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CAN & CAN FD

LibXR supports both standard CAN and CAN FD. You need to enable the respective peripherals and interrupts in STM32CubeMX, and allocate at least one filter for both standard and extended frames.

Example​

The third parameter represents the transmission queue size, which buffers outgoing messages.

STM32CAN can1(&hcan1, "can1", 5);
STM32CANFD fdcan1(&hfdcan1, "fdcan1", 5);

Configuration File​

After code generation, the following CAN-related configuration will be added to User/libxr_config.yaml:

CAN:
  CAN1:
    queue_size: 5

FDCAN:
  FDCAN1:
    queue_size: 5
  • queue_size: The size of the transmit queue for the CAN/FDCAN interface.

To apply changes, modify this file directly and run:
xr_cubemx_cfg -d .
or
xr_gen_code_stm32 -i ./.config.yaml -o ./User/app_main.cpp