private

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

inc/mcu/stm32/StmCan.h
src/mcu/stm32/StmCan.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ StmCan() [1/4]

◆ StmCan() [2/4]

◆ StmCan() [3/4]

◆ ~StmCan()

◆ StmCan() [4/4]

Member Function Documentation

◆ Deinitialize()

◆ GetStatus()

◆ GetVariant()

◆ Initialize()

◆ NotifyRxFromIsr()

◆ operator=()

◆ ReceiveBxCan()

◆ ReceiveFdCan()

◆ ReceiveMessage()

◆ Reset()

◆ SendBxCan()

◆ SendFdCan()

◆ SendMessage()

◆ SetAcceptanceFilter()

◆ SetReceiveCallback()

◆ SupportsCanFD()

Member Data Documentation

◆ [union]

◆ hcan_

◆ hfdcan_

◆ rx_callback_

◆ variant_