Industrial Applications with CAN Bus


Project Hints

Receive CAN in only one function

Students often times tend to try to handle CAN frame reception in multiple functions. The problem is that this creates non-deterministic operation as some frames may be dropped in one place in code, and may not be handled where you really mean to handle them.

Note the following properties:

  • A while loop to empty out the CAN receive queue
    • Handling just one frame per function call will accumulate CAN frames leading to data loss
  • After creating a message header, call all decode functions
    • Only one decode function will decode at most since message header will match only once
    • This reduces your testing effort as you do not need manual switch/case statements
void can_handle_all_frames(void) {
    while (can_rx(...)) {
      msg_hdr = create_msg_header();

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