can module

General CAN driver

To activate a specific CAN peripheral, define flag USE_CANx where x is your CAN peripheral number

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="can">
  b'<define name="USE_CANx" value="FALSE" />\n  '
  b'<configure name="USE_CANFD" value="TRUE" />\n    '
</module>

Module configuration options

Configure Options

• name: USE_CANFD value: TRUE
  Description: Use CANFD or just CAN

Define Options

• name: USE_CANx value: FALSE
  Description: Enable the CANx port

Module functions

Event Functions

These event functions are called in each cycle of the module event loop.

• can_event()

Files

Header Files

The following headers are automatically included in modules.h

• can.h

Source Files

• mcu_periph/can.c
• arch dependent: mcu_periph/can_arch.c

Raw can.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="can" dir="mcu_periph" task="mcu">
  <doc>
    <description>
      General CAN driver
      To activate a specific CAN peripheral, define flag USE_CANx where x is your CAN peripheral number
    </description>
    <configure name="USE_CANFD" value="TRUE" description="Use CANFD or just CAN"/>
    <define name="USE_CANx" value="FALSE" description="Enable the CANx port"/>
  </doc>
  <dep>
    <depends>mcu</depends>
    <conflicts>uavcan</conflicts>
  </dep>
  <header>
    <file name="can.h" dir="mcu_periph"/>
  </header>
  <event fun="can_event()" cond="ifeq ($(ARCH), stm32)"/>
  <makefile>
    <configure name="USE_CANFD" default="FALSE"/>
    <define name="USE_CANFD" value="$(USE_CANFD)"/>
    <file name="can.c" dir="mcu_periph"/>
    <file_arch name="can_arch.c" dir="mcu_periph"/>
    <test>
        <define name="USE_CAN1"/>
    </test>
  </makefile>
</module>