MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_STM/TARGET_STM32F2/device/stm32f2xx_hal_can.c@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /**
sahilmgandhi 18:6a4db94011d3 2 ******************************************************************************
sahilmgandhi 18:6a4db94011d3 3 * @file stm32f2xx_hal_can.c
sahilmgandhi 18:6a4db94011d3 4 * @author MCD Application Team
sahilmgandhi 18:6a4db94011d3 5 * @version V1.1.3
sahilmgandhi 18:6a4db94011d3 6 * @date 29-June-2016
sahilmgandhi 18:6a4db94011d3 7 * @brief This file provides firmware functions to manage the following
sahilmgandhi 18:6a4db94011d3 8 * functionalities of the Controller Area Network (CAN) peripheral:
sahilmgandhi 18:6a4db94011d3 9 * + Initialization and de-initialization functions
sahilmgandhi 18:6a4db94011d3 10 * + IO operation functions
sahilmgandhi 18:6a4db94011d3 11 * + Peripheral Control functions
sahilmgandhi 18:6a4db94011d3 12 * + Peripheral State and Error functions
sahilmgandhi 18:6a4db94011d3 13 *
sahilmgandhi 18:6a4db94011d3 14 @verbatim
sahilmgandhi 18:6a4db94011d3 15 ==============================================================================
sahilmgandhi 18:6a4db94011d3 16 ##### How to use this driver #####
sahilmgandhi 18:6a4db94011d3 17 ==============================================================================
sahilmgandhi 18:6a4db94011d3 18 [..]
sahilmgandhi 18:6a4db94011d3 19 (#) Enable the CAN controller interface clock using
sahilmgandhi 18:6a4db94011d3 20 __HAL_RCC_CAN1_CLK_ENABLE() for CAN1 and __HAL_RCC_CAN2_CLK_ENABLE() for CAN2
sahilmgandhi 18:6a4db94011d3 21 -@- In case you are using CAN2 only, you have to enable the CAN1 clock.
sahilmgandhi 18:6a4db94011d3 22
sahilmgandhi 18:6a4db94011d3 23 (#) CAN pins configuration
sahilmgandhi 18:6a4db94011d3 24 (++) Enable the clock for the CAN GPIOs using the following function:
sahilmgandhi 18:6a4db94011d3 25 __GPIOx_CLK_ENABLE()
sahilmgandhi 18:6a4db94011d3 26 (++) Connect and configure the involved CAN pins to AF9 using the
sahilmgandhi 18:6a4db94011d3 27 following function HAL_GPIO_Init()
sahilmgandhi 18:6a4db94011d3 28
sahilmgandhi 18:6a4db94011d3 29 (#) Initialize and configure the CAN using CAN_Init() function.
sahilmgandhi 18:6a4db94011d3 30
sahilmgandhi 18:6a4db94011d3 31 (#) Transmit the desired CAN frame using HAL_CAN_Transmit() function.
sahilmgandhi 18:6a4db94011d3 32
sahilmgandhi 18:6a4db94011d3 33 (#) Receive a CAN frame using HAL_CAN_Receive() function.
sahilmgandhi 18:6a4db94011d3 34
sahilmgandhi 18:6a4db94011d3 35 *** Polling mode IO operation ***
sahilmgandhi 18:6a4db94011d3 36 =================================
sahilmgandhi 18:6a4db94011d3 37 [..]
sahilmgandhi 18:6a4db94011d3 38 (+) Start the CAN peripheral transmission and wait the end of this operation
sahilmgandhi 18:6a4db94011d3 39 using HAL_CAN_Transmit(), at this stage user can specify the value of timeout
sahilmgandhi 18:6a4db94011d3 40 according to his end application
sahilmgandhi 18:6a4db94011d3 41 (+) Start the CAN peripheral reception and wait the end of this operation
sahilmgandhi 18:6a4db94011d3 42 using HAL_CAN_Receive(), at this stage user can specify the value of timeout
sahilmgandhi 18:6a4db94011d3 43 according to his end application
sahilmgandhi 18:6a4db94011d3 44
sahilmgandhi 18:6a4db94011d3 45 *** Interrupt mode IO operation ***
sahilmgandhi 18:6a4db94011d3 46 ===================================
sahilmgandhi 18:6a4db94011d3 47 [..]
sahilmgandhi 18:6a4db94011d3 48 (+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT()
sahilmgandhi 18:6a4db94011d3 49 (+) Start the CAN peripheral reception using HAL_CAN_Receive_IT()
sahilmgandhi 18:6a4db94011d3 50 (+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine
sahilmgandhi 18:6a4db94011d3 51 (+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can
sahilmgandhi 18:6a4db94011d3 52 add his own code by customization of function pointer HAL_CAN_TxCpltCallback
sahilmgandhi 18:6a4db94011d3 53 (+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can
sahilmgandhi 18:6a4db94011d3 54 add his own code by customization of function pointer HAL_CAN_ErrorCallback
sahilmgandhi 18:6a4db94011d3 55
sahilmgandhi 18:6a4db94011d3 56 *** CAN HAL driver macros list ***
sahilmgandhi 18:6a4db94011d3 57 =============================================
sahilmgandhi 18:6a4db94011d3 58 [..]
sahilmgandhi 18:6a4db94011d3 59 Below the list of most used macros in CAN HAL driver.
sahilmgandhi 18:6a4db94011d3 60
sahilmgandhi 18:6a4db94011d3 61 (+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts
sahilmgandhi 18:6a4db94011d3 62 (+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts
sahilmgandhi 18:6a4db94011d3 63 (+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled
sahilmgandhi 18:6a4db94011d3 64 (+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags
sahilmgandhi 18:6a4db94011d3 65 (+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status
sahilmgandhi 18:6a4db94011d3 66
sahilmgandhi 18:6a4db94011d3 67 [..]
sahilmgandhi 18:6a4db94011d3 68 (@) You can refer to the CAN HAL driver header file for more useful macros
sahilmgandhi 18:6a4db94011d3 69
sahilmgandhi 18:6a4db94011d3 70 @endverbatim
sahilmgandhi 18:6a4db94011d3 71
sahilmgandhi 18:6a4db94011d3 72 ******************************************************************************
sahilmgandhi 18:6a4db94011d3 73 * @attention
sahilmgandhi 18:6a4db94011d3 74 *
sahilmgandhi 18:6a4db94011d3 75 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
sahilmgandhi 18:6a4db94011d3 76 *
sahilmgandhi 18:6a4db94011d3 77 * Redistribution and use in source and binary forms, with or without modification,
sahilmgandhi 18:6a4db94011d3 78 * are permitted provided that the following conditions are met:
sahilmgandhi 18:6a4db94011d3 79 * 1. Redistributions of source code must retain the above copyright notice,
sahilmgandhi 18:6a4db94011d3 80 * this list of conditions and the following disclaimer.
sahilmgandhi 18:6a4db94011d3 81 * 2. Redistributions in binary form must reproduce the above copyright notice,
sahilmgandhi 18:6a4db94011d3 82 * this list of conditions and the following disclaimer in the documentation
sahilmgandhi 18:6a4db94011d3 83 * and/or other materials provided with the distribution.
sahilmgandhi 18:6a4db94011d3 84 * 3. Neither the name of STMicroelectronics nor the names of its contributors
sahilmgandhi 18:6a4db94011d3 85 * may be used to endorse or promote products derived from this software
sahilmgandhi 18:6a4db94011d3 86 * without specific prior written permission.
sahilmgandhi 18:6a4db94011d3 87 *
sahilmgandhi 18:6a4db94011d3 88 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
sahilmgandhi 18:6a4db94011d3 89 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
sahilmgandhi 18:6a4db94011d3 90 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
sahilmgandhi 18:6a4db94011d3 91 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
sahilmgandhi 18:6a4db94011d3 92 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
sahilmgandhi 18:6a4db94011d3 93 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
sahilmgandhi 18:6a4db94011d3 94 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
sahilmgandhi 18:6a4db94011d3 95 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
sahilmgandhi 18:6a4db94011d3 96 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
sahilmgandhi 18:6a4db94011d3 97 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
sahilmgandhi 18:6a4db94011d3 98 *
sahilmgandhi 18:6a4db94011d3 99 ******************************************************************************
sahilmgandhi 18:6a4db94011d3 100 */
sahilmgandhi 18:6a4db94011d3 101
sahilmgandhi 18:6a4db94011d3 102 /* Includes ------------------------------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 103 #include "stm32f2xx_hal.h"
sahilmgandhi 18:6a4db94011d3 104
sahilmgandhi 18:6a4db94011d3 105 /** @addtogroup STM32F2xx_HAL_Driver
sahilmgandhi 18:6a4db94011d3 106 * @{
sahilmgandhi 18:6a4db94011d3 107 */
sahilmgandhi 18:6a4db94011d3 108
sahilmgandhi 18:6a4db94011d3 109 /** @defgroup CAN CAN
sahilmgandhi 18:6a4db94011d3 110 * @brief CAN driver modules
sahilmgandhi 18:6a4db94011d3 111 * @{
sahilmgandhi 18:6a4db94011d3 112 */
sahilmgandhi 18:6a4db94011d3 113
sahilmgandhi 18:6a4db94011d3 114 #ifdef HAL_CAN_MODULE_ENABLED
sahilmgandhi 18:6a4db94011d3 115
sahilmgandhi 18:6a4db94011d3 116 /* Private typedef -----------------------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 117 /* Private define ------------------------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 118 /** @addtogroup CAN_Private_Constants
sahilmgandhi 18:6a4db94011d3 119 * @{
sahilmgandhi 18:6a4db94011d3 120 */
sahilmgandhi 18:6a4db94011d3 121 #define CAN_TIMEOUT_VALUE 10U
sahilmgandhi 18:6a4db94011d3 122 /**
sahilmgandhi 18:6a4db94011d3 123 * @}
sahilmgandhi 18:6a4db94011d3 124 */
sahilmgandhi 18:6a4db94011d3 125 /* Private macro -------------------------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 126 /* Private variables ---------------------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 127 /* Private function prototypes -----------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 128 /** @addtogroup CAN_Private_Functions
sahilmgandhi 18:6a4db94011d3 129 * @{
sahilmgandhi 18:6a4db94011d3 130 */
sahilmgandhi 18:6a4db94011d3 131 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
sahilmgandhi 18:6a4db94011d3 132 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
sahilmgandhi 18:6a4db94011d3 133 /**
sahilmgandhi 18:6a4db94011d3 134 * @}
sahilmgandhi 18:6a4db94011d3 135 */
sahilmgandhi 18:6a4db94011d3 136
sahilmgandhi 18:6a4db94011d3 137 /* Exported functions --------------------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 138 /** @defgroup CAN_Exported_Functions CAN Exported Functions
sahilmgandhi 18:6a4db94011d3 139 * @{
sahilmgandhi 18:6a4db94011d3 140 */
sahilmgandhi 18:6a4db94011d3 141
sahilmgandhi 18:6a4db94011d3 142 /** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
sahilmgandhi 18:6a4db94011d3 143 * @brief Initialization and Configuration functions
sahilmgandhi 18:6a4db94011d3 144 *
sahilmgandhi 18:6a4db94011d3 145 @verbatim
sahilmgandhi 18:6a4db94011d3 146 ==============================================================================
sahilmgandhi 18:6a4db94011d3 147 ##### Initialization and de-initialization functions #####
sahilmgandhi 18:6a4db94011d3 148 ==============================================================================
sahilmgandhi 18:6a4db94011d3 149 [..] This section provides functions allowing to:
sahilmgandhi 18:6a4db94011d3 150 (+) Initialize and configure the CAN.
sahilmgandhi 18:6a4db94011d3 151 (+) De-initialize the CAN.
sahilmgandhi 18:6a4db94011d3 152
sahilmgandhi 18:6a4db94011d3 153 @endverbatim
sahilmgandhi 18:6a4db94011d3 154 * @{
sahilmgandhi 18:6a4db94011d3 155 */
sahilmgandhi 18:6a4db94011d3 156
sahilmgandhi 18:6a4db94011d3 157 /**
sahilmgandhi 18:6a4db94011d3 158 * @brief Initializes the CAN peripheral according to the specified
sahilmgandhi 18:6a4db94011d3 159 * parameters in the CAN_InitStruct.
sahilmgandhi 18:6a4db94011d3 160 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 161 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 162 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 163 */
sahilmgandhi 18:6a4db94011d3 164 HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 165 {
sahilmgandhi 18:6a4db94011d3 166 uint32_t InitStatus = 3U;
sahilmgandhi 18:6a4db94011d3 167 uint32_t tickstart = 0U;
sahilmgandhi 18:6a4db94011d3 168
sahilmgandhi 18:6a4db94011d3 169 /* Check CAN handle */
sahilmgandhi 18:6a4db94011d3 170 if(hcan == NULL)
sahilmgandhi 18:6a4db94011d3 171 {
sahilmgandhi 18:6a4db94011d3 172 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 173 }
sahilmgandhi 18:6a4db94011d3 174
sahilmgandhi 18:6a4db94011d3 175 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 176 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
sahilmgandhi 18:6a4db94011d3 177 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
sahilmgandhi 18:6a4db94011d3 178 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
sahilmgandhi 18:6a4db94011d3 179 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
sahilmgandhi 18:6a4db94011d3 180 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
sahilmgandhi 18:6a4db94011d3 181 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
sahilmgandhi 18:6a4db94011d3 182 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
sahilmgandhi 18:6a4db94011d3 183 assert_param(IS_CAN_MODE(hcan->Init.Mode));
sahilmgandhi 18:6a4db94011d3 184 assert_param(IS_CAN_SJW(hcan->Init.SJW));
sahilmgandhi 18:6a4db94011d3 185 assert_param(IS_CAN_BS1(hcan->Init.BS1));
sahilmgandhi 18:6a4db94011d3 186 assert_param(IS_CAN_BS2(hcan->Init.BS2));
sahilmgandhi 18:6a4db94011d3 187 assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
sahilmgandhi 18:6a4db94011d3 188
sahilmgandhi 18:6a4db94011d3 189
sahilmgandhi 18:6a4db94011d3 190 if(hcan->State == HAL_CAN_STATE_RESET)
sahilmgandhi 18:6a4db94011d3 191 {
sahilmgandhi 18:6a4db94011d3 192 /* Allocate lock resource and initialize it */
sahilmgandhi 18:6a4db94011d3 193 hcan->Lock = HAL_UNLOCKED;
sahilmgandhi 18:6a4db94011d3 194 /* Init the low level hardware */
sahilmgandhi 18:6a4db94011d3 195 HAL_CAN_MspInit(hcan);
sahilmgandhi 18:6a4db94011d3 196 }
sahilmgandhi 18:6a4db94011d3 197
sahilmgandhi 18:6a4db94011d3 198 /* Initialize the CAN state*/
sahilmgandhi 18:6a4db94011d3 199 hcan->State = HAL_CAN_STATE_BUSY;
sahilmgandhi 18:6a4db94011d3 200
sahilmgandhi 18:6a4db94011d3 201 /* Exit from sleep mode */
sahilmgandhi 18:6a4db94011d3 202 hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
sahilmgandhi 18:6a4db94011d3 203
sahilmgandhi 18:6a4db94011d3 204 /* Request initialisation */
sahilmgandhi 18:6a4db94011d3 205 hcan->Instance->MCR |= CAN_MCR_INRQ ;
sahilmgandhi 18:6a4db94011d3 206
sahilmgandhi 18:6a4db94011d3 207 /* Get tick */
sahilmgandhi 18:6a4db94011d3 208 tickstart = HAL_GetTick();
sahilmgandhi 18:6a4db94011d3 209
sahilmgandhi 18:6a4db94011d3 210 /* Wait the acknowledge */
sahilmgandhi 18:6a4db94011d3 211 while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
sahilmgandhi 18:6a4db94011d3 212 {
sahilmgandhi 18:6a4db94011d3 213 if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE)
sahilmgandhi 18:6a4db94011d3 214 {
sahilmgandhi 18:6a4db94011d3 215 hcan->State= HAL_CAN_STATE_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 216 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 217 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 218 return HAL_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 219 }
sahilmgandhi 18:6a4db94011d3 220 }
sahilmgandhi 18:6a4db94011d3 221
sahilmgandhi 18:6a4db94011d3 222 /* Check acknowledge */
sahilmgandhi 18:6a4db94011d3 223 if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
sahilmgandhi 18:6a4db94011d3 224 {
sahilmgandhi 18:6a4db94011d3 225 InitStatus = CAN_INITSTATUS_FAILED;
sahilmgandhi 18:6a4db94011d3 226 }
sahilmgandhi 18:6a4db94011d3 227 else
sahilmgandhi 18:6a4db94011d3 228 {
sahilmgandhi 18:6a4db94011d3 229 /* Set the time triggered communication mode */
sahilmgandhi 18:6a4db94011d3 230 if (hcan->Init.TTCM == ENABLE)
sahilmgandhi 18:6a4db94011d3 231 {
sahilmgandhi 18:6a4db94011d3 232 hcan->Instance->MCR |= CAN_MCR_TTCM;
sahilmgandhi 18:6a4db94011d3 233 }
sahilmgandhi 18:6a4db94011d3 234 else
sahilmgandhi 18:6a4db94011d3 235 {
sahilmgandhi 18:6a4db94011d3 236 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
sahilmgandhi 18:6a4db94011d3 237 }
sahilmgandhi 18:6a4db94011d3 238
sahilmgandhi 18:6a4db94011d3 239 /* Set the automatic bus-off management */
sahilmgandhi 18:6a4db94011d3 240 if (hcan->Init.ABOM == ENABLE)
sahilmgandhi 18:6a4db94011d3 241 {
sahilmgandhi 18:6a4db94011d3 242 hcan->Instance->MCR |= CAN_MCR_ABOM;
sahilmgandhi 18:6a4db94011d3 243 }
sahilmgandhi 18:6a4db94011d3 244 else
sahilmgandhi 18:6a4db94011d3 245 {
sahilmgandhi 18:6a4db94011d3 246 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
sahilmgandhi 18:6a4db94011d3 247 }
sahilmgandhi 18:6a4db94011d3 248
sahilmgandhi 18:6a4db94011d3 249 /* Set the automatic wake-up mode */
sahilmgandhi 18:6a4db94011d3 250 if (hcan->Init.AWUM == ENABLE)
sahilmgandhi 18:6a4db94011d3 251 {
sahilmgandhi 18:6a4db94011d3 252 hcan->Instance->MCR |= CAN_MCR_AWUM;
sahilmgandhi 18:6a4db94011d3 253 }
sahilmgandhi 18:6a4db94011d3 254 else
sahilmgandhi 18:6a4db94011d3 255 {
sahilmgandhi 18:6a4db94011d3 256 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
sahilmgandhi 18:6a4db94011d3 257 }
sahilmgandhi 18:6a4db94011d3 258
sahilmgandhi 18:6a4db94011d3 259 /* Set the no automatic retransmission */
sahilmgandhi 18:6a4db94011d3 260 if (hcan->Init.NART == ENABLE)
sahilmgandhi 18:6a4db94011d3 261 {
sahilmgandhi 18:6a4db94011d3 262 hcan->Instance->MCR |= CAN_MCR_NART;
sahilmgandhi 18:6a4db94011d3 263 }
sahilmgandhi 18:6a4db94011d3 264 else
sahilmgandhi 18:6a4db94011d3 265 {
sahilmgandhi 18:6a4db94011d3 266 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
sahilmgandhi 18:6a4db94011d3 267 }
sahilmgandhi 18:6a4db94011d3 268
sahilmgandhi 18:6a4db94011d3 269 /* Set the receive FIFO locked mode */
sahilmgandhi 18:6a4db94011d3 270 if (hcan->Init.RFLM == ENABLE)
sahilmgandhi 18:6a4db94011d3 271 {
sahilmgandhi 18:6a4db94011d3 272 hcan->Instance->MCR |= CAN_MCR_RFLM;
sahilmgandhi 18:6a4db94011d3 273 }
sahilmgandhi 18:6a4db94011d3 274 else
sahilmgandhi 18:6a4db94011d3 275 {
sahilmgandhi 18:6a4db94011d3 276 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
sahilmgandhi 18:6a4db94011d3 277 }
sahilmgandhi 18:6a4db94011d3 278
sahilmgandhi 18:6a4db94011d3 279 /* Set the transmit FIFO priority */
sahilmgandhi 18:6a4db94011d3 280 if (hcan->Init.TXFP == ENABLE)
sahilmgandhi 18:6a4db94011d3 281 {
sahilmgandhi 18:6a4db94011d3 282 hcan->Instance->MCR |= CAN_MCR_TXFP;
sahilmgandhi 18:6a4db94011d3 283 }
sahilmgandhi 18:6a4db94011d3 284 else
sahilmgandhi 18:6a4db94011d3 285 {
sahilmgandhi 18:6a4db94011d3 286 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
sahilmgandhi 18:6a4db94011d3 287 }
sahilmgandhi 18:6a4db94011d3 288
sahilmgandhi 18:6a4db94011d3 289 /* Set the bit timing register */
sahilmgandhi 18:6a4db94011d3 290 hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \
sahilmgandhi 18:6a4db94011d3 291 ((uint32_t)hcan->Init.SJW) | \
sahilmgandhi 18:6a4db94011d3 292 ((uint32_t)hcan->Init.BS1) | \
sahilmgandhi 18:6a4db94011d3 293 ((uint32_t)hcan->Init.BS2) | \
sahilmgandhi 18:6a4db94011d3 294 ((uint32_t)hcan->Init.Prescaler - 1U);
sahilmgandhi 18:6a4db94011d3 295
sahilmgandhi 18:6a4db94011d3 296 /* Request leave initialisation */
sahilmgandhi 18:6a4db94011d3 297 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
sahilmgandhi 18:6a4db94011d3 298
sahilmgandhi 18:6a4db94011d3 299 /* Get tick */
sahilmgandhi 18:6a4db94011d3 300 tickstart = HAL_GetTick();
sahilmgandhi 18:6a4db94011d3 301
sahilmgandhi 18:6a4db94011d3 302 /* Wait the acknowledge */
sahilmgandhi 18:6a4db94011d3 303 while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
sahilmgandhi 18:6a4db94011d3 304 {
sahilmgandhi 18:6a4db94011d3 305 if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE)
sahilmgandhi 18:6a4db94011d3 306 {
sahilmgandhi 18:6a4db94011d3 307 hcan->State= HAL_CAN_STATE_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 308 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 309 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 310 return HAL_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 311 }
sahilmgandhi 18:6a4db94011d3 312 }
sahilmgandhi 18:6a4db94011d3 313
sahilmgandhi 18:6a4db94011d3 314 /* Check acknowledged */
sahilmgandhi 18:6a4db94011d3 315 if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
sahilmgandhi 18:6a4db94011d3 316 {
sahilmgandhi 18:6a4db94011d3 317 InitStatus = CAN_INITSTATUS_FAILED;
sahilmgandhi 18:6a4db94011d3 318 }
sahilmgandhi 18:6a4db94011d3 319 else
sahilmgandhi 18:6a4db94011d3 320 {
sahilmgandhi 18:6a4db94011d3 321 InitStatus = CAN_INITSTATUS_SUCCESS;
sahilmgandhi 18:6a4db94011d3 322 }
sahilmgandhi 18:6a4db94011d3 323 }
sahilmgandhi 18:6a4db94011d3 324
sahilmgandhi 18:6a4db94011d3 325 if(InitStatus == CAN_INITSTATUS_SUCCESS)
sahilmgandhi 18:6a4db94011d3 326 {
sahilmgandhi 18:6a4db94011d3 327 /* Set CAN error code to none */
sahilmgandhi 18:6a4db94011d3 328 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
sahilmgandhi 18:6a4db94011d3 329
sahilmgandhi 18:6a4db94011d3 330 /* Initialize the CAN state */
sahilmgandhi 18:6a4db94011d3 331 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 332
sahilmgandhi 18:6a4db94011d3 333 /* Return function status */
sahilmgandhi 18:6a4db94011d3 334 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 335 }
sahilmgandhi 18:6a4db94011d3 336 else
sahilmgandhi 18:6a4db94011d3 337 {
sahilmgandhi 18:6a4db94011d3 338 /* Initialize the CAN state */
sahilmgandhi 18:6a4db94011d3 339 hcan->State = HAL_CAN_STATE_ERROR;
sahilmgandhi 18:6a4db94011d3 340
sahilmgandhi 18:6a4db94011d3 341 /* Return function status */
sahilmgandhi 18:6a4db94011d3 342 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 343 }
sahilmgandhi 18:6a4db94011d3 344 }
sahilmgandhi 18:6a4db94011d3 345
sahilmgandhi 18:6a4db94011d3 346 /**
sahilmgandhi 18:6a4db94011d3 347 * @brief Configures the CAN reception filter according to the specified
sahilmgandhi 18:6a4db94011d3 348 * parameters in the CAN_FilterInitStruct.
sahilmgandhi 18:6a4db94011d3 349 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 350 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 351 * @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
sahilmgandhi 18:6a4db94011d3 352 * contains the filter configuration information.
sahilmgandhi 18:6a4db94011d3 353 * @retval None
sahilmgandhi 18:6a4db94011d3 354 */
sahilmgandhi 18:6a4db94011d3 355 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
sahilmgandhi 18:6a4db94011d3 356 {
sahilmgandhi 18:6a4db94011d3 357 uint32_t filternbrbitpos = 0U;
sahilmgandhi 18:6a4db94011d3 358
sahilmgandhi 18:6a4db94011d3 359 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 360 assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
sahilmgandhi 18:6a4db94011d3 361 assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
sahilmgandhi 18:6a4db94011d3 362 assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
sahilmgandhi 18:6a4db94011d3 363 assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
sahilmgandhi 18:6a4db94011d3 364 assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
sahilmgandhi 18:6a4db94011d3 365 assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
sahilmgandhi 18:6a4db94011d3 366
sahilmgandhi 18:6a4db94011d3 367 filternbrbitpos = ((uint32_t)1U) << sFilterConfig->FilterNumber;
sahilmgandhi 18:6a4db94011d3 368
sahilmgandhi 18:6a4db94011d3 369 /* Initialisation mode for the filter */
sahilmgandhi 18:6a4db94011d3 370 CAN1->FMR |= (uint32_t)CAN_FMR_FINIT;
sahilmgandhi 18:6a4db94011d3 371
sahilmgandhi 18:6a4db94011d3 372 /* Select the start slave bank */
sahilmgandhi 18:6a4db94011d3 373 CAN1->FMR &= ~((uint32_t)CAN_FMR_CAN2SB);
sahilmgandhi 18:6a4db94011d3 374 CAN1->FMR |= (uint32_t)(sFilterConfig->BankNumber << 8U);
sahilmgandhi 18:6a4db94011d3 375
sahilmgandhi 18:6a4db94011d3 376 /* Filter Deactivation */
sahilmgandhi 18:6a4db94011d3 377 CAN1->FA1R &= ~(uint32_t)filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 378
sahilmgandhi 18:6a4db94011d3 379 /* Filter Scale */
sahilmgandhi 18:6a4db94011d3 380 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
sahilmgandhi 18:6a4db94011d3 381 {
sahilmgandhi 18:6a4db94011d3 382 /* 16-bit scale for the filter */
sahilmgandhi 18:6a4db94011d3 383 CAN1->FS1R &= ~(uint32_t)filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 384
sahilmgandhi 18:6a4db94011d3 385 /* First 16-bit identifier and First 16-bit mask */
sahilmgandhi 18:6a4db94011d3 386 /* Or First 16-bit identifier and Second 16-bit identifier */
sahilmgandhi 18:6a4db94011d3 387 CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
sahilmgandhi 18:6a4db94011d3 388 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) |
sahilmgandhi 18:6a4db94011d3 389 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
sahilmgandhi 18:6a4db94011d3 390
sahilmgandhi 18:6a4db94011d3 391 /* Second 16-bit identifier and Second 16-bit mask */
sahilmgandhi 18:6a4db94011d3 392 /* Or Third 16-bit identifier and Fourth 16-bit identifier */
sahilmgandhi 18:6a4db94011d3 393 CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
sahilmgandhi 18:6a4db94011d3 394 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
sahilmgandhi 18:6a4db94011d3 395 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
sahilmgandhi 18:6a4db94011d3 396 }
sahilmgandhi 18:6a4db94011d3 397
sahilmgandhi 18:6a4db94011d3 398 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
sahilmgandhi 18:6a4db94011d3 399 {
sahilmgandhi 18:6a4db94011d3 400 /* 32-bit scale for the filter */
sahilmgandhi 18:6a4db94011d3 401 CAN1->FS1R |= filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 402 /* 32-bit identifier or First 32-bit identifier */
sahilmgandhi 18:6a4db94011d3 403 CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
sahilmgandhi 18:6a4db94011d3 404 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) |
sahilmgandhi 18:6a4db94011d3 405 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
sahilmgandhi 18:6a4db94011d3 406 /* 32-bit mask or Second 32-bit identifier */
sahilmgandhi 18:6a4db94011d3 407 CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
sahilmgandhi 18:6a4db94011d3 408 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
sahilmgandhi 18:6a4db94011d3 409 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
sahilmgandhi 18:6a4db94011d3 410 }
sahilmgandhi 18:6a4db94011d3 411
sahilmgandhi 18:6a4db94011d3 412 /* Filter Mode */
sahilmgandhi 18:6a4db94011d3 413 if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
sahilmgandhi 18:6a4db94011d3 414 {
sahilmgandhi 18:6a4db94011d3 415 /*Id/Mask mode for the filter*/
sahilmgandhi 18:6a4db94011d3 416 CAN1->FM1R &= ~(uint32_t)filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 417 }
sahilmgandhi 18:6a4db94011d3 418 else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
sahilmgandhi 18:6a4db94011d3 419 {
sahilmgandhi 18:6a4db94011d3 420 /*Identifier list mode for the filter*/
sahilmgandhi 18:6a4db94011d3 421 CAN1->FM1R |= (uint32_t)filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 422 }
sahilmgandhi 18:6a4db94011d3 423
sahilmgandhi 18:6a4db94011d3 424 /* Filter FIFO assignment */
sahilmgandhi 18:6a4db94011d3 425 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
sahilmgandhi 18:6a4db94011d3 426 {
sahilmgandhi 18:6a4db94011d3 427 /* FIFO 0 assignation for the filter */
sahilmgandhi 18:6a4db94011d3 428 CAN1->FFA1R &= ~(uint32_t)filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 429 }
sahilmgandhi 18:6a4db94011d3 430
sahilmgandhi 18:6a4db94011d3 431 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
sahilmgandhi 18:6a4db94011d3 432 {
sahilmgandhi 18:6a4db94011d3 433 /* FIFO 1 assignation for the filter */
sahilmgandhi 18:6a4db94011d3 434 CAN1->FFA1R |= (uint32_t)filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 435 }
sahilmgandhi 18:6a4db94011d3 436
sahilmgandhi 18:6a4db94011d3 437 /* Filter activation */
sahilmgandhi 18:6a4db94011d3 438 if (sFilterConfig->FilterActivation == ENABLE)
sahilmgandhi 18:6a4db94011d3 439 {
sahilmgandhi 18:6a4db94011d3 440 CAN1->FA1R |= filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 441 }
sahilmgandhi 18:6a4db94011d3 442
sahilmgandhi 18:6a4db94011d3 443 /* Leave the initialisation mode for the filter */
sahilmgandhi 18:6a4db94011d3 444 CAN1->FMR &= ~((uint32_t)CAN_FMR_FINIT);
sahilmgandhi 18:6a4db94011d3 445
sahilmgandhi 18:6a4db94011d3 446 /* Return function status */
sahilmgandhi 18:6a4db94011d3 447 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 448 }
sahilmgandhi 18:6a4db94011d3 449
sahilmgandhi 18:6a4db94011d3 450 /**
sahilmgandhi 18:6a4db94011d3 451 * @brief Deinitializes the CANx peripheral registers to their default reset values.
sahilmgandhi 18:6a4db94011d3 452 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 453 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 454 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 455 */
sahilmgandhi 18:6a4db94011d3 456 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 457 {
sahilmgandhi 18:6a4db94011d3 458 /* Check CAN handle */
sahilmgandhi 18:6a4db94011d3 459 if(hcan == NULL)
sahilmgandhi 18:6a4db94011d3 460 {
sahilmgandhi 18:6a4db94011d3 461 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 462 }
sahilmgandhi 18:6a4db94011d3 463
sahilmgandhi 18:6a4db94011d3 464 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 465 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
sahilmgandhi 18:6a4db94011d3 466
sahilmgandhi 18:6a4db94011d3 467 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 468 hcan->State = HAL_CAN_STATE_BUSY;
sahilmgandhi 18:6a4db94011d3 469
sahilmgandhi 18:6a4db94011d3 470 /* DeInit the low level hardware */
sahilmgandhi 18:6a4db94011d3 471 HAL_CAN_MspDeInit(hcan);
sahilmgandhi 18:6a4db94011d3 472
sahilmgandhi 18:6a4db94011d3 473 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 474 hcan->State = HAL_CAN_STATE_RESET;
sahilmgandhi 18:6a4db94011d3 475
sahilmgandhi 18:6a4db94011d3 476 /* Release Lock */
sahilmgandhi 18:6a4db94011d3 477 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 478
sahilmgandhi 18:6a4db94011d3 479 /* Return function status */
sahilmgandhi 18:6a4db94011d3 480 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 481 }
sahilmgandhi 18:6a4db94011d3 482
sahilmgandhi 18:6a4db94011d3 483 /**
sahilmgandhi 18:6a4db94011d3 484 * @brief Initializes the CAN MSP.
sahilmgandhi 18:6a4db94011d3 485 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 486 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 487 * @retval None
sahilmgandhi 18:6a4db94011d3 488 */
sahilmgandhi 18:6a4db94011d3 489 __weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 490 {
sahilmgandhi 18:6a4db94011d3 491 /* Prevent unused argument(s) compilation warning */
sahilmgandhi 18:6a4db94011d3 492 UNUSED(hcan);
sahilmgandhi 18:6a4db94011d3 493 /* NOTE : This function Should not be modified, when the callback is needed,
sahilmgandhi 18:6a4db94011d3 494 the HAL_CAN_MspInit could be implemented in the user file
sahilmgandhi 18:6a4db94011d3 495 */
sahilmgandhi 18:6a4db94011d3 496 }
sahilmgandhi 18:6a4db94011d3 497
sahilmgandhi 18:6a4db94011d3 498 /**
sahilmgandhi 18:6a4db94011d3 499 * @brief DeInitializes the CAN MSP.
sahilmgandhi 18:6a4db94011d3 500 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 501 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 502 * @retval None
sahilmgandhi 18:6a4db94011d3 503 */
sahilmgandhi 18:6a4db94011d3 504 __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 505 {
sahilmgandhi 18:6a4db94011d3 506 /* Prevent unused argument(s) compilation warning */
sahilmgandhi 18:6a4db94011d3 507 UNUSED(hcan);
sahilmgandhi 18:6a4db94011d3 508 /* NOTE : This function Should not be modified, when the callback is needed,
sahilmgandhi 18:6a4db94011d3 509 the HAL_CAN_MspDeInit could be implemented in the user file
sahilmgandhi 18:6a4db94011d3 510 */
sahilmgandhi 18:6a4db94011d3 511 }
sahilmgandhi 18:6a4db94011d3 512
sahilmgandhi 18:6a4db94011d3 513 /**
sahilmgandhi 18:6a4db94011d3 514 * @}
sahilmgandhi 18:6a4db94011d3 515 */
sahilmgandhi 18:6a4db94011d3 516
sahilmgandhi 18:6a4db94011d3 517 /** @defgroup CAN_Exported_Functions_Group2 IO operation functions
sahilmgandhi 18:6a4db94011d3 518 * @brief IO operation functions
sahilmgandhi 18:6a4db94011d3 519 *
sahilmgandhi 18:6a4db94011d3 520 @verbatim
sahilmgandhi 18:6a4db94011d3 521 ==============================================================================
sahilmgandhi 18:6a4db94011d3 522 ##### IO operation functions #####
sahilmgandhi 18:6a4db94011d3 523 ==============================================================================
sahilmgandhi 18:6a4db94011d3 524 [..] This section provides functions allowing to:
sahilmgandhi 18:6a4db94011d3 525 (+) Transmit a CAN frame message.
sahilmgandhi 18:6a4db94011d3 526 (+) Receive a CAN frame message.
sahilmgandhi 18:6a4db94011d3 527 (+) Enter CAN peripheral in sleep mode.
sahilmgandhi 18:6a4db94011d3 528 (+) Wake up the CAN peripheral from sleep mode.
sahilmgandhi 18:6a4db94011d3 529
sahilmgandhi 18:6a4db94011d3 530 @endverbatim
sahilmgandhi 18:6a4db94011d3 531 * @{
sahilmgandhi 18:6a4db94011d3 532 */
sahilmgandhi 18:6a4db94011d3 533
sahilmgandhi 18:6a4db94011d3 534 /**
sahilmgandhi 18:6a4db94011d3 535 * @brief Initiates and transmits a CAN frame message.
sahilmgandhi 18:6a4db94011d3 536 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 537 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 538 * @param Timeout: Specify Timeout value
sahilmgandhi 18:6a4db94011d3 539 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 540 */
sahilmgandhi 18:6a4db94011d3 541 HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
sahilmgandhi 18:6a4db94011d3 542 {
sahilmgandhi 18:6a4db94011d3 543 uint32_t transmitmailbox = 5U;
sahilmgandhi 18:6a4db94011d3 544 uint32_t tickstart = 0U;
sahilmgandhi 18:6a4db94011d3 545
sahilmgandhi 18:6a4db94011d3 546 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 547 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
sahilmgandhi 18:6a4db94011d3 548 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
sahilmgandhi 18:6a4db94011d3 549 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
sahilmgandhi 18:6a4db94011d3 550
sahilmgandhi 18:6a4db94011d3 551 if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) || \
sahilmgandhi 18:6a4db94011d3 552 ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) || \
sahilmgandhi 18:6a4db94011d3 553 ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2))
sahilmgandhi 18:6a4db94011d3 554 {
sahilmgandhi 18:6a4db94011d3 555 /* Process locked */
sahilmgandhi 18:6a4db94011d3 556 __HAL_LOCK(hcan);
sahilmgandhi 18:6a4db94011d3 557
sahilmgandhi 18:6a4db94011d3 558 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
sahilmgandhi 18:6a4db94011d3 559 {
sahilmgandhi 18:6a4db94011d3 560 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 561 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
sahilmgandhi 18:6a4db94011d3 562 }
sahilmgandhi 18:6a4db94011d3 563 else
sahilmgandhi 18:6a4db94011d3 564 {
sahilmgandhi 18:6a4db94011d3 565 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 566 hcan->State = HAL_CAN_STATE_BUSY_TX;
sahilmgandhi 18:6a4db94011d3 567 }
sahilmgandhi 18:6a4db94011d3 568
sahilmgandhi 18:6a4db94011d3 569 /* Select one empty transmit mailbox */
sahilmgandhi 18:6a4db94011d3 570 if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
sahilmgandhi 18:6a4db94011d3 571 {
sahilmgandhi 18:6a4db94011d3 572 transmitmailbox = 0U;
sahilmgandhi 18:6a4db94011d3 573 }
sahilmgandhi 18:6a4db94011d3 574 else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
sahilmgandhi 18:6a4db94011d3 575 {
sahilmgandhi 18:6a4db94011d3 576 transmitmailbox = 1U;
sahilmgandhi 18:6a4db94011d3 577 }
sahilmgandhi 18:6a4db94011d3 578 else
sahilmgandhi 18:6a4db94011d3 579 {
sahilmgandhi 18:6a4db94011d3 580 transmitmailbox = 2U;
sahilmgandhi 18:6a4db94011d3 581 }
sahilmgandhi 18:6a4db94011d3 582
sahilmgandhi 18:6a4db94011d3 583 /* Set up the Id */
sahilmgandhi 18:6a4db94011d3 584 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
sahilmgandhi 18:6a4db94011d3 585 if (hcan->pTxMsg->IDE == CAN_ID_STD)
sahilmgandhi 18:6a4db94011d3 586 {
sahilmgandhi 18:6a4db94011d3 587 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
sahilmgandhi 18:6a4db94011d3 588 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21U) | \
sahilmgandhi 18:6a4db94011d3 589 hcan->pTxMsg->RTR);
sahilmgandhi 18:6a4db94011d3 590 }
sahilmgandhi 18:6a4db94011d3 591 else
sahilmgandhi 18:6a4db94011d3 592 {
sahilmgandhi 18:6a4db94011d3 593 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
sahilmgandhi 18:6a4db94011d3 594 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3U) | \
sahilmgandhi 18:6a4db94011d3 595 hcan->pTxMsg->IDE | \
sahilmgandhi 18:6a4db94011d3 596 hcan->pTxMsg->RTR);
sahilmgandhi 18:6a4db94011d3 597 }
sahilmgandhi 18:6a4db94011d3 598
sahilmgandhi 18:6a4db94011d3 599 /* Set up the DLC */
sahilmgandhi 18:6a4db94011d3 600 hcan->pTxMsg->DLC &= (uint8_t)0x0000000FU;
sahilmgandhi 18:6a4db94011d3 601 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0U;
sahilmgandhi 18:6a4db94011d3 602 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
sahilmgandhi 18:6a4db94011d3 603
sahilmgandhi 18:6a4db94011d3 604 /* Set up the data field */
sahilmgandhi 18:6a4db94011d3 605 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3U] << 24U) |
sahilmgandhi 18:6a4db94011d3 606 ((uint32_t)hcan->pTxMsg->Data[2U] << 16U) |
sahilmgandhi 18:6a4db94011d3 607 ((uint32_t)hcan->pTxMsg->Data[1U] << 8U) |
sahilmgandhi 18:6a4db94011d3 608 ((uint32_t)hcan->pTxMsg->Data[0U]));
sahilmgandhi 18:6a4db94011d3 609 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7U] << 24U) |
sahilmgandhi 18:6a4db94011d3 610 ((uint32_t)hcan->pTxMsg->Data[6U] << 16U) |
sahilmgandhi 18:6a4db94011d3 611 ((uint32_t)hcan->pTxMsg->Data[5U] << 8U) |
sahilmgandhi 18:6a4db94011d3 612 ((uint32_t)hcan->pTxMsg->Data[4U]));
sahilmgandhi 18:6a4db94011d3 613 /* Request transmission */
sahilmgandhi 18:6a4db94011d3 614 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
sahilmgandhi 18:6a4db94011d3 615
sahilmgandhi 18:6a4db94011d3 616 /* Get tick */
sahilmgandhi 18:6a4db94011d3 617 tickstart = HAL_GetTick();
sahilmgandhi 18:6a4db94011d3 618
sahilmgandhi 18:6a4db94011d3 619 /* Check End of transmission flag */
sahilmgandhi 18:6a4db94011d3 620 while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
sahilmgandhi 18:6a4db94011d3 621 {
sahilmgandhi 18:6a4db94011d3 622 /* Check for the Timeout */
sahilmgandhi 18:6a4db94011d3 623 if(Timeout != HAL_MAX_DELAY)
sahilmgandhi 18:6a4db94011d3 624 {
sahilmgandhi 18:6a4db94011d3 625 if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout))
sahilmgandhi 18:6a4db94011d3 626 {
sahilmgandhi 18:6a4db94011d3 627 hcan->State = HAL_CAN_STATE_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 628 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 629 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 630 return HAL_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 631 }
sahilmgandhi 18:6a4db94011d3 632 }
sahilmgandhi 18:6a4db94011d3 633 }
sahilmgandhi 18:6a4db94011d3 634 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
sahilmgandhi 18:6a4db94011d3 635 {
sahilmgandhi 18:6a4db94011d3 636 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 637 hcan->State = HAL_CAN_STATE_BUSY_RX;
sahilmgandhi 18:6a4db94011d3 638 }
sahilmgandhi 18:6a4db94011d3 639 else
sahilmgandhi 18:6a4db94011d3 640 {
sahilmgandhi 18:6a4db94011d3 641 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 642 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 643 }
sahilmgandhi 18:6a4db94011d3 644
sahilmgandhi 18:6a4db94011d3 645 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 646 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 647
sahilmgandhi 18:6a4db94011d3 648 /* Return function status */
sahilmgandhi 18:6a4db94011d3 649 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 650 }
sahilmgandhi 18:6a4db94011d3 651 else
sahilmgandhi 18:6a4db94011d3 652 {
sahilmgandhi 18:6a4db94011d3 653 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 654 hcan->State = HAL_CAN_STATE_ERROR;
sahilmgandhi 18:6a4db94011d3 655
sahilmgandhi 18:6a4db94011d3 656 /* Return function status */
sahilmgandhi 18:6a4db94011d3 657 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 658 }
sahilmgandhi 18:6a4db94011d3 659 }
sahilmgandhi 18:6a4db94011d3 660
sahilmgandhi 18:6a4db94011d3 661 /**
sahilmgandhi 18:6a4db94011d3 662 * @brief Initiates and transmits a CAN frame message.
sahilmgandhi 18:6a4db94011d3 663 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 664 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 665 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 666 */
sahilmgandhi 18:6a4db94011d3 667 HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 668 {
sahilmgandhi 18:6a4db94011d3 669 uint32_t transmitmailbox = 5U;
sahilmgandhi 18:6a4db94011d3 670
sahilmgandhi 18:6a4db94011d3 671 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 672 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
sahilmgandhi 18:6a4db94011d3 673 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
sahilmgandhi 18:6a4db94011d3 674 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
sahilmgandhi 18:6a4db94011d3 675
sahilmgandhi 18:6a4db94011d3 676 if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) || \
sahilmgandhi 18:6a4db94011d3 677 ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) || \
sahilmgandhi 18:6a4db94011d3 678 ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2))
sahilmgandhi 18:6a4db94011d3 679 {
sahilmgandhi 18:6a4db94011d3 680 /* Process Locked */
sahilmgandhi 18:6a4db94011d3 681 __HAL_LOCK(hcan);
sahilmgandhi 18:6a4db94011d3 682
sahilmgandhi 18:6a4db94011d3 683 /* Select one empty transmit mailbox */
sahilmgandhi 18:6a4db94011d3 684 if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
sahilmgandhi 18:6a4db94011d3 685 {
sahilmgandhi 18:6a4db94011d3 686 transmitmailbox = 0U;
sahilmgandhi 18:6a4db94011d3 687 }
sahilmgandhi 18:6a4db94011d3 688 else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
sahilmgandhi 18:6a4db94011d3 689 {
sahilmgandhi 18:6a4db94011d3 690 transmitmailbox = 1U;
sahilmgandhi 18:6a4db94011d3 691 }
sahilmgandhi 18:6a4db94011d3 692 else
sahilmgandhi 18:6a4db94011d3 693 {
sahilmgandhi 18:6a4db94011d3 694 transmitmailbox = 2U;
sahilmgandhi 18:6a4db94011d3 695 }
sahilmgandhi 18:6a4db94011d3 696
sahilmgandhi 18:6a4db94011d3 697 /* Set up the Id */
sahilmgandhi 18:6a4db94011d3 698 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
sahilmgandhi 18:6a4db94011d3 699 if(hcan->pTxMsg->IDE == CAN_ID_STD)
sahilmgandhi 18:6a4db94011d3 700 {
sahilmgandhi 18:6a4db94011d3 701 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
sahilmgandhi 18:6a4db94011d3 702 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21U) | \
sahilmgandhi 18:6a4db94011d3 703 hcan->pTxMsg->RTR);
sahilmgandhi 18:6a4db94011d3 704 }
sahilmgandhi 18:6a4db94011d3 705 else
sahilmgandhi 18:6a4db94011d3 706 {
sahilmgandhi 18:6a4db94011d3 707 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
sahilmgandhi 18:6a4db94011d3 708 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3U) | \
sahilmgandhi 18:6a4db94011d3 709 hcan->pTxMsg->IDE | \
sahilmgandhi 18:6a4db94011d3 710 hcan->pTxMsg->RTR);
sahilmgandhi 18:6a4db94011d3 711 }
sahilmgandhi 18:6a4db94011d3 712
sahilmgandhi 18:6a4db94011d3 713 /* Set up the DLC */
sahilmgandhi 18:6a4db94011d3 714 hcan->pTxMsg->DLC &= (uint8_t)0x0000000FU;
sahilmgandhi 18:6a4db94011d3 715 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0U;
sahilmgandhi 18:6a4db94011d3 716 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
sahilmgandhi 18:6a4db94011d3 717
sahilmgandhi 18:6a4db94011d3 718 /* Set up the data field */
sahilmgandhi 18:6a4db94011d3 719 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3U] << 24U) |
sahilmgandhi 18:6a4db94011d3 720 ((uint32_t)hcan->pTxMsg->Data[2U] << 16U) |
sahilmgandhi 18:6a4db94011d3 721 ((uint32_t)hcan->pTxMsg->Data[1U] << 8U) |
sahilmgandhi 18:6a4db94011d3 722 ((uint32_t)hcan->pTxMsg->Data[0U]));
sahilmgandhi 18:6a4db94011d3 723 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7U] << 24U) |
sahilmgandhi 18:6a4db94011d3 724 ((uint32_t)hcan->pTxMsg->Data[6U] << 16U) |
sahilmgandhi 18:6a4db94011d3 725 ((uint32_t)hcan->pTxMsg->Data[5U] << 8U) |
sahilmgandhi 18:6a4db94011d3 726 ((uint32_t)hcan->pTxMsg->Data[4U]));
sahilmgandhi 18:6a4db94011d3 727
sahilmgandhi 18:6a4db94011d3 728 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
sahilmgandhi 18:6a4db94011d3 729 {
sahilmgandhi 18:6a4db94011d3 730 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 731 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
sahilmgandhi 18:6a4db94011d3 732 }
sahilmgandhi 18:6a4db94011d3 733 else
sahilmgandhi 18:6a4db94011d3 734 {
sahilmgandhi 18:6a4db94011d3 735 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 736 hcan->State = HAL_CAN_STATE_BUSY_TX;
sahilmgandhi 18:6a4db94011d3 737 }
sahilmgandhi 18:6a4db94011d3 738
sahilmgandhi 18:6a4db94011d3 739 /* Set CAN error code to none */
sahilmgandhi 18:6a4db94011d3 740 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
sahilmgandhi 18:6a4db94011d3 741
sahilmgandhi 18:6a4db94011d3 742 /* Process Unlocked */
sahilmgandhi 18:6a4db94011d3 743 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 744
sahilmgandhi 18:6a4db94011d3 745 /* Enable Error warning Interrupt */
sahilmgandhi 18:6a4db94011d3 746 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
sahilmgandhi 18:6a4db94011d3 747
sahilmgandhi 18:6a4db94011d3 748 /* Enable Error passive Interrupt */
sahilmgandhi 18:6a4db94011d3 749 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
sahilmgandhi 18:6a4db94011d3 750
sahilmgandhi 18:6a4db94011d3 751 /* Enable Bus-off Interrupt */
sahilmgandhi 18:6a4db94011d3 752 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
sahilmgandhi 18:6a4db94011d3 753
sahilmgandhi 18:6a4db94011d3 754 /* Enable Last error code Interrupt */
sahilmgandhi 18:6a4db94011d3 755 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
sahilmgandhi 18:6a4db94011d3 756
sahilmgandhi 18:6a4db94011d3 757 /* Enable Error Interrupt */
sahilmgandhi 18:6a4db94011d3 758 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 759
sahilmgandhi 18:6a4db94011d3 760 /* Enable Transmit mailbox empty Interrupt */
sahilmgandhi 18:6a4db94011d3 761 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME);
sahilmgandhi 18:6a4db94011d3 762
sahilmgandhi 18:6a4db94011d3 763 /* Request transmission */
sahilmgandhi 18:6a4db94011d3 764 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
sahilmgandhi 18:6a4db94011d3 765 }
sahilmgandhi 18:6a4db94011d3 766 else
sahilmgandhi 18:6a4db94011d3 767 {
sahilmgandhi 18:6a4db94011d3 768 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 769 hcan->State = HAL_CAN_STATE_ERROR;
sahilmgandhi 18:6a4db94011d3 770
sahilmgandhi 18:6a4db94011d3 771 /* Return function status */
sahilmgandhi 18:6a4db94011d3 772 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 773 }
sahilmgandhi 18:6a4db94011d3 774
sahilmgandhi 18:6a4db94011d3 775 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 776 }
sahilmgandhi 18:6a4db94011d3 777
sahilmgandhi 18:6a4db94011d3 778 /**
sahilmgandhi 18:6a4db94011d3 779 * @brief Receives a correct CAN frame.
sahilmgandhi 18:6a4db94011d3 780 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 781 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 782 * @param FIFONumber: FIFO Number value
sahilmgandhi 18:6a4db94011d3 783 * @param Timeout: Specify Timeout value
sahilmgandhi 18:6a4db94011d3 784 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 785 */
sahilmgandhi 18:6a4db94011d3 786 HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
sahilmgandhi 18:6a4db94011d3 787 {
sahilmgandhi 18:6a4db94011d3 788 uint32_t tickstart = 0U;
sahilmgandhi 18:6a4db94011d3 789
sahilmgandhi 18:6a4db94011d3 790 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 791 assert_param(IS_CAN_FIFO(FIFONumber));
sahilmgandhi 18:6a4db94011d3 792
sahilmgandhi 18:6a4db94011d3 793 /* Process locked */
sahilmgandhi 18:6a4db94011d3 794 __HAL_LOCK(hcan);
sahilmgandhi 18:6a4db94011d3 795
sahilmgandhi 18:6a4db94011d3 796 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
sahilmgandhi 18:6a4db94011d3 797 {
sahilmgandhi 18:6a4db94011d3 798 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 799 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
sahilmgandhi 18:6a4db94011d3 800 }
sahilmgandhi 18:6a4db94011d3 801 else
sahilmgandhi 18:6a4db94011d3 802 {
sahilmgandhi 18:6a4db94011d3 803 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 804 hcan->State = HAL_CAN_STATE_BUSY_RX;
sahilmgandhi 18:6a4db94011d3 805 }
sahilmgandhi 18:6a4db94011d3 806
sahilmgandhi 18:6a4db94011d3 807 /* Get tick */
sahilmgandhi 18:6a4db94011d3 808 tickstart = HAL_GetTick();
sahilmgandhi 18:6a4db94011d3 809
sahilmgandhi 18:6a4db94011d3 810 /* Check pending message */
sahilmgandhi 18:6a4db94011d3 811 while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0U)
sahilmgandhi 18:6a4db94011d3 812 {
sahilmgandhi 18:6a4db94011d3 813 /* Check for the Timeout */
sahilmgandhi 18:6a4db94011d3 814 if(Timeout != HAL_MAX_DELAY)
sahilmgandhi 18:6a4db94011d3 815 {
sahilmgandhi 18:6a4db94011d3 816 if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout))
sahilmgandhi 18:6a4db94011d3 817 {
sahilmgandhi 18:6a4db94011d3 818 hcan->State = HAL_CAN_STATE_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 819 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 820 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 821 return HAL_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 822 }
sahilmgandhi 18:6a4db94011d3 823 }
sahilmgandhi 18:6a4db94011d3 824 }
sahilmgandhi 18:6a4db94011d3 825
sahilmgandhi 18:6a4db94011d3 826 /* Get the Id */
sahilmgandhi 18:6a4db94011d3 827 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
sahilmgandhi 18:6a4db94011d3 828 if (hcan->pRxMsg->IDE == CAN_ID_STD)
sahilmgandhi 18:6a4db94011d3 829 {
sahilmgandhi 18:6a4db94011d3 830 hcan->pRxMsg->StdId = (uint32_t)0x000007FFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21U);
sahilmgandhi 18:6a4db94011d3 831 }
sahilmgandhi 18:6a4db94011d3 832 else
sahilmgandhi 18:6a4db94011d3 833 {
sahilmgandhi 18:6a4db94011d3 834 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3U);
sahilmgandhi 18:6a4db94011d3 835 }
sahilmgandhi 18:6a4db94011d3 836
sahilmgandhi 18:6a4db94011d3 837 hcan->pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
sahilmgandhi 18:6a4db94011d3 838 /* Get the DLC */
sahilmgandhi 18:6a4db94011d3 839 hcan->pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
sahilmgandhi 18:6a4db94011d3 840 /* Get the FMI */
sahilmgandhi 18:6a4db94011d3 841 hcan->pRxMsg->FMI = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8U);
sahilmgandhi 18:6a4db94011d3 842 /* Get the data field */
sahilmgandhi 18:6a4db94011d3 843 hcan->pRxMsg->Data[0U] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
sahilmgandhi 18:6a4db94011d3 844 hcan->pRxMsg->Data[1U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8U);
sahilmgandhi 18:6a4db94011d3 845 hcan->pRxMsg->Data[2U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16U);
sahilmgandhi 18:6a4db94011d3 846 hcan->pRxMsg->Data[3U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24U);
sahilmgandhi 18:6a4db94011d3 847 hcan->pRxMsg->Data[4U] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
sahilmgandhi 18:6a4db94011d3 848 hcan->pRxMsg->Data[5U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8U);
sahilmgandhi 18:6a4db94011d3 849 hcan->pRxMsg->Data[6U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16U);
sahilmgandhi 18:6a4db94011d3 850 hcan->pRxMsg->Data[7U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24U);
sahilmgandhi 18:6a4db94011d3 851
sahilmgandhi 18:6a4db94011d3 852 /* Release the FIFO */
sahilmgandhi 18:6a4db94011d3 853 if(FIFONumber == CAN_FIFO0)
sahilmgandhi 18:6a4db94011d3 854 {
sahilmgandhi 18:6a4db94011d3 855 /* Release FIFO0 */
sahilmgandhi 18:6a4db94011d3 856 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
sahilmgandhi 18:6a4db94011d3 857 }
sahilmgandhi 18:6a4db94011d3 858 else /* FIFONumber == CAN_FIFO1 */
sahilmgandhi 18:6a4db94011d3 859 {
sahilmgandhi 18:6a4db94011d3 860 /* Release FIFO1 */
sahilmgandhi 18:6a4db94011d3 861 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
sahilmgandhi 18:6a4db94011d3 862 }
sahilmgandhi 18:6a4db94011d3 863
sahilmgandhi 18:6a4db94011d3 864 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
sahilmgandhi 18:6a4db94011d3 865 {
sahilmgandhi 18:6a4db94011d3 866 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 867 hcan->State = HAL_CAN_STATE_BUSY_TX;
sahilmgandhi 18:6a4db94011d3 868
sahilmgandhi 18:6a4db94011d3 869 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 870 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 871 }
sahilmgandhi 18:6a4db94011d3 872 else
sahilmgandhi 18:6a4db94011d3 873 {
sahilmgandhi 18:6a4db94011d3 874 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 875 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 876
sahilmgandhi 18:6a4db94011d3 877 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 878 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 879 }
sahilmgandhi 18:6a4db94011d3 880
sahilmgandhi 18:6a4db94011d3 881 /* Return function status */
sahilmgandhi 18:6a4db94011d3 882 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 883 }
sahilmgandhi 18:6a4db94011d3 884
sahilmgandhi 18:6a4db94011d3 885 /**
sahilmgandhi 18:6a4db94011d3 886 * @brief Receives a correct CAN frame.
sahilmgandhi 18:6a4db94011d3 887 * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 888 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 889 * @param FIFONumber: Specify the FIFO number
sahilmgandhi 18:6a4db94011d3 890 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 891 */
sahilmgandhi 18:6a4db94011d3 892 HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
sahilmgandhi 18:6a4db94011d3 893 {
sahilmgandhi 18:6a4db94011d3 894 uint32_t tmp = 0;
sahilmgandhi 18:6a4db94011d3 895
sahilmgandhi 18:6a4db94011d3 896 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 897 assert_param(IS_CAN_FIFO(FIFONumber));
sahilmgandhi 18:6a4db94011d3 898
sahilmgandhi 18:6a4db94011d3 899 tmp = hcan->State;
sahilmgandhi 18:6a4db94011d3 900 if((tmp == HAL_CAN_STATE_READY) || (tmp == HAL_CAN_STATE_BUSY_TX))
sahilmgandhi 18:6a4db94011d3 901 {
sahilmgandhi 18:6a4db94011d3 902 /* Process locked */
sahilmgandhi 18:6a4db94011d3 903 __HAL_LOCK(hcan);
sahilmgandhi 18:6a4db94011d3 904
sahilmgandhi 18:6a4db94011d3 905 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
sahilmgandhi 18:6a4db94011d3 906 {
sahilmgandhi 18:6a4db94011d3 907 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 908 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
sahilmgandhi 18:6a4db94011d3 909 }
sahilmgandhi 18:6a4db94011d3 910 else
sahilmgandhi 18:6a4db94011d3 911 {
sahilmgandhi 18:6a4db94011d3 912 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 913 hcan->State = HAL_CAN_STATE_BUSY_RX;
sahilmgandhi 18:6a4db94011d3 914 }
sahilmgandhi 18:6a4db94011d3 915
sahilmgandhi 18:6a4db94011d3 916 /* Set CAN error code to none */
sahilmgandhi 18:6a4db94011d3 917 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
sahilmgandhi 18:6a4db94011d3 918
sahilmgandhi 18:6a4db94011d3 919 /* Enable Error warning Interrupt */
sahilmgandhi 18:6a4db94011d3 920 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
sahilmgandhi 18:6a4db94011d3 921
sahilmgandhi 18:6a4db94011d3 922 /* Enable Error passive Interrupt */
sahilmgandhi 18:6a4db94011d3 923 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
sahilmgandhi 18:6a4db94011d3 924
sahilmgandhi 18:6a4db94011d3 925 /* Enable Bus-off Interrupt */
sahilmgandhi 18:6a4db94011d3 926 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
sahilmgandhi 18:6a4db94011d3 927
sahilmgandhi 18:6a4db94011d3 928 /* Enable Last error code Interrupt */
sahilmgandhi 18:6a4db94011d3 929 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
sahilmgandhi 18:6a4db94011d3 930
sahilmgandhi 18:6a4db94011d3 931 /* Enable Error Interrupt */
sahilmgandhi 18:6a4db94011d3 932 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 933
sahilmgandhi 18:6a4db94011d3 934 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 935 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 936
sahilmgandhi 18:6a4db94011d3 937 if(FIFONumber == CAN_FIFO0)
sahilmgandhi 18:6a4db94011d3 938 {
sahilmgandhi 18:6a4db94011d3 939 /* Enable FIFO 0 message pending Interrupt */
sahilmgandhi 18:6a4db94011d3 940 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);
sahilmgandhi 18:6a4db94011d3 941 }
sahilmgandhi 18:6a4db94011d3 942 else
sahilmgandhi 18:6a4db94011d3 943 {
sahilmgandhi 18:6a4db94011d3 944 /* Enable FIFO 1 message pending Interrupt */
sahilmgandhi 18:6a4db94011d3 945 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);
sahilmgandhi 18:6a4db94011d3 946 }
sahilmgandhi 18:6a4db94011d3 947
sahilmgandhi 18:6a4db94011d3 948 }
sahilmgandhi 18:6a4db94011d3 949 else
sahilmgandhi 18:6a4db94011d3 950 {
sahilmgandhi 18:6a4db94011d3 951 return HAL_BUSY;
sahilmgandhi 18:6a4db94011d3 952 }
sahilmgandhi 18:6a4db94011d3 953
sahilmgandhi 18:6a4db94011d3 954 /* Return function status */
sahilmgandhi 18:6a4db94011d3 955 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 956 }
sahilmgandhi 18:6a4db94011d3 957
sahilmgandhi 18:6a4db94011d3 958 /**
sahilmgandhi 18:6a4db94011d3 959 * @brief Enters the Sleep (low power) mode.
sahilmgandhi 18:6a4db94011d3 960 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 961 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 962 * @retval HAL status.
sahilmgandhi 18:6a4db94011d3 963 */
sahilmgandhi 18:6a4db94011d3 964 HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 965 {
sahilmgandhi 18:6a4db94011d3 966 uint32_t tickstart = 0U;
sahilmgandhi 18:6a4db94011d3 967
sahilmgandhi 18:6a4db94011d3 968 /* Process locked */
sahilmgandhi 18:6a4db94011d3 969 __HAL_LOCK(hcan);
sahilmgandhi 18:6a4db94011d3 970
sahilmgandhi 18:6a4db94011d3 971 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 972 hcan->State = HAL_CAN_STATE_BUSY;
sahilmgandhi 18:6a4db94011d3 973
sahilmgandhi 18:6a4db94011d3 974 /* Request Sleep mode */
sahilmgandhi 18:6a4db94011d3 975 hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
sahilmgandhi 18:6a4db94011d3 976
sahilmgandhi 18:6a4db94011d3 977 /* Sleep mode status */
sahilmgandhi 18:6a4db94011d3 978 if ((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
sahilmgandhi 18:6a4db94011d3 979 {
sahilmgandhi 18:6a4db94011d3 980 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 981 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 982
sahilmgandhi 18:6a4db94011d3 983 /* Return function status */
sahilmgandhi 18:6a4db94011d3 984 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 985 }
sahilmgandhi 18:6a4db94011d3 986
sahilmgandhi 18:6a4db94011d3 987 /* Get tick */
sahilmgandhi 18:6a4db94011d3 988 tickstart = HAL_GetTick();
sahilmgandhi 18:6a4db94011d3 989
sahilmgandhi 18:6a4db94011d3 990 /* Wait the acknowledge */
sahilmgandhi 18:6a4db94011d3 991 while((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
sahilmgandhi 18:6a4db94011d3 992 {
sahilmgandhi 18:6a4db94011d3 993 if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
sahilmgandhi 18:6a4db94011d3 994 {
sahilmgandhi 18:6a4db94011d3 995 hcan->State = HAL_CAN_STATE_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 996 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 997 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 998 return HAL_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 999 }
sahilmgandhi 18:6a4db94011d3 1000 }
sahilmgandhi 18:6a4db94011d3 1001
sahilmgandhi 18:6a4db94011d3 1002 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 1003 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 1004
sahilmgandhi 18:6a4db94011d3 1005 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 1006 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 1007
sahilmgandhi 18:6a4db94011d3 1008 /* Return function status */
sahilmgandhi 18:6a4db94011d3 1009 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 1010 }
sahilmgandhi 18:6a4db94011d3 1011
sahilmgandhi 18:6a4db94011d3 1012 /**
sahilmgandhi 18:6a4db94011d3 1013 * @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
sahilmgandhi 18:6a4db94011d3 1014 * is in the normal mode.
sahilmgandhi 18:6a4db94011d3 1015 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1016 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1017 * @retval HAL status.
sahilmgandhi 18:6a4db94011d3 1018 */
sahilmgandhi 18:6a4db94011d3 1019 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 1020 {
sahilmgandhi 18:6a4db94011d3 1021 uint32_t tickstart = 0U;
sahilmgandhi 18:6a4db94011d3 1022
sahilmgandhi 18:6a4db94011d3 1023 /* Process locked */
sahilmgandhi 18:6a4db94011d3 1024 __HAL_LOCK(hcan);
sahilmgandhi 18:6a4db94011d3 1025
sahilmgandhi 18:6a4db94011d3 1026 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 1027 hcan->State = HAL_CAN_STATE_BUSY;
sahilmgandhi 18:6a4db94011d3 1028
sahilmgandhi 18:6a4db94011d3 1029 /* Wake up request */
sahilmgandhi 18:6a4db94011d3 1030 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
sahilmgandhi 18:6a4db94011d3 1031
sahilmgandhi 18:6a4db94011d3 1032 /* Get tick */
sahilmgandhi 18:6a4db94011d3 1033 tickstart = HAL_GetTick();
sahilmgandhi 18:6a4db94011d3 1034
sahilmgandhi 18:6a4db94011d3 1035 /* Sleep mode status */
sahilmgandhi 18:6a4db94011d3 1036 while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
sahilmgandhi 18:6a4db94011d3 1037 {
sahilmgandhi 18:6a4db94011d3 1038 if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
sahilmgandhi 18:6a4db94011d3 1039 {
sahilmgandhi 18:6a4db94011d3 1040 hcan->State= HAL_CAN_STATE_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 1041 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 1042 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 1043 return HAL_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 1044 }
sahilmgandhi 18:6a4db94011d3 1045 }
sahilmgandhi 18:6a4db94011d3 1046 if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
sahilmgandhi 18:6a4db94011d3 1047 {
sahilmgandhi 18:6a4db94011d3 1048 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 1049 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 1050
sahilmgandhi 18:6a4db94011d3 1051 /* Return function status */
sahilmgandhi 18:6a4db94011d3 1052 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 1053 }
sahilmgandhi 18:6a4db94011d3 1054
sahilmgandhi 18:6a4db94011d3 1055 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 1056 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 1057
sahilmgandhi 18:6a4db94011d3 1058 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 1059 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 1060
sahilmgandhi 18:6a4db94011d3 1061 /* Return function status */
sahilmgandhi 18:6a4db94011d3 1062 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 1063 }
sahilmgandhi 18:6a4db94011d3 1064
sahilmgandhi 18:6a4db94011d3 1065 /**
sahilmgandhi 18:6a4db94011d3 1066 * @brief Handles CAN interrupt request
sahilmgandhi 18:6a4db94011d3 1067 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1068 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1069 * @retval None
sahilmgandhi 18:6a4db94011d3 1070 */
sahilmgandhi 18:6a4db94011d3 1071 void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 1072 {
sahilmgandhi 18:6a4db94011d3 1073 uint32_t tmp1 = 0U, tmp2 = 0U, tmp3 = 0U;
sahilmgandhi 18:6a4db94011d3 1074
sahilmgandhi 18:6a4db94011d3 1075 /* Check End of transmission flag */
sahilmgandhi 18:6a4db94011d3 1076 if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
sahilmgandhi 18:6a4db94011d3 1077 {
sahilmgandhi 18:6a4db94011d3 1078 tmp1 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0);
sahilmgandhi 18:6a4db94011d3 1079 tmp2 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1);
sahilmgandhi 18:6a4db94011d3 1080 tmp3 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2);
sahilmgandhi 18:6a4db94011d3 1081 if(tmp1 || tmp2 || tmp3)
sahilmgandhi 18:6a4db94011d3 1082 {
sahilmgandhi 18:6a4db94011d3 1083 /* Call transmit function */
sahilmgandhi 18:6a4db94011d3 1084 CAN_Transmit_IT(hcan);
sahilmgandhi 18:6a4db94011d3 1085 }
sahilmgandhi 18:6a4db94011d3 1086 }
sahilmgandhi 18:6a4db94011d3 1087
sahilmgandhi 18:6a4db94011d3 1088 tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0);
sahilmgandhi 18:6a4db94011d3 1089 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0);
sahilmgandhi 18:6a4db94011d3 1090 /* Check End of reception flag for FIFO0 */
sahilmgandhi 18:6a4db94011d3 1091 if((tmp1 != 0U) && tmp2)
sahilmgandhi 18:6a4db94011d3 1092 {
sahilmgandhi 18:6a4db94011d3 1093 /* Call receive function */
sahilmgandhi 18:6a4db94011d3 1094 CAN_Receive_IT(hcan, CAN_FIFO0);
sahilmgandhi 18:6a4db94011d3 1095 }
sahilmgandhi 18:6a4db94011d3 1096
sahilmgandhi 18:6a4db94011d3 1097 tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1);
sahilmgandhi 18:6a4db94011d3 1098 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1);
sahilmgandhi 18:6a4db94011d3 1099 /* Check End of reception flag for FIFO1 */
sahilmgandhi 18:6a4db94011d3 1100 if((tmp1 != 0U) && tmp2)
sahilmgandhi 18:6a4db94011d3 1101 {
sahilmgandhi 18:6a4db94011d3 1102 /* Call receive function */
sahilmgandhi 18:6a4db94011d3 1103 CAN_Receive_IT(hcan, CAN_FIFO1);
sahilmgandhi 18:6a4db94011d3 1104 }
sahilmgandhi 18:6a4db94011d3 1105
sahilmgandhi 18:6a4db94011d3 1106 tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG);
sahilmgandhi 18:6a4db94011d3 1107 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG);
sahilmgandhi 18:6a4db94011d3 1108 tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 1109 /* Check Error Warning Flag */
sahilmgandhi 18:6a4db94011d3 1110 if(tmp1 && tmp2 && tmp3)
sahilmgandhi 18:6a4db94011d3 1111 {
sahilmgandhi 18:6a4db94011d3 1112 /* Set CAN error code to EWG error */
sahilmgandhi 18:6a4db94011d3 1113 hcan->ErrorCode |= HAL_CAN_ERROR_EWG;
sahilmgandhi 18:6a4db94011d3 1114 }
sahilmgandhi 18:6a4db94011d3 1115
sahilmgandhi 18:6a4db94011d3 1116 tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV);
sahilmgandhi 18:6a4db94011d3 1117 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV);
sahilmgandhi 18:6a4db94011d3 1118 tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 1119 /* Check Error Passive Flag */
sahilmgandhi 18:6a4db94011d3 1120 if(tmp1 && tmp2 && tmp3)
sahilmgandhi 18:6a4db94011d3 1121 {
sahilmgandhi 18:6a4db94011d3 1122 /* Set CAN error code to EPV error */
sahilmgandhi 18:6a4db94011d3 1123 hcan->ErrorCode |= HAL_CAN_ERROR_EPV;
sahilmgandhi 18:6a4db94011d3 1124 }
sahilmgandhi 18:6a4db94011d3 1125
sahilmgandhi 18:6a4db94011d3 1126 tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF);
sahilmgandhi 18:6a4db94011d3 1127 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF);
sahilmgandhi 18:6a4db94011d3 1128 tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 1129 /* Check Bus-Off Flag */
sahilmgandhi 18:6a4db94011d3 1130 if(tmp1 && tmp2 && tmp3)
sahilmgandhi 18:6a4db94011d3 1131 {
sahilmgandhi 18:6a4db94011d3 1132 /* Set CAN error code to BOF error */
sahilmgandhi 18:6a4db94011d3 1133 hcan->ErrorCode |= HAL_CAN_ERROR_BOF;
sahilmgandhi 18:6a4db94011d3 1134 }
sahilmgandhi 18:6a4db94011d3 1135
sahilmgandhi 18:6a4db94011d3 1136 tmp1 = HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC);
sahilmgandhi 18:6a4db94011d3 1137 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC);
sahilmgandhi 18:6a4db94011d3 1138 tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 1139 /* Check Last error code Flag */
sahilmgandhi 18:6a4db94011d3 1140 if((!tmp1) && tmp2 && tmp3)
sahilmgandhi 18:6a4db94011d3 1141 {
sahilmgandhi 18:6a4db94011d3 1142 tmp1 = (hcan->Instance->ESR) & CAN_ESR_LEC;
sahilmgandhi 18:6a4db94011d3 1143 switch(tmp1)
sahilmgandhi 18:6a4db94011d3 1144 {
sahilmgandhi 18:6a4db94011d3 1145 case(CAN_ESR_LEC_0):
sahilmgandhi 18:6a4db94011d3 1146 /* Set CAN error code to STF error */
sahilmgandhi 18:6a4db94011d3 1147 hcan->ErrorCode |= HAL_CAN_ERROR_STF;
sahilmgandhi 18:6a4db94011d3 1148 break;
sahilmgandhi 18:6a4db94011d3 1149 case(CAN_ESR_LEC_1):
sahilmgandhi 18:6a4db94011d3 1150 /* Set CAN error code to FOR error */
sahilmgandhi 18:6a4db94011d3 1151 hcan->ErrorCode |= HAL_CAN_ERROR_FOR;
sahilmgandhi 18:6a4db94011d3 1152 break;
sahilmgandhi 18:6a4db94011d3 1153 case(CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
sahilmgandhi 18:6a4db94011d3 1154 /* Set CAN error code to ACK error */
sahilmgandhi 18:6a4db94011d3 1155 hcan->ErrorCode |= HAL_CAN_ERROR_ACK;
sahilmgandhi 18:6a4db94011d3 1156 break;
sahilmgandhi 18:6a4db94011d3 1157 case(CAN_ESR_LEC_2):
sahilmgandhi 18:6a4db94011d3 1158 /* Set CAN error code to BR error */
sahilmgandhi 18:6a4db94011d3 1159 hcan->ErrorCode |= HAL_CAN_ERROR_BR;
sahilmgandhi 18:6a4db94011d3 1160 break;
sahilmgandhi 18:6a4db94011d3 1161 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
sahilmgandhi 18:6a4db94011d3 1162 /* Set CAN error code to BD error */
sahilmgandhi 18:6a4db94011d3 1163 hcan->ErrorCode |= HAL_CAN_ERROR_BD;
sahilmgandhi 18:6a4db94011d3 1164 break;
sahilmgandhi 18:6a4db94011d3 1165 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
sahilmgandhi 18:6a4db94011d3 1166 /* Set CAN error code to CRC error */
sahilmgandhi 18:6a4db94011d3 1167 hcan->ErrorCode |= HAL_CAN_ERROR_CRC;
sahilmgandhi 18:6a4db94011d3 1168 break;
sahilmgandhi 18:6a4db94011d3 1169 default:
sahilmgandhi 18:6a4db94011d3 1170 break;
sahilmgandhi 18:6a4db94011d3 1171 }
sahilmgandhi 18:6a4db94011d3 1172
sahilmgandhi 18:6a4db94011d3 1173 /* Clear Last error code Flag */
sahilmgandhi 18:6a4db94011d3 1174 hcan->Instance->ESR &= ~(CAN_ESR_LEC);
sahilmgandhi 18:6a4db94011d3 1175 }
sahilmgandhi 18:6a4db94011d3 1176
sahilmgandhi 18:6a4db94011d3 1177 /* Call the Error call Back in case of Errors */
sahilmgandhi 18:6a4db94011d3 1178 if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
sahilmgandhi 18:6a4db94011d3 1179 {
sahilmgandhi 18:6a4db94011d3 1180 /* Clear ERRI Flag */
sahilmgandhi 18:6a4db94011d3 1181 hcan->Instance->MSR = CAN_MSR_ERRI;
sahilmgandhi 18:6a4db94011d3 1182 /* Set the CAN state ready to be able to start again the process */
sahilmgandhi 18:6a4db94011d3 1183 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 1184 /* Call Error callback function */
sahilmgandhi 18:6a4db94011d3 1185 HAL_CAN_ErrorCallback(hcan);
sahilmgandhi 18:6a4db94011d3 1186 }
sahilmgandhi 18:6a4db94011d3 1187 }
sahilmgandhi 18:6a4db94011d3 1188
sahilmgandhi 18:6a4db94011d3 1189 /**
sahilmgandhi 18:6a4db94011d3 1190 * @brief Transmission complete callback in non blocking mode
sahilmgandhi 18:6a4db94011d3 1191 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1192 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1193 * @retval None
sahilmgandhi 18:6a4db94011d3 1194 */
sahilmgandhi 18:6a4db94011d3 1195 __weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 1196 {
sahilmgandhi 18:6a4db94011d3 1197 /* Prevent unused argument(s) compilation warning */
sahilmgandhi 18:6a4db94011d3 1198 UNUSED(hcan);
sahilmgandhi 18:6a4db94011d3 1199 /* NOTE : This function Should not be modified, when the callback is needed,
sahilmgandhi 18:6a4db94011d3 1200 the HAL_CAN_TxCpltCallback could be implemented in the user file
sahilmgandhi 18:6a4db94011d3 1201 */
sahilmgandhi 18:6a4db94011d3 1202 }
sahilmgandhi 18:6a4db94011d3 1203
sahilmgandhi 18:6a4db94011d3 1204 /**
sahilmgandhi 18:6a4db94011d3 1205 * @brief Transmission complete callback in non blocking mode
sahilmgandhi 18:6a4db94011d3 1206 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1207 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1208 * @retval None
sahilmgandhi 18:6a4db94011d3 1209 */
sahilmgandhi 18:6a4db94011d3 1210 __weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 1211 {
sahilmgandhi 18:6a4db94011d3 1212 /* Prevent unused argument(s) compilation warning */
sahilmgandhi 18:6a4db94011d3 1213 UNUSED(hcan);
sahilmgandhi 18:6a4db94011d3 1214 /* NOTE : This function Should not be modified, when the callback is needed,
sahilmgandhi 18:6a4db94011d3 1215 the HAL_CAN_RxCpltCallback could be implemented in the user file
sahilmgandhi 18:6a4db94011d3 1216 */
sahilmgandhi 18:6a4db94011d3 1217 }
sahilmgandhi 18:6a4db94011d3 1218
sahilmgandhi 18:6a4db94011d3 1219 /**
sahilmgandhi 18:6a4db94011d3 1220 * @brief Error CAN callback.
sahilmgandhi 18:6a4db94011d3 1221 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1222 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1223 * @retval None
sahilmgandhi 18:6a4db94011d3 1224 */
sahilmgandhi 18:6a4db94011d3 1225 __weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
sahilmgandhi 18:6a4db94011d3 1226 {
sahilmgandhi 18:6a4db94011d3 1227 /* Prevent unused argument(s) compilation warning */
sahilmgandhi 18:6a4db94011d3 1228 UNUSED(hcan);
sahilmgandhi 18:6a4db94011d3 1229 /* NOTE : This function Should not be modified, when the callback is needed,
sahilmgandhi 18:6a4db94011d3 1230 the HAL_CAN_ErrorCallback could be implemented in the user file
sahilmgandhi 18:6a4db94011d3 1231 */
sahilmgandhi 18:6a4db94011d3 1232 }
sahilmgandhi 18:6a4db94011d3 1233
sahilmgandhi 18:6a4db94011d3 1234 /**
sahilmgandhi 18:6a4db94011d3 1235 * @}
sahilmgandhi 18:6a4db94011d3 1236 */
sahilmgandhi 18:6a4db94011d3 1237
sahilmgandhi 18:6a4db94011d3 1238 /** @defgroup CAN_Exported_Functions_Group3 Peripheral State and Error functions
sahilmgandhi 18:6a4db94011d3 1239 * @brief CAN Peripheral State functions
sahilmgandhi 18:6a4db94011d3 1240 *
sahilmgandhi 18:6a4db94011d3 1241 @verbatim
sahilmgandhi 18:6a4db94011d3 1242 ==============================================================================
sahilmgandhi 18:6a4db94011d3 1243 ##### Peripheral State and Error functions #####
sahilmgandhi 18:6a4db94011d3 1244 ==============================================================================
sahilmgandhi 18:6a4db94011d3 1245 [..]
sahilmgandhi 18:6a4db94011d3 1246 This subsection provides functions allowing to :
sahilmgandhi 18:6a4db94011d3 1247 (+) Check the CAN state.
sahilmgandhi 18:6a4db94011d3 1248 (+) Check CAN Errors detected during interrupt process
sahilmgandhi 18:6a4db94011d3 1249
sahilmgandhi 18:6a4db94011d3 1250 @endverbatim
sahilmgandhi 18:6a4db94011d3 1251 * @{
sahilmgandhi 18:6a4db94011d3 1252 */
sahilmgandhi 18:6a4db94011d3 1253
sahilmgandhi 18:6a4db94011d3 1254 /**
sahilmgandhi 18:6a4db94011d3 1255 * @brief return the CAN state
sahilmgandhi 18:6a4db94011d3 1256 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1257 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1258 * @retval HAL state
sahilmgandhi 18:6a4db94011d3 1259 */
sahilmgandhi 18:6a4db94011d3 1260 HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 1261 {
sahilmgandhi 18:6a4db94011d3 1262 /* Return CAN state */
sahilmgandhi 18:6a4db94011d3 1263 return hcan->State;
sahilmgandhi 18:6a4db94011d3 1264 }
sahilmgandhi 18:6a4db94011d3 1265
sahilmgandhi 18:6a4db94011d3 1266 /**
sahilmgandhi 18:6a4db94011d3 1267 * @brief Return the CAN error code
sahilmgandhi 18:6a4db94011d3 1268 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1269 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1270 * @retval CAN Error Code
sahilmgandhi 18:6a4db94011d3 1271 */
sahilmgandhi 18:6a4db94011d3 1272 uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
sahilmgandhi 18:6a4db94011d3 1273 {
sahilmgandhi 18:6a4db94011d3 1274 return hcan->ErrorCode;
sahilmgandhi 18:6a4db94011d3 1275 }
sahilmgandhi 18:6a4db94011d3 1276
sahilmgandhi 18:6a4db94011d3 1277 /**
sahilmgandhi 18:6a4db94011d3 1278 * @}
sahilmgandhi 18:6a4db94011d3 1279 */
sahilmgandhi 18:6a4db94011d3 1280 /**
sahilmgandhi 18:6a4db94011d3 1281 * @brief Initiates and transmits a CAN frame message.
sahilmgandhi 18:6a4db94011d3 1282 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1283 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1284 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 1285 */
sahilmgandhi 18:6a4db94011d3 1286 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 1287 {
sahilmgandhi 18:6a4db94011d3 1288 /* Disable Transmit mailbox empty Interrupt */
sahilmgandhi 18:6a4db94011d3 1289 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
sahilmgandhi 18:6a4db94011d3 1290
sahilmgandhi 18:6a4db94011d3 1291 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
sahilmgandhi 18:6a4db94011d3 1292 {
sahilmgandhi 18:6a4db94011d3 1293 /* Disable Error warning Interrupt */
sahilmgandhi 18:6a4db94011d3 1294 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
sahilmgandhi 18:6a4db94011d3 1295
sahilmgandhi 18:6a4db94011d3 1296 /* Disable Error passive Interrupt */
sahilmgandhi 18:6a4db94011d3 1297 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
sahilmgandhi 18:6a4db94011d3 1298
sahilmgandhi 18:6a4db94011d3 1299 /* Disable Bus-off Interrupt */
sahilmgandhi 18:6a4db94011d3 1300 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
sahilmgandhi 18:6a4db94011d3 1301
sahilmgandhi 18:6a4db94011d3 1302 /* Disable Last error code Interrupt */
sahilmgandhi 18:6a4db94011d3 1303 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
sahilmgandhi 18:6a4db94011d3 1304
sahilmgandhi 18:6a4db94011d3 1305 /* Disable Error Interrupt */
sahilmgandhi 18:6a4db94011d3 1306 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 1307 }
sahilmgandhi 18:6a4db94011d3 1308
sahilmgandhi 18:6a4db94011d3 1309 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
sahilmgandhi 18:6a4db94011d3 1310 {
sahilmgandhi 18:6a4db94011d3 1311 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 1312 hcan->State = HAL_CAN_STATE_BUSY_RX;
sahilmgandhi 18:6a4db94011d3 1313 }
sahilmgandhi 18:6a4db94011d3 1314 else
sahilmgandhi 18:6a4db94011d3 1315 {
sahilmgandhi 18:6a4db94011d3 1316 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 1317 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 1318 }
sahilmgandhi 18:6a4db94011d3 1319
sahilmgandhi 18:6a4db94011d3 1320 /* Transmission complete callback */
sahilmgandhi 18:6a4db94011d3 1321 HAL_CAN_TxCpltCallback(hcan);
sahilmgandhi 18:6a4db94011d3 1322
sahilmgandhi 18:6a4db94011d3 1323 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 1324 }
sahilmgandhi 18:6a4db94011d3 1325
sahilmgandhi 18:6a4db94011d3 1326 /**
sahilmgandhi 18:6a4db94011d3 1327 * @brief Receives a correct CAN frame.
sahilmgandhi 18:6a4db94011d3 1328 * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1329 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1330 * @param FIFONumber: Specify the FIFO number
sahilmgandhi 18:6a4db94011d3 1331 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 1332 * @retval None
sahilmgandhi 18:6a4db94011d3 1333 */
sahilmgandhi 18:6a4db94011d3 1334 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
sahilmgandhi 18:6a4db94011d3 1335 {
sahilmgandhi 18:6a4db94011d3 1336 /* Get the Id */
sahilmgandhi 18:6a4db94011d3 1337 hcan->pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
sahilmgandhi 18:6a4db94011d3 1338 if (hcan->pRxMsg->IDE == CAN_ID_STD)
sahilmgandhi 18:6a4db94011d3 1339 {
sahilmgandhi 18:6a4db94011d3 1340 hcan->pRxMsg->StdId = (uint32_t)0x000007FFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21U);
sahilmgandhi 18:6a4db94011d3 1341 }
sahilmgandhi 18:6a4db94011d3 1342 else
sahilmgandhi 18:6a4db94011d3 1343 {
sahilmgandhi 18:6a4db94011d3 1344 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3U);
sahilmgandhi 18:6a4db94011d3 1345 }
sahilmgandhi 18:6a4db94011d3 1346
sahilmgandhi 18:6a4db94011d3 1347 hcan->pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
sahilmgandhi 18:6a4db94011d3 1348 /* Get the DLC */
sahilmgandhi 18:6a4db94011d3 1349 hcan->pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
sahilmgandhi 18:6a4db94011d3 1350 /* Get the FMI */
sahilmgandhi 18:6a4db94011d3 1351 hcan->pRxMsg->FMI = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8U);
sahilmgandhi 18:6a4db94011d3 1352 /* Get the data field */
sahilmgandhi 18:6a4db94011d3 1353 hcan->pRxMsg->Data[0U] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
sahilmgandhi 18:6a4db94011d3 1354 hcan->pRxMsg->Data[1U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8U);
sahilmgandhi 18:6a4db94011d3 1355 hcan->pRxMsg->Data[2U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16U);
sahilmgandhi 18:6a4db94011d3 1356 hcan->pRxMsg->Data[3U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24U);
sahilmgandhi 18:6a4db94011d3 1357 hcan->pRxMsg->Data[4U] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
sahilmgandhi 18:6a4db94011d3 1358 hcan->pRxMsg->Data[5U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8U);
sahilmgandhi 18:6a4db94011d3 1359 hcan->pRxMsg->Data[6U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16U);
sahilmgandhi 18:6a4db94011d3 1360 hcan->pRxMsg->Data[7U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24U);
sahilmgandhi 18:6a4db94011d3 1361 /* Release the FIFO */
sahilmgandhi 18:6a4db94011d3 1362 /* Release FIFO0 */
sahilmgandhi 18:6a4db94011d3 1363 if (FIFONumber == CAN_FIFO0)
sahilmgandhi 18:6a4db94011d3 1364 {
sahilmgandhi 18:6a4db94011d3 1365 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
sahilmgandhi 18:6a4db94011d3 1366
sahilmgandhi 18:6a4db94011d3 1367 /* Disable FIFO 0 message pending Interrupt */
sahilmgandhi 18:6a4db94011d3 1368 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
sahilmgandhi 18:6a4db94011d3 1369 }
sahilmgandhi 18:6a4db94011d3 1370 /* Release FIFO1 */
sahilmgandhi 18:6a4db94011d3 1371 else /* FIFONumber == CAN_FIFO1 */
sahilmgandhi 18:6a4db94011d3 1372 {
sahilmgandhi 18:6a4db94011d3 1373 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
sahilmgandhi 18:6a4db94011d3 1374
sahilmgandhi 18:6a4db94011d3 1375 /* Disable FIFO 1 message pending Interrupt */
sahilmgandhi 18:6a4db94011d3 1376 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
sahilmgandhi 18:6a4db94011d3 1377 }
sahilmgandhi 18:6a4db94011d3 1378
sahilmgandhi 18:6a4db94011d3 1379 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
sahilmgandhi 18:6a4db94011d3 1380 {
sahilmgandhi 18:6a4db94011d3 1381 /* Disable Error warning Interrupt */
sahilmgandhi 18:6a4db94011d3 1382 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
sahilmgandhi 18:6a4db94011d3 1383
sahilmgandhi 18:6a4db94011d3 1384 /* Disable Error passive Interrupt */
sahilmgandhi 18:6a4db94011d3 1385 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
sahilmgandhi 18:6a4db94011d3 1386
sahilmgandhi 18:6a4db94011d3 1387 /* Disable Bus-off Interrupt */
sahilmgandhi 18:6a4db94011d3 1388 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
sahilmgandhi 18:6a4db94011d3 1389
sahilmgandhi 18:6a4db94011d3 1390 /* Disable Last error code Interrupt */
sahilmgandhi 18:6a4db94011d3 1391 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
sahilmgandhi 18:6a4db94011d3 1392
sahilmgandhi 18:6a4db94011d3 1393 /* Disable Error Interrupt */
sahilmgandhi 18:6a4db94011d3 1394 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 1395 }
sahilmgandhi 18:6a4db94011d3 1396
sahilmgandhi 18:6a4db94011d3 1397 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
sahilmgandhi 18:6a4db94011d3 1398 {
sahilmgandhi 18:6a4db94011d3 1399 /* Disable CAN state */
sahilmgandhi 18:6a4db94011d3 1400 hcan->State = HAL_CAN_STATE_BUSY_TX;
sahilmgandhi 18:6a4db94011d3 1401 }
sahilmgandhi 18:6a4db94011d3 1402 else
sahilmgandhi 18:6a4db94011d3 1403 {
sahilmgandhi 18:6a4db94011d3 1404 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 1405 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 1406 }
sahilmgandhi 18:6a4db94011d3 1407
sahilmgandhi 18:6a4db94011d3 1408 /* Receive complete callback */
sahilmgandhi 18:6a4db94011d3 1409 HAL_CAN_RxCpltCallback(hcan);
sahilmgandhi 18:6a4db94011d3 1410
sahilmgandhi 18:6a4db94011d3 1411 /* Return function status */
sahilmgandhi 18:6a4db94011d3 1412 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 1413 }
sahilmgandhi 18:6a4db94011d3 1414
sahilmgandhi 18:6a4db94011d3 1415 /**
sahilmgandhi 18:6a4db94011d3 1416 * @}
sahilmgandhi 18:6a4db94011d3 1417 */
sahilmgandhi 18:6a4db94011d3 1418
sahilmgandhi 18:6a4db94011d3 1419 #endif /* HAL_CAN_MODULE_ENABLED */
sahilmgandhi 18:6a4db94011d3 1420 /**
sahilmgandhi 18:6a4db94011d3 1421 * @}
sahilmgandhi 18:6a4db94011d3 1422 */
sahilmgandhi 18:6a4db94011d3 1423
sahilmgandhi 18:6a4db94011d3 1424 /**
sahilmgandhi 18:6a4db94011d3 1425 * @}
sahilmgandhi 18:6a4db94011d3 1426 */
sahilmgandhi 18:6a4db94011d3 1427
sahilmgandhi 18:6a4db94011d3 1428 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/