BaseCan.h File Reference

Abstract base class for CAN bus implementations in the HardFOC system. More...

#include "HardwareTypes.h"
#include <atomic>
#include <cstdint>
#include <string_view>

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Classes
struct	hf_can_config_t
	Platform-agnostic CAN bus configuration. More...
struct	hf_can_message_t
	Platform-agnostic CAN / CAN FD message (BaseCan v2). More...
struct	hf_can_bus_status_t
	Error counters and queue statistics of one controller (BaseCan::GetBusStatus()). More...
struct	hf_can_status_t
	CAN bus status information structure. More...
struct	hf_can_reception_info_t
	CAN-FD specific receive callback with enhanced information. More...
struct	hf_can_statistics_t
	CAN bus statistics structure for performance monitoring. More...
struct	hf_can_diagnostics_t
	CAN diagnostics structure for detailed error analysis. More...
class	BaseCan
	Abstract base class defining the unified CAN bus API. More...

Namespaces
namespace	hf_can_flag
	Packed frame flags (see hf_can_message_t::GetFlags()).

Macros
#define	HF_CAN_ERR_LIST(X)
	HardFOC CAN error codes.
#define	X(NAME, VALUE, DESC)   NAME = VALUE,
#define	X(NAME, VALUE, DESC)

Typedefs
using	hf_can_receive_callback_t = void(*)(const hf_can_message_t &message)
	CAN message receive callback function type.
using	hf_can_fd_receive_callback_t = void(*)(const hf_can_message_t &message, const hf_can_reception_info_t &info)

Enumerations
enum class	hf_can_err_t : hf_u8_t {   X , CAN_SUCCESS = 0 , CAN_ERR_FAILURE = 1 , CAN_ERR_NOT_INITIALIZED = 2 ,   CAN_ERR_ALREADY_INITIALIZED = 3 , CAN_ERR_INVALID_PARAMETER = 4 , CAN_ERR_NULL_POINTER = 5 , CAN_ERR_OUT_OF_MEMORY = 6 ,   CAN_ERR_BUS_OFF = 7 , CAN_ERR_BUS_ERROR = 8 , CAN_ERR_BUS_BUSY = 9 , CAN_ERR_BUS_NOT_AVAILABLE = 10 ,   CAN_ERR_BUS_RECOVERY_FAILED = 11 , CAN_ERR_BUS_ARBITRATION_LOST = 12 , CAN_ERR_MESSAGE_TIMEOUT = 13 , CAN_ERR_MESSAGE_LOST = 14 ,   CAN_ERR_MESSAGE_INVALID = 15 , CAN_ERR_MESSAGE_TOO_LONG = 16 , CAN_ERR_MESSAGE_INVALID_ID = 17 , CAN_ERR_MESSAGE_INVALID_DLC = 18 ,   CAN_ERR_QUEUE_FULL = 19 , CAN_ERR_QUEUE_EMPTY = 20 , CAN_ERR_TX_FAILED = 21 , CAN_ERR_TX_ABORTED = 22 ,   CAN_ERR_TX_ERROR_PASSIVE = 23 , CAN_ERR_TX_ERROR_WARNING = 24 , CAN_ERR_RX_OVERRUN = 25 , CAN_ERR_RX_ERROR_PASSIVE = 26 ,   CAN_ERR_RX_ERROR_WARNING = 27 , CAN_ERR_RX_FIFO_FULL = 28 , CAN_ERR_HARDWARE_FAULT = 29 , CAN_ERR_COMMUNICATION_FAILURE = 30 ,   CAN_ERR_DEVICE_NOT_RESPONDING = 31 , CAN_ERR_VOLTAGE_OUT_OF_RANGE = 32 , CAN_ERR_CLOCK_ERROR = 33 , CAN_ERR_TRANSCEIVER_ERROR = 34 ,   CAN_ERR_INVALID_CONFIGURATION = 35 , CAN_ERR_UNSUPPORTED_OPERATION = 36 , CAN_ERR_INVALID_BAUD_RATE = 37 , CAN_ERR_INVALID_CONTROLLER_ID = 38 ,   CAN_ERR_FILTER_ERROR = 39 , CAN_ERR_FILTER_FULL = 40 , CAN_ERR_STUFF_ERROR = 41 , CAN_ERR_FORM_ERROR = 42 ,   CAN_ERR_CRC_ERROR = 43 , CAN_ERR_ACK_ERROR = 44 , CAN_ERR_BIT_ERROR = 45 , CAN_ERR_SYSTEM_ERROR = 46 ,   CAN_ERR_PERMISSION_DENIED = 47 , CAN_ERR_OPERATION_ABORTED = 48 , CAN_ERR_FAIL = 49 , CAN_ERR_RESOURCE_BUSY = 50 ,   CAN_ERR_INVALID_STATE = 51 , CAN_ERR_NOT_SUPPORTED = 52 , CAN_ERR_TIMEOUT_ALT = 53 , CAN_ERR_UNKNOWN = 54 }
enum class	hf_can_frame_error_t : hf_u8_t {   NONE = 0 , ID_RANGE , CLASSIC_TOO_LONG , FD_TOO_LONG ,   FD_LENGTH_NOT_EXACT , RTR_ON_FD , FD_BITS_ON_CLASSIC , RTR_WITH_DATA }
	Why a frame is not well formed. More...
enum class	hf_can_bus_state_t : hf_u8_t {   STOPPED = 0 , ERROR_ACTIVE , ERROR_WARNING , ERROR_PASSIVE ,   BUS_OFF }
	Controller error state (ISO 11898-1 fault confinement). More...

Functions
constexpr std::string_view	HfCanErrToString (hf_can_err_t err) noexcept
	Convert hf_can_err_t to human-readable string.
constexpr hf_u8_t	HfCanDlcToLen (hf_u8_t dlc, bool fd) noexcept
	DLC code to payload length in bytes (ISO 11898-1).
constexpr hf_u8_t	HfCanLenToDlc (hf_u8_t len, bool fd) noexcept
	Payload length in bytes to the smallest DLC code that carries it.
constexpr bool	HfCanIsValidLength (hf_u8_t len, bool fd) noexcept
	Is len a payload length a frame of this kind can have exactly?
constexpr hf_can_bus_state_t	HfCanStateFromCounters (hf_u16_t tec, hf_u16_t rec) noexcept
	Error state implied by the counters (warning at 96, passive at 128, bus-off above 255).

Variables
constexpr hf_u8_t	HF_CAN_CLASSIC_MAX_LEN = 8U
	Largest classic CAN payload in bytes.
constexpr hf_u8_t	HF_CAN_FD_MAX_LEN = 64U
	Largest CAN FD payload in bytes.
constexpr hf_u32_t	HF_CAN_MAX_STD_ID = 0x7FFU
	Largest 11-bit (base format) identifier.
constexpr hf_u32_t	HF_CAN_MAX_EXT_ID = 0x1FFFFFFFU
	Largest 29-bit (extended format) identifier.
constexpr hf_u8_t	HF_CAN_DLC_INVALID = 0xFFU
	Returned by HfCanLenToDlc() when a length cannot be carried.
constexpr hf_u8_t	hf_can_flag::EXT = 0x01U
	29-bit identifier
constexpr hf_u8_t	hf_can_flag::RTR = 0x02U
	remote request (classic only)
constexpr hf_u8_t	hf_can_flag::FDF = 0x04U
	FD frame format.
constexpr hf_u8_t	hf_can_flag::BRS = 0x08U
	bit-rate switch (FD only)
constexpr hf_u8_t	hf_can_flag::ESI = 0x10U
	error state indicator (FD only)
constexpr hf_u8_t	hf_can_flag::ALL = EXT | RTR | FDF | BRS | ESI

Detailed Description

Abstract base class for CAN bus implementations in the HardFOC system.

This header-only file defines the abstract base class for CAN bus communication that provides a consistent API across different CAN controller implementations. Concrete implementations for various microcontrollers inherit from this class.

ERROR HANDLING:

• All CAN error codes are defined in this file using the hf_can_err_t enumeration
• Lower-level types (McuTypes_CAN.h) maintain minimal error constants for compatibility
• All virtual methods return hf_can_err_t for comprehensive error reporting
• No legacy compatibility code - use hf_can_message_t structure for all operations

Author

Nebiyu Tadesse

Date

2025

Copyright

HardFOC

Note

This is a header-only abstract base class following the same pattern as BaseAdc.

Users should program against this interface, not specific implementations.

All legacy camelCase types and bool-returning methods have been removed.

Macro Definition Documentation

X [1/2]

#define X	(		NAME,
			VALUE,
			DESC
	)		NAME = VALUE,

X [2/2]

#define X	(		NAME,
			VALUE,
			DESC
	)

Value:

  case hf_can_err_t::NAME:                                                                         \
    return DESC;

Typedef Documentation

hf_can_fd_receive_callback_t

using hf_can_fd_receive_callback_t = void (*)(const hf_can_message_t& message, const hf_can_reception_info_t& info)

hf_can_receive_callback_t

using hf_can_receive_callback_t = void (*)(const hf_can_message_t& message)

CAN message receive callback function type.

Note

Updated to use new hf_can_message_t structure

Enumeration Type Documentation

hf_can_bus_state_t

enum class hf_can_bus_state_t : hf_u8_t

strong

Controller error state (ISO 11898-1 fault confinement).

Same order as vortex::contracts::BusState.

Enumerator
STOPPED	not started / in reset
ERROR_ACTIVE	TEC and REC < 96.
ERROR_WARNING	TEC or REC >= 96.
ERROR_PASSIVE	TEC or REC >= 128.
BUS_OFF	TEC > 255.

hf_can_err_t

enum class hf_can_err_t : hf_u8_t

strong

Enumerator
X
CAN_SUCCESS
CAN_ERR_FAILURE
CAN_ERR_NOT_INITIALIZED
CAN_ERR_ALREADY_INITIALIZED
CAN_ERR_INVALID_PARAMETER
CAN_ERR_NULL_POINTER
CAN_ERR_OUT_OF_MEMORY
CAN_ERR_BUS_OFF
CAN_ERR_BUS_ERROR
CAN_ERR_BUS_BUSY
CAN_ERR_BUS_NOT_AVAILABLE
CAN_ERR_BUS_RECOVERY_FAILED
CAN_ERR_BUS_ARBITRATION_LOST
CAN_ERR_MESSAGE_TIMEOUT
CAN_ERR_MESSAGE_LOST
CAN_ERR_MESSAGE_INVALID
CAN_ERR_MESSAGE_TOO_LONG
CAN_ERR_MESSAGE_INVALID_ID
CAN_ERR_MESSAGE_INVALID_DLC
CAN_ERR_QUEUE_FULL
CAN_ERR_QUEUE_EMPTY
CAN_ERR_TX_FAILED
CAN_ERR_TX_ABORTED
CAN_ERR_TX_ERROR_PASSIVE
CAN_ERR_TX_ERROR_WARNING
CAN_ERR_RX_OVERRUN
CAN_ERR_RX_ERROR_PASSIVE
CAN_ERR_RX_ERROR_WARNING
CAN_ERR_RX_FIFO_FULL
CAN_ERR_HARDWARE_FAULT
CAN_ERR_COMMUNICATION_FAILURE
CAN_ERR_DEVICE_NOT_RESPONDING
CAN_ERR_VOLTAGE_OUT_OF_RANGE
CAN_ERR_CLOCK_ERROR
CAN_ERR_TRANSCEIVER_ERROR
CAN_ERR_INVALID_CONFIGURATION
CAN_ERR_UNSUPPORTED_OPERATION
CAN_ERR_INVALID_BAUD_RATE
CAN_ERR_INVALID_CONTROLLER_ID
CAN_ERR_FILTER_ERROR
CAN_ERR_FILTER_FULL
CAN_ERR_STUFF_ERROR
CAN_ERR_FORM_ERROR
CAN_ERR_CRC_ERROR
CAN_ERR_ACK_ERROR
CAN_ERR_BIT_ERROR
CAN_ERR_SYSTEM_ERROR
CAN_ERR_PERMISSION_DENIED
CAN_ERR_OPERATION_ABORTED
CAN_ERR_FAIL
CAN_ERR_RESOURCE_BUSY
CAN_ERR_INVALID_STATE
CAN_ERR_NOT_SUPPORTED
CAN_ERR_TIMEOUT_ALT
CAN_ERR_UNKNOWN

hf_can_frame_error_t

enum class hf_can_frame_error_t : hf_u8_t

strong

Why a frame is not well formed.

Same cases as vortex::contracts::FrameError except UnknownFlag, which cannot occur because hf_can_message_t keeps its flags as bools.

Enumerator
NONE
ID_RANGE	identifier does not fit 11 / 29 bits
CLASSIC_TOO_LONG	classic frame with length > 8
FD_TOO_LONG	FD frame with length > 64.
FD_LENGTH_NOT_EXACT	FD length that has no DLC code (for example 9)
RTR_ON_FD	FD frames have no remote form.
FD_BITS_ON_CLASSIC	BRS / ESI without FD format.
RTR_WITH_DATA	remote frame with a requested length above 8

Function Documentation

HfCanDlcToLen()

constexpr hf_u8_t HfCanDlcToLen ( hf_u8_t  dlc, bool  fd  )

constexprnoexcept

DLC code to payload length in bytes (ISO 11898-1).

Parameters

dlc	DLC code 0..15
fd	true for an FD frame

Returns

Length in bytes. Classic codes 9..15 mean 8 bytes. Codes above 15 give 0.

HfCanErrToString()

constexpr std::string_view HfCanErrToString ( hf_can_err_t  err )

constexprnoexcept

Convert hf_can_err_t to human-readable string.

Parameters

err	The error code to convert

Returns

String view of the error description

HfCanIsValidLength()

constexpr bool HfCanIsValidLength ( hf_u8_t  len, bool  fd  )

constexprnoexcept

Is len a payload length a frame of this kind can have exactly?

Classic: 0..8. FD: 0..8, 12, 16, 20, 24, 32, 48, 64.

HfCanLenToDlc()

constexpr hf_u8_t HfCanLenToDlc ( hf_u8_t  len, bool  fd  )

constexprnoexcept

Payload length in bytes to the smallest DLC code that carries it.

Returns

HF_CAN_DLC_INVALID when len is above 8 (classic) or 64 (FD).

HfCanStateFromCounters()

constexpr hf_can_bus_state_t HfCanStateFromCounters ( hf_u16_t  tec, hf_u16_t  rec  )

constexprnoexcept

Error state implied by the counters (warning at 96, passive at 128, bus-off above 255).

Variable Documentation

HF_CAN_CLASSIC_MAX_LEN

constexpr hf_u8_t HF_CAN_CLASSIC_MAX_LEN = 8U

inlineconstexpr

Largest classic CAN payload in bytes.

HF_CAN_DLC_INVALID

constexpr hf_u8_t HF_CAN_DLC_INVALID = 0xFFU

inlineconstexpr

Returned by HfCanLenToDlc() when a length cannot be carried.

HF_CAN_FD_MAX_LEN

constexpr hf_u8_t HF_CAN_FD_MAX_LEN = 64U

inlineconstexpr

Largest CAN FD payload in bytes.

HF_CAN_MAX_EXT_ID

constexpr hf_u32_t HF_CAN_MAX_EXT_ID = 0x1FFFFFFFU

inlineconstexpr

Largest 29-bit (extended format) identifier.

HF_CAN_MAX_STD_ID

constexpr hf_u32_t HF_CAN_MAX_STD_ID = 0x7FFU

inlineconstexpr

Largest 11-bit (base format) identifier.