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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