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.

Default Filters and FIFO Configuration

LibXR configures one default filter for each CAN/CAN FD controller, separately for standard and extended frames, allowing all data frames to pass through.

The FIFO configuration for different numbers of CAN/CAN FD controllers is as follows:

Classic CAN	CAN1	CAN1+CAN2	CAN1+CAN2+CAN3
FIFO0	CAN1	CAN1	CAN1+CAN2
FIFO1	N/A	CAN2	CAN3

CAN FD	CANFD1	CANFD1+CANFD2	CANFD1+CANFD2+CANFD3
FIFO0	CANFD1	CANFD1	CANFD1
FIFO1	N/A	CANFD2	CANFD2+CANFD3

Example

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

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