<alp/can.h> — CAN / CAN-FD

Controller Area Network bus support, including CAN-FD on hardware that supports it.

Header

#include <alp/can.h>

Send and receive

alp_can_t *can = alp_can_open(&(alp_can_config_t){
    .bus_id             = ALP_E1M_CAN0,
    .bitrate_nominal_hz = 500000,       // arbitration phase
    .bitrate_data_hz    = 2000000,      // CAN-FD data phase
    .mode               = ALP_CAN_MODE_FD,
});

alp_can_start(can);

alp_can_frame_t tx = {
    .id     = 0x123,
    .ext_id = false,
    .dlc    = 8,
    .data   = { 1, 2, 3, 4, 5, 6, 7, 8 },
};
alp_can_send(can, &tx, /* timeout_ms */ 100);

void on_frame(const alp_can_frame_t *f, void *user) { /* ... */ }
alp_can_add_filter(can,
                   &(alp_can_filter_t){ .id = 0x123, .mask = 0x7FF },
                   on_frame, NULL, /* filter_id_out */ NULL);

See also

• Examples: can-loopback