Currently, the following boards are supported: NUCLEO-F303K8, NUCLEO-L432KC.
This library is fully compatible with the MCP2515 CAN Controller ACAN2515, ACAN2515Tiny, ACAN2517 and ACAN2517FD libraries, it uses a very similar API and the same CANMessage class for handling messages.
Four sketches are provided; the use the EXTERNAL_LOOP_BACK mode, no external hardware is required, and sent frames can be observed on TxCAN pin. They demonstrate frame sending and receiving capabilities:
- LoopBackDemo sketch, basic example for sending and receiving frames;
- LoopBackDemoIntensive sketch which sends random frames and checks reception;
- LoopBackDemoFilters sketch, basic example of reception filters;
- LoopBackDemoDispatch sketch, basic example for using callback functions associated with filters.
ACAN_STM32 is a driver for the bxCAN module built into several STM32 microcontroller.
The driver supports many bit rates, as standard 62.5 kbit/s, 125 kbit/s, 250 kbit/s, 500 kbit/s, and 1 Mbit/s. An efficient CAN bit timing calculator finds settings for them, but also for exotic bit rates as 842 kbit/s. If the wished bit rate cannot be achieved, the begin method does not configure the hardware and returns an error code.
Driver API is fully described by the PDF file in the
extrasdirectory.
Configuration is a four-step operation.
- Instanciation of the
settingsobject: the constructor has one parameter: the wished CAN bit rate. Thesettingsis fully initialized. - You can override default settings. Here, we set the
mModuleModeproperty toACAN_STM32_Settings::EXTERNAL_LOOP_BACK, enabling to run demo code without any additional hardware (no CAN transceiver needed). We can also for example change the receive buffer size by setting themDriverReceiveFIFO0Sizeproperty. - Calling the
beginmethod configures the driver and starts CAN bus participation. Any message can be sent, any frame on the bus is received. No default filter to provide. - You check the
errorCodevalue to detect configuration error(s).
void setup () {
pinMode (LED_BUILTIN, OUTPUT) ;
Serial.begin (115200) ;
while (!Serial) {
digitalWrite (LED_BUILTIN, !digitalRead (LED_BUILTIN)) ;
delay (50) ;
}
ACAN_STM32_Settings settings (125 * 1000) ; // 125 kbit/s
settings.mModuleMode = ACAN_STM32_Settings::EXTERNAL_LOOP_BACK ;
const uint32_t errorCode = can.begin (settings) ;
if (0 == errorCode) {
Serial.println ("can ok") ;
}else{
Serial.print ("Error can: 0x") ;
Serial.println (errorCode, HEX) ;
}
}Now, an example of the loop function. As we have selected loop back mode, every sent frame is received.
static unsigned gSendDate = 0 ;
static unsigned gSentCount = 0 ;
static unsigned gReceivedCount = 0 ;
void loop () {
CANMessage message ;
if (gSendDate < millis ()) {
message.id = 0x542 ;
message.len = 8 ;
message.data [0] = 0 ;
message.data [1] = 1 ;
message.data [2] = 2 ;
message.data [3] = 3 ;
message.data [4] = 4 ;
message.data [5] = 5 ;
message.data [6] = 6 ;
message.data [7] = 7 ;
const bool ok = can.tryToSendReturnStatus (message) ;
if (ok) {
digitalWrite (LED_BUILTIN, !digitalRead (LED_BUILTIN)) ;
gSendDate += 1000 ;
gSentCount += 1 ;
Serial.print ("Sent: ") ;
Serial.println (gSentCount) ;
}
}
if (can.receive0 (message)) {
gReceivedCount += 1 ;
Serial.print ("Received: ") ;
Serial.println (gReceivedCount) ;
}
}CANMessage is the class that defines a CAN message. The message object is fully initialized by the default constructor. Here, we set the id to 0x542 for sending a standard data frame, with 8 data bytes.
The can.tryToSendReturnStatus tries to send the message. It returns 0 if the message has been sucessfully added to the driver transmit buffer.
The gSendDate variable handles sending a CAN message every 1000 ms.
(can.receive0 returns true if a message has been received, and assigned to the messageargument.
The bxCAN module accepts up to 14 filter banks. A filter bank can be either:
- a standard quad filter bank;
- a standard mask dual filter bank;
- an extended dual filter bank;
- an extended mask single filter bank.
The LoopBackDemoFilters sketch is a basic demo of filters:
ACAN_STM32_Settings settings (1000 * 1000) ;
settings.mModuleMode = ACAN_STM32_Settings::EXTERNAL_LOOP_BACK ;
ACAN_STM32::Filters filters ;
//--- Add dual extended filter: identifier, false -> data, true -> rtr (2 matching frames)
filters.addExtendedDual (0x5555, false, // Extended data frame, identifier 0x5555
0x6666, true, // Extended remote frame, identifier 0x6666
ACAN_STM32::FIFO0) ;
//--- Add quad standard filter (4 matching frames)
filters.addStandardQuad (0x123, false, // Standard data frame, identifier 0x123
0x234, true, // Standard remote frame, identifier 0x234
0x345, true, // Standard remote frame, identifier 0x345
0x456, false, // Standard data frame, identifier 0x456
ACAN_STM32::FIFO1) ;
//--- Add extended mask filter (32 matching data frames)
filters.addExtendedMask (0x6789, 0x1FFF67BD, ACAN_STM32::DATA, ACAN_STM32::FIFO1) ;
//--- Add extended mask filter (32 matching remote frames)
filters.addExtendedMask (0x6789, 0x1FFF67BD, ACAN_STM32::REMOTE, ACAN_STM32::FIFO0) ;
//--- Add extended mask filter (32 matching data frames, 32 matching remote frames)
filters.addExtendedMask (0x4789, 0x1FFF67BD, ACAN_STM32::DATA_OR_REMOTE, ACAN_STM32::FIFO0) ;
//--- Add standard dual mask filter
filters.addStandardMasks (0x405, 0x7D5, ACAN_STM32::DATA, // 8 Standard data frames
0x605, 0x7D5, ACAN_STM32::REMOTE, // 8 Standard remote frames
ACAN_STM32::FIFO1) ;
//--- Add standard dual mask filter
filters.addStandardMasks (0x705, 0x7D5, ACAN_STM32::DATA_OR_REMOTE, // 4 Standard data frames, 4 Standard remote frames
0x505, 0x7D5, ACAN_STM32::DATA_OR_REMOTE, // 4 Standard data frames, 4 Standard remote frames
ACAN_STM32::FIFO0) ;
//--- Allocate FIFO 1
settings.mDriverReceiveFIFO1Size = 10 ; // By default, 0
const uint32_t errorCode = can.begin (settings, filters) ;
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