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🚧 This document is still being actively worked on and is subject to change. 🚧

Responsible
  • Gianluca Ielpo
  • Aaron Bojarski
  • Marouan Mbarek
  • Sebastian Pfeiler
Last Updated10/12/2025, 12:48:54 PM
Last AuthorKai Berszin

Drivers

UART​

CAN​

Reference​

  • The STM32H753 microcontroller provides FDCAN functionality which is wrapped within bsp/drivers/inc/obc_fdcan.h.

  • Only the CAN subset of functionalities is supported by this driver.

  • Notable functions (see code/doxygen for details):

    • CANAddInterface().
    • vFDCANTask(): FreeRTOS CSP fragment receiver Task.
    • driver_can_tx(): A stub for sending over CAN used by CSP.

  • No filter is applied to CAN on OBC side, meaning that CAN propagates all fragments to CSP layer.

  • In the context of CSP, there are no user functions here.

Important Technical Details​

  • Bitrate (CubeMX: Nominal BaudRate) was changed to 500 000 and must remain that way for consistency with other subsystems. This implies keeping the following parameter settings (see CubeMX and the IOC file):
    • In Bit Timings Parameters -> Nominal Time Seg1 : 3
    • In Bit Timings Parameters -> Nominal Time Seg2 : 2

TODO:​

  • Find either a justification for the bitrate other than trial and error or change the bitrate to the most suitable one.
  • Explanation of how we handle the CFP layer (should it be in CSP or CAN?).

I2C​

SPI​