Posted on March 08, 2018 at 15:53I can help you if you want. I have implemented CAN on the '767 and '091
I use HAL and the Cube,
I use HAL but short cut the interrupt system.
whereby 'Hal' is left interrupt enabled and always ready to receive a packet.
my short circuit pumps the FiFo data into RxFrames[64] deep, HAL cant see it so its left enabled.
then my foreground process can see the RxFrames count move and processes it.
that way, when my singular foreground process uses printf, the console never has intertwined messages.
But the best starting point, is to purchase a CANBUS transceiver and start it transmitting your required frame every 1 second at first, and when you are ready crank it up to a frame every 10mS
I purchased a CAN DO unit.had 250KHz CAN running in a few days.
then you find out about Bus Contention.
my rule is no two units can transmit the same messageID.
I encode 2 parts of information in the messageID
the Address 0x040x .. 0x06Fx is my address range for a unit, only 48 units.
then I use 0x0xx0.. 0x0xxF as 16 command channels or endpoints you may say;
a messageID of 0x0415 is from my Terminal Master requesting Unit 2 to echo this next char
a messageID of 0x0416 is from Unit 2 and has the echo response
these messageIDs have a unique known address source and contain instructions/flags pertaining to the contents of the data following.
