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CAN & CAN FD

LibXR supports both classic CAN and CAN FD. From the generator's point of view, this page mainly covers instance emission and queue-size configuration. More detailed topics such as filters, FIFO layout, or message RAM partitioning still belong to the CubeMX project and the lower-level driver side; they should not be over-read as a unified strategy generated directly by the current generator.

You still need to configure the peripheral instances and interrupts correctly in STM32CubeMX first. If the target project depends on a specific filter setup or FIFO assignment, confirm that on the CubeMX / HAL side rather than assuming the generator will synthesize that policy for you.

Example​

The second constructor argument is the transmit queue size used to buffer outgoing CAN frames.

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

Configuration File​

After code generation, the following configuration will appear in User/libxr_config.yaml:

CAN:
  CAN1:
    queue_size: 5

FDCAN:
  FDCAN1:
    queue_size: 5
  • queue_size: size of the transmit queue used to buffer pending CAN/FDCAN frames.

Current Generator Scope​

In current GeneratorCodeSTM32.py, the generation logic here mainly does two things:

  • read CAN.<instance>.queue_size or FDCAN.<instance>.queue_size from the config;
  • emit the corresponding STM32CAN / STM32CANFD constructor code.

You can edit the config file directly. To apply the changes, rerun: xr_cubemx_cfg -d . or xr_gen_code_stm32 -i ./.config.yaml -o ./User/app_main.cpp