Add STM32 support by BrechtSerckx · Pull Request #12 · odriverobotics/ODriveArduino

BrechtSerckx · 2025-02-19T21:39:51Z

Hi! Thanks for the project!

I added support for STM32 boards with built-in CAN controller using https://github.com/pazi88/STM32_CAN.
As far as I can see, the example seems to work with my ODrive S1 and Adafruit STM32F405 Feather Express.

Please note that I am not comfortable with C++ programming, please let me know of any improvements I can make.

Thanks!

CLAassistant · 2025-04-24T08:13:06Z

All committers have signed the CLA.

samuelsadok

This looks generally good, see one comment.
I also added a basic CI compile test, so when you push again it will pick up the new test and might require additional changes.

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

samuelsadok · 2025-04-24T08:36:34Z

+
+static bool sendMsg(STM32_CAN& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
+ CanMsg msg;
+ msg.id = id;


The top three bits of id are reserved, with the MSB meaning "extended". Additionally, if data is null, it should send a remote request frame if the CAN lib supports it.
Suggested change
msg.id = id;
msg.id = id & 0x1ffffff;
msg.flags.extended = id & 0x80000000;
msg.flags.remote = data;
(not tested)

BrechtSerckx · 2025-04-24T08:59:19Z

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

There is no CAN support in STM32duino, see this issue: stm32duino/Arduino_Core_STM32#259. From the thread it seems like pazi88/STM32_CAN is a decent implementation that works on most STM32 devies.

`msg.flags.remote = data;` caused the example to stop working. ChatGPT suggested `msg.flags.remote = (data == nullptr);` which seems to work.

samuelsadok · 2025-04-24T12:47:12Z

Ah yes I got the polarity flipped in my suggestion. msg.flags.remote = !data; would also have worked.

samuelsadok · 2025-04-24T12:48:17Z

Thanks for adding this!

BrechtSerckx · 2025-02-19T21:39:51Z

Hi! Thanks for the project!

I added support for STM32 boards with built-in CAN controller using https://github.com/pazi88/STM32_CAN.
As far as I can see, the example seems to work with my ODrive S1 and Adafruit STM32F405 Feather Express.

Please note that I am not comfortable with C++ programming, please let me know of any improvements I can make.

Thanks!

CLAassistant · 2025-04-24T08:13:06Z

All committers have signed the CLA.

samuelsadok

This looks generally good, see one comment.
I also added a basic CI compile test, so when you push again it will pick up the new test and might require additional changes.

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

samuelsadok · 2025-04-24T08:36:34Z

+
+static bool sendMsg(STM32_CAN& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
+ CanMsg msg;
+ msg.id = id;


The top three bits of id are reserved, with the MSB meaning "extended". Additionally, if data is null, it should send a remote request frame if the CAN lib supports it.
Suggested change
msg.id = id;
msg.id = id & 0x1ffffff;
msg.flags.extended = id & 0x80000000;
msg.flags.remote = data;
(not tested)

BrechtSerckx · 2025-04-24T08:59:19Z

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

There is no CAN support in STM32duino, see this issue: stm32duino/Arduino_Core_STM32#259. From the thread it seems like pazi88/STM32_CAN is a decent implementation that works on most STM32 devies.

`msg.flags.remote = data;` caused the example to stop working. ChatGPT suggested `msg.flags.remote = (data == nullptr);` which seems to work.

samuelsadok · 2025-04-24T12:47:12Z

Ah yes I got the polarity flipped in my suggestion. msg.flags.remote = !data; would also have worked.

samuelsadok · 2025-04-24T12:48:17Z

Thanks for adding this!

BrechtSerckx · 2025-02-19T21:39:51Z

Hi! Thanks for the project!

I added support for STM32 boards with built-in CAN controller using https://github.com/pazi88/STM32_CAN.
As far as I can see, the example seems to work with my ODrive S1 and Adafruit STM32F405 Feather Express.

Please note that I am not comfortable with C++ programming, please let me know of any improvements I can make.

Thanks!

CLAassistant · 2025-04-24T08:13:06Z

All committers have signed the CLA.

samuelsadok

This looks generally good, see one comment.
I also added a basic CI compile test, so when you push again it will pick up the new test and might require additional changes.

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

samuelsadok · 2025-04-24T08:36:34Z

+
+static bool sendMsg(STM32_CAN& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
+ CanMsg msg;
+ msg.id = id;


The top three bits of id are reserved, with the MSB meaning "extended". Additionally, if data is null, it should send a remote request frame if the CAN lib supports it.
Suggested change
msg.id = id;
msg.id = id & 0x1ffffff;
msg.flags.extended = id & 0x80000000;
msg.flags.remote = data;
(not tested)

BrechtSerckx · 2025-04-24T08:59:19Z

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

There is no CAN support in STM32duino, see this issue: stm32duino/Arduino_Core_STM32#259. From the thread it seems like pazi88/STM32_CAN is a decent implementation that works on most STM32 devies.

`msg.flags.remote = data;` caused the example to stop working. ChatGPT suggested `msg.flags.remote = (data == nullptr);` which seems to work.

samuelsadok · 2025-04-24T12:47:12Z

Ah yes I got the polarity flipped in my suggestion. msg.flags.remote = !data; would also have worked.

samuelsadok · 2025-04-24T12:48:17Z

Thanks for adding this!

BrechtSerckx · 2025-02-19T21:39:51Z

Hi! Thanks for the project!

I added support for STM32 boards with built-in CAN controller using https://github.com/pazi88/STM32_CAN.
As far as I can see, the example seems to work with my ODrive S1 and Adafruit STM32F405 Feather Express.

Please note that I am not comfortable with C++ programming, please let me know of any improvements I can make.

Thanks!

CLAassistant · 2025-04-24T08:13:06Z

All committers have signed the CLA.

samuelsadok

This looks generally good, see one comment.
I also added a basic CI compile test, so when you push again it will pick up the new test and might require additional changes.

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

samuelsadok · 2025-04-24T08:36:34Z

+
+static bool sendMsg(STM32_CAN& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
+ CanMsg msg;
+ msg.id = id;


The top three bits of id are reserved, with the MSB meaning "extended". Additionally, if data is null, it should send a remote request frame if the CAN lib supports it.
Suggested change
msg.id = id;
msg.id = id & 0x1ffffff;
msg.flags.extended = id & 0x80000000;
msg.flags.remote = data;
(not tested)

BrechtSerckx · 2025-04-24T08:59:19Z

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

There is no CAN support in STM32duino, see this issue: stm32duino/Arduino_Core_STM32#259. From the thread it seems like pazi88/STM32_CAN is a decent implementation that works on most STM32 devies.

`msg.flags.remote = data;` caused the example to stop working. ChatGPT suggested `msg.flags.remote = (data == nullptr);` which seems to work.

samuelsadok · 2025-04-24T12:47:12Z

Ah yes I got the polarity flipped in my suggestion. msg.flags.remote = !data; would also have worked.

samuelsadok · 2025-04-24T12:48:17Z

Thanks for adding this!

BrechtSerckx · 2025-02-19T21:39:51Z

Hi! Thanks for the project!

I added support for STM32 boards with built-in CAN controller using https://github.com/pazi88/STM32_CAN.
As far as I can see, the example seems to work with my ODrive S1 and Adafruit STM32F405 Feather Express.

Please note that I am not comfortable with C++ programming, please let me know of any improvements I can make.

Thanks!

CLAassistant · 2025-04-24T08:13:06Z

All committers have signed the CLA.

samuelsadok

This looks generally good, see one comment.
I also added a basic CI compile test, so when you push again it will pick up the new test and might require additional changes.

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

samuelsadok · 2025-04-24T08:36:34Z

+
+static bool sendMsg(STM32_CAN& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
+ CanMsg msg;
+ msg.id = id;


The top three bits of id are reserved, with the MSB meaning "extended". Additionally, if data is null, it should send a remote request frame if the CAN lib supports it.
Suggested change
msg.id = id;
msg.id = id & 0x1ffffff;
msg.flags.extended = id & 0x80000000;
msg.flags.remote = data;
(not tested)

BrechtSerckx · 2025-04-24T08:59:19Z

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

There is no CAN support in STM32duino, see this issue: stm32duino/Arduino_Core_STM32#259. From the thread it seems like pazi88/STM32_CAN is a decent implementation that works on most STM32 devies.

`msg.flags.remote = data;` caused the example to stop working. ChatGPT suggested `msg.flags.remote = (data == nullptr);` which seems to work.

samuelsadok · 2025-04-24T12:47:12Z

Ah yes I got the polarity flipped in my suggestion. msg.flags.remote = !data; would also have worked.

samuelsadok · 2025-04-24T12:48:17Z

Thanks for adding this!

BrechtSerckx · 2025-02-19T21:39:51Z

Hi! Thanks for the project!

I added support for STM32 boards with built-in CAN controller using https://github.com/pazi88/STM32_CAN.
As far as I can see, the example seems to work with my ODrive S1 and Adafruit STM32F405 Feather Express.

Please note that I am not comfortable with C++ programming, please let me know of any improvements I can make.

Thanks!

CLAassistant · 2025-04-24T08:13:06Z

All committers have signed the CLA.

samuelsadok

This looks generally good, see one comment.
I also added a basic CI compile test, so when you push again it will pick up the new test and might require additional changes.

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

samuelsadok · 2025-04-24T08:36:34Z

+
+static bool sendMsg(STM32_CAN& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
+ CanMsg msg;
+ msg.id = id;


The top three bits of id are reserved, with the MSB meaning "extended". Additionally, if data is null, it should send a remote request frame if the CAN lib supports it.
Suggested change
msg.id = id;
msg.id = id & 0x1ffffff;
msg.flags.extended = id & 0x80000000;
msg.flags.remote = data;
(not tested)

BrechtSerckx · 2025-04-24T08:59:19Z

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

There is no CAN support in STM32duino, see this issue: stm32duino/Arduino_Core_STM32#259. From the thread it seems like pazi88/STM32_CAN is a decent implementation that works on most STM32 devies.

`msg.flags.remote = data;` caused the example to stop working. ChatGPT suggested `msg.flags.remote = (data == nullptr);` which seems to work.

samuelsadok · 2025-04-24T12:47:12Z

Ah yes I got the polarity flipped in my suggestion. msg.flags.remote = !data; would also have worked.

samuelsadok · 2025-04-24T12:48:17Z

Thanks for adding this!

BrechtSerckx · 2025-02-19T21:39:51Z

Hi! Thanks for the project!

I added support for STM32 boards with built-in CAN controller using https://github.com/pazi88/STM32_CAN.
As far as I can see, the example seems to work with my ODrive S1 and Adafruit STM32F405 Feather Express.

Please note that I am not comfortable with C++ programming, please let me know of any improvements I can make.

Thanks!

CLAassistant · 2025-04-24T08:13:06Z

All committers have signed the CLA.

samuelsadok

This looks generally good, see one comment.
I also added a basic CI compile test, so when you push again it will pick up the new test and might require additional changes.

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

samuelsadok · 2025-04-24T08:36:34Z

+
+static bool sendMsg(STM32_CAN& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
+ CanMsg msg;
+ msg.id = id;


The top three bits of id are reserved, with the MSB meaning "extended". Additionally, if data is null, it should send a remote request frame if the CAN lib supports it.
Suggested change
msg.id = id;
msg.id = id & 0x1ffffff;
msg.flags.extended = id & 0x80000000;
msg.flags.remote = data;
(not tested)

BrechtSerckx · 2025-04-24T08:59:19Z

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

There is no CAN support in STM32duino, see this issue: stm32duino/Arduino_Core_STM32#259. From the thread it seems like pazi88/STM32_CAN is a decent implementation that works on most STM32 devies.

`msg.flags.remote = data;` caused the example to stop working. ChatGPT suggested `msg.flags.remote = (data == nullptr);` which seems to work.

samuelsadok · 2025-04-24T12:47:12Z

Ah yes I got the polarity flipped in my suggestion. msg.flags.remote = !data; would also have worked.

samuelsadok · 2025-04-24T12:48:17Z

Thanks for adding this!

BrechtSerckx · 2025-02-19T21:39:51Z

Hi! Thanks for the project!

I added support for STM32 boards with built-in CAN controller using https://github.com/pazi88/STM32_CAN.
As far as I can see, the example seems to work with my ODrive S1 and Adafruit STM32F405 Feather Express.

Please note that I am not comfortable with C++ programming, please let me know of any improvements I can make.

Thanks!

CLAassistant · 2025-04-24T08:13:06Z

All committers have signed the CLA.

samuelsadok

This looks generally good, see one comment.
I also added a basic CI compile test, so when you push again it will pick up the new test and might require additional changes.

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

samuelsadok · 2025-04-24T08:36:34Z

+
+static bool sendMsg(STM32_CAN& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
+ CanMsg msg;
+ msg.id = id;


The top three bits of id are reserved, with the MSB meaning "extended". Additionally, if data is null, it should send a remote request frame if the CAN lib supports it.
Suggested change
msg.id = id;
msg.id = id & 0x1ffffff;
msg.flags.extended = id & 0x80000000;
msg.flags.remote = data;
(not tested)

BrechtSerckx · 2025-04-24T08:59:19Z

I'm a bit surprised that the STM32 Arduino core doesn't already come with a standard HardwareCAN implementation. Is pazi88/STM32_CAN.git the go-to CAN library that people use on STM32 Arduinos?

There is no CAN support in STM32duino, see this issue: stm32duino/Arduino_Core_STM32#259. From the thread it seems like pazi88/STM32_CAN is a decent implementation that works on most STM32 devies.

`msg.flags.remote = data;` caused the example to stop working. ChatGPT suggested `msg.flags.remote = (data == nullptr);` which seems to work.

samuelsadok · 2025-04-24T12:47:12Z

Ah yes I got the polarity flipped in my suggestion. msg.flags.remote = !data; would also have worked.

samuelsadok · 2025-04-24T12:48:17Z

Thanks for adding this!

BrechtSerckx force-pushed the stm32 branch 3 times, most recently from 097a73f to 6ddc5dfCompare February 19, 2025 21:46

BrechtSerckx marked this pull request as ready for review February 19, 2025 21:48

BrechtSerckx force-pushed the stm32 branch from 6ddc5df to 5351570Compare April 23, 2025 19:53

samuelsadok reviewed Apr 24, 2025
View reviewed changes

samuelsadok mentioned this pull request Apr 24, 2025
Check requested message before trying callbacks #14
Merged

BrechtSerckx added 3 commits April 24, 2025 13:45

Add wrapper for STM32
a7be9a1

Update SineWaveCAN for STM32
89db771

Add pio env
d5318cc

BrechtSerckx force-pushed the stm32 branch from 5351570 to d5318ccCompare April 24, 2025 11:45

Suggestion by@samuelsadok
0a0fe30
`msg.flags.remote = data;` caused the example to stop working. ChatGPT suggested `msg.flags.remote = (data == nullptr);` which seems to work.

BrechtSerckx requested a review from samuelsadok April 24, 2025 12:06

samuelsadok approved these changes Apr 24, 2025
View reviewed changes

samuelsadok merged commit 8479e07 into odriverobotics:masterApr 24, 2025

samuelsadok mentioned this pull request Apr 24, 2025
Modified library for ESP32 native TWAI driver #11
Closed