SGF-7 Adding CAN Driver #4
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Pull Request Overview
This PR adds a comprehensive dual CAN/FDCAN driver for STM32 microcontrollers to support both bxCAN (STM32L4) and FDCAN (STM32U5) peripherals. The driver provides hardware filter configuration, callback-based message routing, and RTOS-based transmit/receive handling.
Key changes:
- Complete rewrite of the CAN driver with unified API for both CAN and FDCAN peripherals
- Addition of CANFrame class for message handling with mutex-based thread safety
- Implementation of hardware filtering and callback system for message routing
Reviewed Changes
Copilot reviewed 13 out of 13 changed files in this pull request and generated 5 comments.
Show a summary per file
| File | Description |
|---|---|
| resources/Drivers/SG_Drivers/CAN/Src/CanDriver.cpp | Complete implementation of dual CAN/FDCAN driver with filtering, callbacks, and RTOS integration |
| resources/Drivers/SG_Drivers/CAN/Include/CanDriverApi.hpp | API definitions and type aliases for CAN/FDCAN compatibility |
| resources/Drivers/SG_Drivers/CAN/Include/CanDriver.hpp | Header with CANDevice and CANFrame class definitions |
| firmware/CAN-DevBoard/user/src/user_threads.cpp | Example usage of the new CAN driver API |
| firmware/NUCLEOL476RG-FreeRTOS-ExampleProject/CMakeLists.txt | Build system updates to include CAN driver |
| Various header/source files | Code formatting and include order improvements |
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Jackb18b
commented
Sep 12, 2025
| * @param msg | ||
| * @return HAL_StatusTypeDef | ||
| */ | ||
| HAL_StatusTypeDef Send(CANFrame* msg); |
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Suggested change
| HAL_StatusTypeDef Send(CANFrame* msg); | |
| static HAL_StatusTypeDef Send(CANFrame* msg); |
Make this static
| * @param id The CAN identifier to match against (11-bit or 29-bit depending on @p id_type). | ||
| * @return const CanCallback* if found, nullptr if no connected callback | ||
| */ | ||
| const CanCallback* find_by_range(uint32_t id); |
| * @param id The CAN identifier to match against (11-bit or 29-bit depending on @p id_type). | ||
| * @return const CanCallback* if found, nullptr if no connected callback | ||
| */ | ||
| const CanCallback* find_by_id(uint32_t id); |
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| CanHandle_t* hcan_ = nullptr; | ||
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| std::vector<CanFilter_t> filters_; | ||
| std::vector<IdEntry> idCallbacks_; | ||
| std::vector<RangeEntry> rangeCallbacks_; | ||
| CanCallback allCallback_ = nullptr; | ||
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| osMessageQueueId_t tx_queue_ = osMessageQueueNew(TX_QUEUE_SIZE, sizeof(CANFrame*), NULL); | ||
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| CANDevice(const CANDevice&) = delete; | ||
| CANDevice& operator=(const CANDevice&) = delete; |
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| #define THREAD_PRIORITY osPriorityAboveNormal /* Priority of Rx and Tx threads */ | ||
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| #define NUM_FILTER_BANKS 14 | ||
| #define NUM_CAN_CALLBACKS 16 | ||
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| #define THREAD_STACK_SIZE_WORDS 512 | ||
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| #define TX_QUEUE_SIZE 3 /* Size of Tx message queue */ | ||
| #define TX_TIMEOUT 10 /* Timeout for tx thread in ms */ | ||
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| #define MAX_CAN_ID 0x7FFu | ||
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| #ifndef CANDEVICE_MAX_BUSES | ||
| #define CANDEVICE_MAX_BUSES 2 | ||
| #endif |
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Added dual CAN/FDCAN driver for stm32s.
Code marked as draft until tested on hardware.