MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/targets/TARGET_STM/TARGET_STM32F4/device/stm32f4xx_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 stm32f4xx_hal_can.c
sahilmgandhi 18:6a4db94011d3 4 * @author MCD Application Team
sahilmgandhi 18:6a4db94011d3 5 * @version V1.5.0
sahilmgandhi 18:6a4db94011d3 6 * @date 06-May-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 "stm32f4xx_hal.h"
sahilmgandhi 18:6a4db94011d3 104
sahilmgandhi 18:6a4db94011d3 105 /** @addtogroup STM32F4xx_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 #if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\
sahilmgandhi 18:6a4db94011d3 117 defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\
sahilmgandhi 18:6a4db94011d3 118 defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\
sahilmgandhi 18:6a4db94011d3 119 defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx)
sahilmgandhi 18:6a4db94011d3 120
sahilmgandhi 18:6a4db94011d3 121 /* Private typedef -----------------------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 122 /* Private define ------------------------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 123 /** @addtogroup CAN_Private_Constants
sahilmgandhi 18:6a4db94011d3 124 * @{
sahilmgandhi 18:6a4db94011d3 125 */
sahilmgandhi 18:6a4db94011d3 126 #define CAN_TIMEOUT_VALUE 10U
sahilmgandhi 18:6a4db94011d3 127 /**
sahilmgandhi 18:6a4db94011d3 128 * @}
sahilmgandhi 18:6a4db94011d3 129 */
sahilmgandhi 18:6a4db94011d3 130 /* Private macro -------------------------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 131 /* Private variables ---------------------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 132 /* Private function prototypes -----------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 133 /** @addtogroup CAN_Private_Functions
sahilmgandhi 18:6a4db94011d3 134 * @{
sahilmgandhi 18:6a4db94011d3 135 */
sahilmgandhi 18:6a4db94011d3 136 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
sahilmgandhi 18:6a4db94011d3 137 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
sahilmgandhi 18:6a4db94011d3 138 /**
sahilmgandhi 18:6a4db94011d3 139 * @}
sahilmgandhi 18:6a4db94011d3 140 */
sahilmgandhi 18:6a4db94011d3 141
sahilmgandhi 18:6a4db94011d3 142 /* Exported functions --------------------------------------------------------*/
sahilmgandhi 18:6a4db94011d3 143 /** @defgroup CAN_Exported_Functions CAN Exported Functions
sahilmgandhi 18:6a4db94011d3 144 * @{
sahilmgandhi 18:6a4db94011d3 145 */
sahilmgandhi 18:6a4db94011d3 146
sahilmgandhi 18:6a4db94011d3 147 /** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
sahilmgandhi 18:6a4db94011d3 148 * @brief Initialization and Configuration functions
sahilmgandhi 18:6a4db94011d3 149 *
sahilmgandhi 18:6a4db94011d3 150 @verbatim
sahilmgandhi 18:6a4db94011d3 151 ==============================================================================
sahilmgandhi 18:6a4db94011d3 152 ##### Initialization and de-initialization functions #####
sahilmgandhi 18:6a4db94011d3 153 ==============================================================================
sahilmgandhi 18:6a4db94011d3 154 [..] This section provides functions allowing to:
sahilmgandhi 18:6a4db94011d3 155 (+) Initialize and configure the CAN.
sahilmgandhi 18:6a4db94011d3 156 (+) De-initialize the CAN.
sahilmgandhi 18:6a4db94011d3 157
sahilmgandhi 18:6a4db94011d3 158 @endverbatim
sahilmgandhi 18:6a4db94011d3 159 * @{
sahilmgandhi 18:6a4db94011d3 160 */
sahilmgandhi 18:6a4db94011d3 161
sahilmgandhi 18:6a4db94011d3 162 /**
sahilmgandhi 18:6a4db94011d3 163 * @brief Initializes the CAN peripheral according to the specified
sahilmgandhi 18:6a4db94011d3 164 * parameters in the CAN_InitStruct.
sahilmgandhi 18:6a4db94011d3 165 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 166 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 167 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 168 */
sahilmgandhi 18:6a4db94011d3 169 HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 170 {
sahilmgandhi 18:6a4db94011d3 171 uint32_t InitStatus = 3U;
sahilmgandhi 18:6a4db94011d3 172 uint32_t tickstart = 0U;
sahilmgandhi 18:6a4db94011d3 173
sahilmgandhi 18:6a4db94011d3 174 /* Check CAN handle */
sahilmgandhi 18:6a4db94011d3 175 if(hcan == NULL)
sahilmgandhi 18:6a4db94011d3 176 {
sahilmgandhi 18:6a4db94011d3 177 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 178 }
sahilmgandhi 18:6a4db94011d3 179
sahilmgandhi 18:6a4db94011d3 180 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 181 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
sahilmgandhi 18:6a4db94011d3 182 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
sahilmgandhi 18:6a4db94011d3 183 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
sahilmgandhi 18:6a4db94011d3 184 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
sahilmgandhi 18:6a4db94011d3 185 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
sahilmgandhi 18:6a4db94011d3 186 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
sahilmgandhi 18:6a4db94011d3 187 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
sahilmgandhi 18:6a4db94011d3 188 assert_param(IS_CAN_MODE(hcan->Init.Mode));
sahilmgandhi 18:6a4db94011d3 189 assert_param(IS_CAN_SJW(hcan->Init.SJW));
sahilmgandhi 18:6a4db94011d3 190 assert_param(IS_CAN_BS1(hcan->Init.BS1));
sahilmgandhi 18:6a4db94011d3 191 assert_param(IS_CAN_BS2(hcan->Init.BS2));
sahilmgandhi 18:6a4db94011d3 192 assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
sahilmgandhi 18:6a4db94011d3 193
sahilmgandhi 18:6a4db94011d3 194
sahilmgandhi 18:6a4db94011d3 195 if(hcan->State == HAL_CAN_STATE_RESET)
sahilmgandhi 18:6a4db94011d3 196 {
sahilmgandhi 18:6a4db94011d3 197 /* Allocate lock resource and initialize it */
sahilmgandhi 18:6a4db94011d3 198 hcan->Lock = HAL_UNLOCKED;
sahilmgandhi 18:6a4db94011d3 199 /* Init the low level hardware */
sahilmgandhi 18:6a4db94011d3 200 HAL_CAN_MspInit(hcan);
sahilmgandhi 18:6a4db94011d3 201 }
sahilmgandhi 18:6a4db94011d3 202
sahilmgandhi 18:6a4db94011d3 203 /* Initialize the CAN state*/
sahilmgandhi 18:6a4db94011d3 204 hcan->State = HAL_CAN_STATE_BUSY;
sahilmgandhi 18:6a4db94011d3 205
sahilmgandhi 18:6a4db94011d3 206 /* Exit from sleep mode */
sahilmgandhi 18:6a4db94011d3 207 hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
sahilmgandhi 18:6a4db94011d3 208
sahilmgandhi 18:6a4db94011d3 209 /* Request initialisation */
sahilmgandhi 18:6a4db94011d3 210 hcan->Instance->MCR |= CAN_MCR_INRQ ;
sahilmgandhi 18:6a4db94011d3 211
sahilmgandhi 18:6a4db94011d3 212 /* Get tick */
sahilmgandhi 18:6a4db94011d3 213 tickstart = HAL_GetTick();
sahilmgandhi 18:6a4db94011d3 214
sahilmgandhi 18:6a4db94011d3 215 /* Wait the acknowledge */
sahilmgandhi 18:6a4db94011d3 216 while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
sahilmgandhi 18:6a4db94011d3 217 {
sahilmgandhi 18:6a4db94011d3 218 if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE)
sahilmgandhi 18:6a4db94011d3 219 {
sahilmgandhi 18:6a4db94011d3 220 hcan->State= HAL_CAN_STATE_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 221 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 222 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 223 return HAL_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 224 }
sahilmgandhi 18:6a4db94011d3 225 }
sahilmgandhi 18:6a4db94011d3 226
sahilmgandhi 18:6a4db94011d3 227 /* Check acknowledge */
sahilmgandhi 18:6a4db94011d3 228 if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
sahilmgandhi 18:6a4db94011d3 229 {
sahilmgandhi 18:6a4db94011d3 230 InitStatus = CAN_INITSTATUS_FAILED;
sahilmgandhi 18:6a4db94011d3 231 }
sahilmgandhi 18:6a4db94011d3 232 else
sahilmgandhi 18:6a4db94011d3 233 {
sahilmgandhi 18:6a4db94011d3 234 /* Set the time triggered communication mode */
sahilmgandhi 18:6a4db94011d3 235 if (hcan->Init.TTCM == ENABLE)
sahilmgandhi 18:6a4db94011d3 236 {
sahilmgandhi 18:6a4db94011d3 237 hcan->Instance->MCR |= CAN_MCR_TTCM;
sahilmgandhi 18:6a4db94011d3 238 }
sahilmgandhi 18:6a4db94011d3 239 else
sahilmgandhi 18:6a4db94011d3 240 {
sahilmgandhi 18:6a4db94011d3 241 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
sahilmgandhi 18:6a4db94011d3 242 }
sahilmgandhi 18:6a4db94011d3 243
sahilmgandhi 18:6a4db94011d3 244 /* Set the automatic bus-off management */
sahilmgandhi 18:6a4db94011d3 245 if (hcan->Init.ABOM == ENABLE)
sahilmgandhi 18:6a4db94011d3 246 {
sahilmgandhi 18:6a4db94011d3 247 hcan->Instance->MCR |= CAN_MCR_ABOM;
sahilmgandhi 18:6a4db94011d3 248 }
sahilmgandhi 18:6a4db94011d3 249 else
sahilmgandhi 18:6a4db94011d3 250 {
sahilmgandhi 18:6a4db94011d3 251 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
sahilmgandhi 18:6a4db94011d3 252 }
sahilmgandhi 18:6a4db94011d3 253
sahilmgandhi 18:6a4db94011d3 254 /* Set the automatic wake-up mode */
sahilmgandhi 18:6a4db94011d3 255 if (hcan->Init.AWUM == ENABLE)
sahilmgandhi 18:6a4db94011d3 256 {
sahilmgandhi 18:6a4db94011d3 257 hcan->Instance->MCR |= CAN_MCR_AWUM;
sahilmgandhi 18:6a4db94011d3 258 }
sahilmgandhi 18:6a4db94011d3 259 else
sahilmgandhi 18:6a4db94011d3 260 {
sahilmgandhi 18:6a4db94011d3 261 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
sahilmgandhi 18:6a4db94011d3 262 }
sahilmgandhi 18:6a4db94011d3 263
sahilmgandhi 18:6a4db94011d3 264 /* Set the no automatic retransmission */
sahilmgandhi 18:6a4db94011d3 265 if (hcan->Init.NART == ENABLE)
sahilmgandhi 18:6a4db94011d3 266 {
sahilmgandhi 18:6a4db94011d3 267 hcan->Instance->MCR |= CAN_MCR_NART;
sahilmgandhi 18:6a4db94011d3 268 }
sahilmgandhi 18:6a4db94011d3 269 else
sahilmgandhi 18:6a4db94011d3 270 {
sahilmgandhi 18:6a4db94011d3 271 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
sahilmgandhi 18:6a4db94011d3 272 }
sahilmgandhi 18:6a4db94011d3 273
sahilmgandhi 18:6a4db94011d3 274 /* Set the receive FIFO locked mode */
sahilmgandhi 18:6a4db94011d3 275 if (hcan->Init.RFLM == ENABLE)
sahilmgandhi 18:6a4db94011d3 276 {
sahilmgandhi 18:6a4db94011d3 277 hcan->Instance->MCR |= CAN_MCR_RFLM;
sahilmgandhi 18:6a4db94011d3 278 }
sahilmgandhi 18:6a4db94011d3 279 else
sahilmgandhi 18:6a4db94011d3 280 {
sahilmgandhi 18:6a4db94011d3 281 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
sahilmgandhi 18:6a4db94011d3 282 }
sahilmgandhi 18:6a4db94011d3 283
sahilmgandhi 18:6a4db94011d3 284 /* Set the transmit FIFO priority */
sahilmgandhi 18:6a4db94011d3 285 if (hcan->Init.TXFP == ENABLE)
sahilmgandhi 18:6a4db94011d3 286 {
sahilmgandhi 18:6a4db94011d3 287 hcan->Instance->MCR |= CAN_MCR_TXFP;
sahilmgandhi 18:6a4db94011d3 288 }
sahilmgandhi 18:6a4db94011d3 289 else
sahilmgandhi 18:6a4db94011d3 290 {
sahilmgandhi 18:6a4db94011d3 291 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
sahilmgandhi 18:6a4db94011d3 292 }
sahilmgandhi 18:6a4db94011d3 293
sahilmgandhi 18:6a4db94011d3 294 /* Set the bit timing register */
sahilmgandhi 18:6a4db94011d3 295 hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \
sahilmgandhi 18:6a4db94011d3 296 ((uint32_t)hcan->Init.SJW) | \
sahilmgandhi 18:6a4db94011d3 297 ((uint32_t)hcan->Init.BS1) | \
sahilmgandhi 18:6a4db94011d3 298 ((uint32_t)hcan->Init.BS2) | \
sahilmgandhi 18:6a4db94011d3 299 ((uint32_t)hcan->Init.Prescaler - 1U);
sahilmgandhi 18:6a4db94011d3 300
sahilmgandhi 18:6a4db94011d3 301 /* Request leave initialisation */
sahilmgandhi 18:6a4db94011d3 302 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
sahilmgandhi 18:6a4db94011d3 303
sahilmgandhi 18:6a4db94011d3 304 /* Get tick */
sahilmgandhi 18:6a4db94011d3 305 tickstart = HAL_GetTick();
sahilmgandhi 18:6a4db94011d3 306
sahilmgandhi 18:6a4db94011d3 307 /* Wait the acknowledge */
sahilmgandhi 18:6a4db94011d3 308 while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
sahilmgandhi 18:6a4db94011d3 309 {
sahilmgandhi 18:6a4db94011d3 310 if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE)
sahilmgandhi 18:6a4db94011d3 311 {
sahilmgandhi 18:6a4db94011d3 312 hcan->State= HAL_CAN_STATE_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 313 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 314 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 315 return HAL_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 316 }
sahilmgandhi 18:6a4db94011d3 317 }
sahilmgandhi 18:6a4db94011d3 318
sahilmgandhi 18:6a4db94011d3 319 /* Check acknowledged */
sahilmgandhi 18:6a4db94011d3 320 if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
sahilmgandhi 18:6a4db94011d3 321 {
sahilmgandhi 18:6a4db94011d3 322 InitStatus = CAN_INITSTATUS_FAILED;
sahilmgandhi 18:6a4db94011d3 323 }
sahilmgandhi 18:6a4db94011d3 324 else
sahilmgandhi 18:6a4db94011d3 325 {
sahilmgandhi 18:6a4db94011d3 326 InitStatus = CAN_INITSTATUS_SUCCESS;
sahilmgandhi 18:6a4db94011d3 327 }
sahilmgandhi 18:6a4db94011d3 328 }
sahilmgandhi 18:6a4db94011d3 329
sahilmgandhi 18:6a4db94011d3 330 if(InitStatus == CAN_INITSTATUS_SUCCESS)
sahilmgandhi 18:6a4db94011d3 331 {
sahilmgandhi 18:6a4db94011d3 332 /* Set CAN error code to none */
sahilmgandhi 18:6a4db94011d3 333 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
sahilmgandhi 18:6a4db94011d3 334
sahilmgandhi 18:6a4db94011d3 335 /* Initialize the CAN state */
sahilmgandhi 18:6a4db94011d3 336 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 337
sahilmgandhi 18:6a4db94011d3 338 /* Return function status */
sahilmgandhi 18:6a4db94011d3 339 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 340 }
sahilmgandhi 18:6a4db94011d3 341 else
sahilmgandhi 18:6a4db94011d3 342 {
sahilmgandhi 18:6a4db94011d3 343 /* Initialize the CAN state */
sahilmgandhi 18:6a4db94011d3 344 hcan->State = HAL_CAN_STATE_ERROR;
sahilmgandhi 18:6a4db94011d3 345
sahilmgandhi 18:6a4db94011d3 346 /* Return function status */
sahilmgandhi 18:6a4db94011d3 347 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 348 }
sahilmgandhi 18:6a4db94011d3 349 }
sahilmgandhi 18:6a4db94011d3 350
sahilmgandhi 18:6a4db94011d3 351 /**
sahilmgandhi 18:6a4db94011d3 352 * @brief Configures the CAN reception filter according to the specified
sahilmgandhi 18:6a4db94011d3 353 * parameters in the CAN_FilterInitStruct.
sahilmgandhi 18:6a4db94011d3 354 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 355 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 356 * @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
sahilmgandhi 18:6a4db94011d3 357 * contains the filter configuration information.
sahilmgandhi 18:6a4db94011d3 358 * @retval None
sahilmgandhi 18:6a4db94011d3 359 */
sahilmgandhi 18:6a4db94011d3 360 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
sahilmgandhi 18:6a4db94011d3 361 {
sahilmgandhi 18:6a4db94011d3 362 uint32_t filternbrbitpos = 0U;
sahilmgandhi 18:6a4db94011d3 363
sahilmgandhi 18:6a4db94011d3 364 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 365 assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
sahilmgandhi 18:6a4db94011d3 366 assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
sahilmgandhi 18:6a4db94011d3 367 assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
sahilmgandhi 18:6a4db94011d3 368 assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
sahilmgandhi 18:6a4db94011d3 369 assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
sahilmgandhi 18:6a4db94011d3 370 assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
sahilmgandhi 18:6a4db94011d3 371
sahilmgandhi 18:6a4db94011d3 372 filternbrbitpos = ((uint32_t)1U) << sFilterConfig->FilterNumber;
sahilmgandhi 18:6a4db94011d3 373
sahilmgandhi 18:6a4db94011d3 374 /* Initialisation mode for the filter */
sahilmgandhi 18:6a4db94011d3 375 CAN1->FMR |= (uint32_t)CAN_FMR_FINIT;
sahilmgandhi 18:6a4db94011d3 376
sahilmgandhi 18:6a4db94011d3 377 /* Select the start slave bank */
sahilmgandhi 18:6a4db94011d3 378 CAN1->FMR &= ~((uint32_t)CAN_FMR_CAN2SB);
sahilmgandhi 18:6a4db94011d3 379 CAN1->FMR |= (uint32_t)(sFilterConfig->BankNumber << 8U);
sahilmgandhi 18:6a4db94011d3 380
sahilmgandhi 18:6a4db94011d3 381 /* Filter Deactivation */
sahilmgandhi 18:6a4db94011d3 382 CAN1->FA1R &= ~(uint32_t)filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 383
sahilmgandhi 18:6a4db94011d3 384 /* Filter Scale */
sahilmgandhi 18:6a4db94011d3 385 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
sahilmgandhi 18:6a4db94011d3 386 {
sahilmgandhi 18:6a4db94011d3 387 /* 16-bit scale for the filter */
sahilmgandhi 18:6a4db94011d3 388 CAN1->FS1R &= ~(uint32_t)filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 389
sahilmgandhi 18:6a4db94011d3 390 /* First 16-bit identifier and First 16-bit mask */
sahilmgandhi 18:6a4db94011d3 391 /* Or First 16-bit identifier and Second 16-bit identifier */
sahilmgandhi 18:6a4db94011d3 392 CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
sahilmgandhi 18:6a4db94011d3 393 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) |
sahilmgandhi 18:6a4db94011d3 394 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
sahilmgandhi 18:6a4db94011d3 395
sahilmgandhi 18:6a4db94011d3 396 /* Second 16-bit identifier and Second 16-bit mask */
sahilmgandhi 18:6a4db94011d3 397 /* Or Third 16-bit identifier and Fourth 16-bit identifier */
sahilmgandhi 18:6a4db94011d3 398 CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
sahilmgandhi 18:6a4db94011d3 399 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
sahilmgandhi 18:6a4db94011d3 400 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
sahilmgandhi 18:6a4db94011d3 401 }
sahilmgandhi 18:6a4db94011d3 402
sahilmgandhi 18:6a4db94011d3 403 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
sahilmgandhi 18:6a4db94011d3 404 {
sahilmgandhi 18:6a4db94011d3 405 /* 32-bit scale for the filter */
sahilmgandhi 18:6a4db94011d3 406 CAN1->FS1R |= filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 407 /* 32-bit identifier or First 32-bit identifier */
sahilmgandhi 18:6a4db94011d3 408 CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
sahilmgandhi 18:6a4db94011d3 409 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) |
sahilmgandhi 18:6a4db94011d3 410 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
sahilmgandhi 18:6a4db94011d3 411 /* 32-bit mask or Second 32-bit identifier */
sahilmgandhi 18:6a4db94011d3 412 CAN1->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
sahilmgandhi 18:6a4db94011d3 413 ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
sahilmgandhi 18:6a4db94011d3 414 (0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
sahilmgandhi 18:6a4db94011d3 415 }
sahilmgandhi 18:6a4db94011d3 416
sahilmgandhi 18:6a4db94011d3 417 /* Filter Mode */
sahilmgandhi 18:6a4db94011d3 418 if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
sahilmgandhi 18:6a4db94011d3 419 {
sahilmgandhi 18:6a4db94011d3 420 /*Id/Mask mode for the filter*/
sahilmgandhi 18:6a4db94011d3 421 CAN1->FM1R &= ~(uint32_t)filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 422 }
sahilmgandhi 18:6a4db94011d3 423 else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
sahilmgandhi 18:6a4db94011d3 424 {
sahilmgandhi 18:6a4db94011d3 425 /*Identifier list mode for the filter*/
sahilmgandhi 18:6a4db94011d3 426 CAN1->FM1R |= (uint32_t)filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 427 }
sahilmgandhi 18:6a4db94011d3 428
sahilmgandhi 18:6a4db94011d3 429 /* Filter FIFO assignment */
sahilmgandhi 18:6a4db94011d3 430 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
sahilmgandhi 18:6a4db94011d3 431 {
sahilmgandhi 18:6a4db94011d3 432 /* FIFO 0 assignation for the filter */
sahilmgandhi 18:6a4db94011d3 433 CAN1->FFA1R &= ~(uint32_t)filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 434 }
sahilmgandhi 18:6a4db94011d3 435
sahilmgandhi 18:6a4db94011d3 436 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
sahilmgandhi 18:6a4db94011d3 437 {
sahilmgandhi 18:6a4db94011d3 438 /* FIFO 1 assignation for the filter */
sahilmgandhi 18:6a4db94011d3 439 CAN1->FFA1R |= (uint32_t)filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 440 }
sahilmgandhi 18:6a4db94011d3 441
sahilmgandhi 18:6a4db94011d3 442 /* Filter activation */
sahilmgandhi 18:6a4db94011d3 443 if (sFilterConfig->FilterActivation == ENABLE)
sahilmgandhi 18:6a4db94011d3 444 {
sahilmgandhi 18:6a4db94011d3 445 CAN1->FA1R |= filternbrbitpos;
sahilmgandhi 18:6a4db94011d3 446 }
sahilmgandhi 18:6a4db94011d3 447
sahilmgandhi 18:6a4db94011d3 448 /* Leave the initialisation mode for the filter */
sahilmgandhi 18:6a4db94011d3 449 CAN1->FMR &= ~((uint32_t)CAN_FMR_FINIT);
sahilmgandhi 18:6a4db94011d3 450
sahilmgandhi 18:6a4db94011d3 451 /* Return function status */
sahilmgandhi 18:6a4db94011d3 452 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 453 }
sahilmgandhi 18:6a4db94011d3 454
sahilmgandhi 18:6a4db94011d3 455 /**
sahilmgandhi 18:6a4db94011d3 456 * @brief Deinitializes the CANx peripheral registers to their default reset values.
sahilmgandhi 18:6a4db94011d3 457 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 458 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 459 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 460 */
sahilmgandhi 18:6a4db94011d3 461 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 462 {
sahilmgandhi 18:6a4db94011d3 463 /* Check CAN handle */
sahilmgandhi 18:6a4db94011d3 464 if(hcan == NULL)
sahilmgandhi 18:6a4db94011d3 465 {
sahilmgandhi 18:6a4db94011d3 466 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 467 }
sahilmgandhi 18:6a4db94011d3 468
sahilmgandhi 18:6a4db94011d3 469 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 470 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
sahilmgandhi 18:6a4db94011d3 471
sahilmgandhi 18:6a4db94011d3 472 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 473 hcan->State = HAL_CAN_STATE_BUSY;
sahilmgandhi 18:6a4db94011d3 474
sahilmgandhi 18:6a4db94011d3 475 /* DeInit the low level hardware */
sahilmgandhi 18:6a4db94011d3 476 HAL_CAN_MspDeInit(hcan);
sahilmgandhi 18:6a4db94011d3 477
sahilmgandhi 18:6a4db94011d3 478 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 479 hcan->State = HAL_CAN_STATE_RESET;
sahilmgandhi 18:6a4db94011d3 480
sahilmgandhi 18:6a4db94011d3 481 /* Release Lock */
sahilmgandhi 18:6a4db94011d3 482 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 483
sahilmgandhi 18:6a4db94011d3 484 /* Return function status */
sahilmgandhi 18:6a4db94011d3 485 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 486 }
sahilmgandhi 18:6a4db94011d3 487
sahilmgandhi 18:6a4db94011d3 488 /**
sahilmgandhi 18:6a4db94011d3 489 * @brief Initializes the CAN MSP.
sahilmgandhi 18:6a4db94011d3 490 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 491 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 492 * @retval None
sahilmgandhi 18:6a4db94011d3 493 */
sahilmgandhi 18:6a4db94011d3 494 __weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 495 {
sahilmgandhi 18:6a4db94011d3 496 /* Prevent unused argument(s) compilation warning */
sahilmgandhi 18:6a4db94011d3 497 UNUSED(hcan);
sahilmgandhi 18:6a4db94011d3 498 /* NOTE : This function Should not be modified, when the callback is needed,
sahilmgandhi 18:6a4db94011d3 499 the HAL_CAN_MspInit could be implemented in the user file
sahilmgandhi 18:6a4db94011d3 500 */
sahilmgandhi 18:6a4db94011d3 501 }
sahilmgandhi 18:6a4db94011d3 502
sahilmgandhi 18:6a4db94011d3 503 /**
sahilmgandhi 18:6a4db94011d3 504 * @brief DeInitializes the CAN MSP.
sahilmgandhi 18:6a4db94011d3 505 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 506 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 507 * @retval None
sahilmgandhi 18:6a4db94011d3 508 */
sahilmgandhi 18:6a4db94011d3 509 __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 510 {
sahilmgandhi 18:6a4db94011d3 511 /* Prevent unused argument(s) compilation warning */
sahilmgandhi 18:6a4db94011d3 512 UNUSED(hcan);
sahilmgandhi 18:6a4db94011d3 513 /* NOTE : This function Should not be modified, when the callback is needed,
sahilmgandhi 18:6a4db94011d3 514 the HAL_CAN_MspDeInit could be implemented in the user file
sahilmgandhi 18:6a4db94011d3 515 */
sahilmgandhi 18:6a4db94011d3 516 }
sahilmgandhi 18:6a4db94011d3 517
sahilmgandhi 18:6a4db94011d3 518 /**
sahilmgandhi 18:6a4db94011d3 519 * @}
sahilmgandhi 18:6a4db94011d3 520 */
sahilmgandhi 18:6a4db94011d3 521
sahilmgandhi 18:6a4db94011d3 522 /** @defgroup CAN_Exported_Functions_Group2 IO operation functions
sahilmgandhi 18:6a4db94011d3 523 * @brief IO operation functions
sahilmgandhi 18:6a4db94011d3 524 *
sahilmgandhi 18:6a4db94011d3 525 @verbatim
sahilmgandhi 18:6a4db94011d3 526 ==============================================================================
sahilmgandhi 18:6a4db94011d3 527 ##### IO operation functions #####
sahilmgandhi 18:6a4db94011d3 528 ==============================================================================
sahilmgandhi 18:6a4db94011d3 529 [..] This section provides functions allowing to:
sahilmgandhi 18:6a4db94011d3 530 (+) Transmit a CAN frame message.
sahilmgandhi 18:6a4db94011d3 531 (+) Receive a CAN frame message.
sahilmgandhi 18:6a4db94011d3 532 (+) Enter CAN peripheral in sleep mode.
sahilmgandhi 18:6a4db94011d3 533 (+) Wake up the CAN peripheral from sleep mode.
sahilmgandhi 18:6a4db94011d3 534
sahilmgandhi 18:6a4db94011d3 535 @endverbatim
sahilmgandhi 18:6a4db94011d3 536 * @{
sahilmgandhi 18:6a4db94011d3 537 */
sahilmgandhi 18:6a4db94011d3 538
sahilmgandhi 18:6a4db94011d3 539 /**
sahilmgandhi 18:6a4db94011d3 540 * @brief Initiates and transmits a CAN frame message.
sahilmgandhi 18:6a4db94011d3 541 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 542 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 543 * @param Timeout: Specify Timeout value
sahilmgandhi 18:6a4db94011d3 544 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 545 */
sahilmgandhi 18:6a4db94011d3 546 HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
sahilmgandhi 18:6a4db94011d3 547 {
sahilmgandhi 18:6a4db94011d3 548 uint32_t transmitmailbox = 5U;
sahilmgandhi 18:6a4db94011d3 549 uint32_t tickstart = 0U;
sahilmgandhi 18:6a4db94011d3 550
sahilmgandhi 18:6a4db94011d3 551 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 552 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
sahilmgandhi 18:6a4db94011d3 553 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
sahilmgandhi 18:6a4db94011d3 554 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
sahilmgandhi 18:6a4db94011d3 555
sahilmgandhi 18:6a4db94011d3 556 if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) || \
sahilmgandhi 18:6a4db94011d3 557 ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) || \
sahilmgandhi 18:6a4db94011d3 558 ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2))
sahilmgandhi 18:6a4db94011d3 559 {
sahilmgandhi 18:6a4db94011d3 560 /* Process locked */
sahilmgandhi 18:6a4db94011d3 561 __HAL_LOCK(hcan);
sahilmgandhi 18:6a4db94011d3 562
sahilmgandhi 18:6a4db94011d3 563 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
sahilmgandhi 18:6a4db94011d3 564 {
sahilmgandhi 18:6a4db94011d3 565 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 566 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
sahilmgandhi 18:6a4db94011d3 567 }
sahilmgandhi 18:6a4db94011d3 568 else
sahilmgandhi 18:6a4db94011d3 569 {
sahilmgandhi 18:6a4db94011d3 570 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 571 hcan->State = HAL_CAN_STATE_BUSY_TX;
sahilmgandhi 18:6a4db94011d3 572 }
sahilmgandhi 18:6a4db94011d3 573
sahilmgandhi 18:6a4db94011d3 574 /* Select one empty transmit mailbox */
sahilmgandhi 18:6a4db94011d3 575 if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
sahilmgandhi 18:6a4db94011d3 576 {
sahilmgandhi 18:6a4db94011d3 577 transmitmailbox = 0U;
sahilmgandhi 18:6a4db94011d3 578 }
sahilmgandhi 18:6a4db94011d3 579 else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
sahilmgandhi 18:6a4db94011d3 580 {
sahilmgandhi 18:6a4db94011d3 581 transmitmailbox = 1U;
sahilmgandhi 18:6a4db94011d3 582 }
sahilmgandhi 18:6a4db94011d3 583 else
sahilmgandhi 18:6a4db94011d3 584 {
sahilmgandhi 18:6a4db94011d3 585 transmitmailbox = 2U;
sahilmgandhi 18:6a4db94011d3 586 }
sahilmgandhi 18:6a4db94011d3 587
sahilmgandhi 18:6a4db94011d3 588 /* Set up the Id */
sahilmgandhi 18:6a4db94011d3 589 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
sahilmgandhi 18:6a4db94011d3 590 if (hcan->pTxMsg->IDE == CAN_ID_STD)
sahilmgandhi 18:6a4db94011d3 591 {
sahilmgandhi 18:6a4db94011d3 592 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
sahilmgandhi 18:6a4db94011d3 593 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21U) | \
sahilmgandhi 18:6a4db94011d3 594 hcan->pTxMsg->RTR);
sahilmgandhi 18:6a4db94011d3 595 }
sahilmgandhi 18:6a4db94011d3 596 else
sahilmgandhi 18:6a4db94011d3 597 {
sahilmgandhi 18:6a4db94011d3 598 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
sahilmgandhi 18:6a4db94011d3 599 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3U) | \
sahilmgandhi 18:6a4db94011d3 600 hcan->pTxMsg->IDE | \
sahilmgandhi 18:6a4db94011d3 601 hcan->pTxMsg->RTR);
sahilmgandhi 18:6a4db94011d3 602 }
sahilmgandhi 18:6a4db94011d3 603
sahilmgandhi 18:6a4db94011d3 604 /* Set up the DLC */
sahilmgandhi 18:6a4db94011d3 605 hcan->pTxMsg->DLC &= (uint8_t)0x0000000FU;
sahilmgandhi 18:6a4db94011d3 606 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0U;
sahilmgandhi 18:6a4db94011d3 607 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
sahilmgandhi 18:6a4db94011d3 608
sahilmgandhi 18:6a4db94011d3 609 /* Set up the data field */
sahilmgandhi 18:6a4db94011d3 610 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3U] << 24U) |
sahilmgandhi 18:6a4db94011d3 611 ((uint32_t)hcan->pTxMsg->Data[2U] << 16U) |
sahilmgandhi 18:6a4db94011d3 612 ((uint32_t)hcan->pTxMsg->Data[1U] << 8U) |
sahilmgandhi 18:6a4db94011d3 613 ((uint32_t)hcan->pTxMsg->Data[0U]));
sahilmgandhi 18:6a4db94011d3 614 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7U] << 24U) |
sahilmgandhi 18:6a4db94011d3 615 ((uint32_t)hcan->pTxMsg->Data[6U] << 16U) |
sahilmgandhi 18:6a4db94011d3 616 ((uint32_t)hcan->pTxMsg->Data[5U] << 8U) |
sahilmgandhi 18:6a4db94011d3 617 ((uint32_t)hcan->pTxMsg->Data[4U]));
sahilmgandhi 18:6a4db94011d3 618 /* Request transmission */
sahilmgandhi 18:6a4db94011d3 619 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
sahilmgandhi 18:6a4db94011d3 620
sahilmgandhi 18:6a4db94011d3 621 /* Get tick */
sahilmgandhi 18:6a4db94011d3 622 tickstart = HAL_GetTick();
sahilmgandhi 18:6a4db94011d3 623
sahilmgandhi 18:6a4db94011d3 624 /* Check End of transmission flag */
sahilmgandhi 18:6a4db94011d3 625 while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
sahilmgandhi 18:6a4db94011d3 626 {
sahilmgandhi 18:6a4db94011d3 627 /* Check for the Timeout */
sahilmgandhi 18:6a4db94011d3 628 if(Timeout != HAL_MAX_DELAY)
sahilmgandhi 18:6a4db94011d3 629 {
sahilmgandhi 18:6a4db94011d3 630 if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout))
sahilmgandhi 18:6a4db94011d3 631 {
sahilmgandhi 18:6a4db94011d3 632 hcan->State = HAL_CAN_STATE_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 633 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 634 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 635 return HAL_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 636 }
sahilmgandhi 18:6a4db94011d3 637 }
sahilmgandhi 18:6a4db94011d3 638 }
sahilmgandhi 18:6a4db94011d3 639 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
sahilmgandhi 18:6a4db94011d3 640 {
sahilmgandhi 18:6a4db94011d3 641 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 642 hcan->State = HAL_CAN_STATE_BUSY_RX;
sahilmgandhi 18:6a4db94011d3 643 }
sahilmgandhi 18:6a4db94011d3 644 else
sahilmgandhi 18:6a4db94011d3 645 {
sahilmgandhi 18:6a4db94011d3 646 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 647 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 648 }
sahilmgandhi 18:6a4db94011d3 649
sahilmgandhi 18:6a4db94011d3 650 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 651 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 652
sahilmgandhi 18:6a4db94011d3 653 /* Return function status */
sahilmgandhi 18:6a4db94011d3 654 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 655 }
sahilmgandhi 18:6a4db94011d3 656 else
sahilmgandhi 18:6a4db94011d3 657 {
sahilmgandhi 18:6a4db94011d3 658 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 659 hcan->State = HAL_CAN_STATE_ERROR;
sahilmgandhi 18:6a4db94011d3 660
sahilmgandhi 18:6a4db94011d3 661 /* Return function status */
sahilmgandhi 18:6a4db94011d3 662 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 663 }
sahilmgandhi 18:6a4db94011d3 664 }
sahilmgandhi 18:6a4db94011d3 665
sahilmgandhi 18:6a4db94011d3 666 /**
sahilmgandhi 18:6a4db94011d3 667 * @brief Initiates and transmits a CAN frame message.
sahilmgandhi 18:6a4db94011d3 668 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 669 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 670 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 671 */
sahilmgandhi 18:6a4db94011d3 672 HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 673 {
sahilmgandhi 18:6a4db94011d3 674 uint32_t transmitmailbox = 5U;
sahilmgandhi 18:6a4db94011d3 675
sahilmgandhi 18:6a4db94011d3 676 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 677 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
sahilmgandhi 18:6a4db94011d3 678 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
sahilmgandhi 18:6a4db94011d3 679 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
sahilmgandhi 18:6a4db94011d3 680
sahilmgandhi 18:6a4db94011d3 681 if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) || \
sahilmgandhi 18:6a4db94011d3 682 ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) || \
sahilmgandhi 18:6a4db94011d3 683 ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2))
sahilmgandhi 18:6a4db94011d3 684 {
sahilmgandhi 18:6a4db94011d3 685 /* Process Locked */
sahilmgandhi 18:6a4db94011d3 686 __HAL_LOCK(hcan);
sahilmgandhi 18:6a4db94011d3 687
sahilmgandhi 18:6a4db94011d3 688 /* Select one empty transmit mailbox */
sahilmgandhi 18:6a4db94011d3 689 if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
sahilmgandhi 18:6a4db94011d3 690 {
sahilmgandhi 18:6a4db94011d3 691 transmitmailbox = 0U;
sahilmgandhi 18:6a4db94011d3 692 }
sahilmgandhi 18:6a4db94011d3 693 else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
sahilmgandhi 18:6a4db94011d3 694 {
sahilmgandhi 18:6a4db94011d3 695 transmitmailbox = 1U;
sahilmgandhi 18:6a4db94011d3 696 }
sahilmgandhi 18:6a4db94011d3 697 else
sahilmgandhi 18:6a4db94011d3 698 {
sahilmgandhi 18:6a4db94011d3 699 transmitmailbox = 2U;
sahilmgandhi 18:6a4db94011d3 700 }
sahilmgandhi 18:6a4db94011d3 701
sahilmgandhi 18:6a4db94011d3 702 /* Set up the Id */
sahilmgandhi 18:6a4db94011d3 703 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
sahilmgandhi 18:6a4db94011d3 704 if(hcan->pTxMsg->IDE == CAN_ID_STD)
sahilmgandhi 18:6a4db94011d3 705 {
sahilmgandhi 18:6a4db94011d3 706 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
sahilmgandhi 18:6a4db94011d3 707 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21U) | \
sahilmgandhi 18:6a4db94011d3 708 hcan->pTxMsg->RTR);
sahilmgandhi 18:6a4db94011d3 709 }
sahilmgandhi 18:6a4db94011d3 710 else
sahilmgandhi 18:6a4db94011d3 711 {
sahilmgandhi 18:6a4db94011d3 712 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
sahilmgandhi 18:6a4db94011d3 713 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3U) | \
sahilmgandhi 18:6a4db94011d3 714 hcan->pTxMsg->IDE | \
sahilmgandhi 18:6a4db94011d3 715 hcan->pTxMsg->RTR);
sahilmgandhi 18:6a4db94011d3 716 }
sahilmgandhi 18:6a4db94011d3 717
sahilmgandhi 18:6a4db94011d3 718 /* Set up the DLC */
sahilmgandhi 18:6a4db94011d3 719 hcan->pTxMsg->DLC &= (uint8_t)0x0000000FU;
sahilmgandhi 18:6a4db94011d3 720 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0U;
sahilmgandhi 18:6a4db94011d3 721 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
sahilmgandhi 18:6a4db94011d3 722
sahilmgandhi 18:6a4db94011d3 723 /* Set up the data field */
sahilmgandhi 18:6a4db94011d3 724 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3U] << 24U) |
sahilmgandhi 18:6a4db94011d3 725 ((uint32_t)hcan->pTxMsg->Data[2U] << 16U) |
sahilmgandhi 18:6a4db94011d3 726 ((uint32_t)hcan->pTxMsg->Data[1U] << 8U) |
sahilmgandhi 18:6a4db94011d3 727 ((uint32_t)hcan->pTxMsg->Data[0U]));
sahilmgandhi 18:6a4db94011d3 728 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7U] << 24U) |
sahilmgandhi 18:6a4db94011d3 729 ((uint32_t)hcan->pTxMsg->Data[6U] << 16U) |
sahilmgandhi 18:6a4db94011d3 730 ((uint32_t)hcan->pTxMsg->Data[5U] << 8U) |
sahilmgandhi 18:6a4db94011d3 731 ((uint32_t)hcan->pTxMsg->Data[4U]));
sahilmgandhi 18:6a4db94011d3 732
sahilmgandhi 18:6a4db94011d3 733 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
sahilmgandhi 18:6a4db94011d3 734 {
sahilmgandhi 18:6a4db94011d3 735 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 736 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
sahilmgandhi 18:6a4db94011d3 737 }
sahilmgandhi 18:6a4db94011d3 738 else
sahilmgandhi 18:6a4db94011d3 739 {
sahilmgandhi 18:6a4db94011d3 740 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 741 hcan->State = HAL_CAN_STATE_BUSY_TX;
sahilmgandhi 18:6a4db94011d3 742 }
sahilmgandhi 18:6a4db94011d3 743
sahilmgandhi 18:6a4db94011d3 744 /* Set CAN error code to none */
sahilmgandhi 18:6a4db94011d3 745 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
sahilmgandhi 18:6a4db94011d3 746
sahilmgandhi 18:6a4db94011d3 747 /* Process Unlocked */
sahilmgandhi 18:6a4db94011d3 748 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 749
sahilmgandhi 18:6a4db94011d3 750 /* Enable Error warning Interrupt */
sahilmgandhi 18:6a4db94011d3 751 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
sahilmgandhi 18:6a4db94011d3 752
sahilmgandhi 18:6a4db94011d3 753 /* Enable Error passive Interrupt */
sahilmgandhi 18:6a4db94011d3 754 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
sahilmgandhi 18:6a4db94011d3 755
sahilmgandhi 18:6a4db94011d3 756 /* Enable Bus-off Interrupt */
sahilmgandhi 18:6a4db94011d3 757 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
sahilmgandhi 18:6a4db94011d3 758
sahilmgandhi 18:6a4db94011d3 759 /* Enable Last error code Interrupt */
sahilmgandhi 18:6a4db94011d3 760 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
sahilmgandhi 18:6a4db94011d3 761
sahilmgandhi 18:6a4db94011d3 762 /* Enable Error Interrupt */
sahilmgandhi 18:6a4db94011d3 763 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 764
sahilmgandhi 18:6a4db94011d3 765 /* Enable Transmit mailbox empty Interrupt */
sahilmgandhi 18:6a4db94011d3 766 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME);
sahilmgandhi 18:6a4db94011d3 767
sahilmgandhi 18:6a4db94011d3 768 /* Request transmission */
sahilmgandhi 18:6a4db94011d3 769 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
sahilmgandhi 18:6a4db94011d3 770 }
sahilmgandhi 18:6a4db94011d3 771 else
sahilmgandhi 18:6a4db94011d3 772 {
sahilmgandhi 18:6a4db94011d3 773 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 774 hcan->State = HAL_CAN_STATE_ERROR;
sahilmgandhi 18:6a4db94011d3 775
sahilmgandhi 18:6a4db94011d3 776 /* Return function status */
sahilmgandhi 18:6a4db94011d3 777 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 778 }
sahilmgandhi 18:6a4db94011d3 779
sahilmgandhi 18:6a4db94011d3 780 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 781 }
sahilmgandhi 18:6a4db94011d3 782
sahilmgandhi 18:6a4db94011d3 783 /**
sahilmgandhi 18:6a4db94011d3 784 * @brief Receives a correct CAN frame.
sahilmgandhi 18:6a4db94011d3 785 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 786 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 787 * @param FIFONumber: FIFO Number value
sahilmgandhi 18:6a4db94011d3 788 * @param Timeout: Specify Timeout value
sahilmgandhi 18:6a4db94011d3 789 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 790 */
sahilmgandhi 18:6a4db94011d3 791 HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
sahilmgandhi 18:6a4db94011d3 792 {
sahilmgandhi 18:6a4db94011d3 793 uint32_t tickstart = 0U;
sahilmgandhi 18:6a4db94011d3 794
sahilmgandhi 18:6a4db94011d3 795 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 796 assert_param(IS_CAN_FIFO(FIFONumber));
sahilmgandhi 18:6a4db94011d3 797
sahilmgandhi 18:6a4db94011d3 798 /* Process locked */
sahilmgandhi 18:6a4db94011d3 799 __HAL_LOCK(hcan);
sahilmgandhi 18:6a4db94011d3 800
sahilmgandhi 18:6a4db94011d3 801 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
sahilmgandhi 18:6a4db94011d3 802 {
sahilmgandhi 18:6a4db94011d3 803 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 804 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
sahilmgandhi 18:6a4db94011d3 805 }
sahilmgandhi 18:6a4db94011d3 806 else
sahilmgandhi 18:6a4db94011d3 807 {
sahilmgandhi 18:6a4db94011d3 808 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 809 hcan->State = HAL_CAN_STATE_BUSY_RX;
sahilmgandhi 18:6a4db94011d3 810 }
sahilmgandhi 18:6a4db94011d3 811
sahilmgandhi 18:6a4db94011d3 812 /* Get tick */
sahilmgandhi 18:6a4db94011d3 813 tickstart = HAL_GetTick();
sahilmgandhi 18:6a4db94011d3 814
sahilmgandhi 18:6a4db94011d3 815 /* Check pending message */
sahilmgandhi 18:6a4db94011d3 816 while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0U)
sahilmgandhi 18:6a4db94011d3 817 {
sahilmgandhi 18:6a4db94011d3 818 /* Check for the Timeout */
sahilmgandhi 18:6a4db94011d3 819 if(Timeout != HAL_MAX_DELAY)
sahilmgandhi 18:6a4db94011d3 820 {
sahilmgandhi 18:6a4db94011d3 821 if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout))
sahilmgandhi 18:6a4db94011d3 822 {
sahilmgandhi 18:6a4db94011d3 823 hcan->State = HAL_CAN_STATE_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 824 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 825 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 826 return HAL_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 827 }
sahilmgandhi 18:6a4db94011d3 828 }
sahilmgandhi 18:6a4db94011d3 829 }
sahilmgandhi 18:6a4db94011d3 830
sahilmgandhi 18:6a4db94011d3 831 /* Get the Id */
sahilmgandhi 18:6a4db94011d3 832 hcan->pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
sahilmgandhi 18:6a4db94011d3 833 if (hcan->pRxMsg->IDE == CAN_ID_STD)
sahilmgandhi 18:6a4db94011d3 834 {
sahilmgandhi 18:6a4db94011d3 835 hcan->pRxMsg->StdId = (uint32_t)0x000007FFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21U);
sahilmgandhi 18:6a4db94011d3 836 }
sahilmgandhi 18:6a4db94011d3 837 else
sahilmgandhi 18:6a4db94011d3 838 {
sahilmgandhi 18:6a4db94011d3 839 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3U);
sahilmgandhi 18:6a4db94011d3 840 }
sahilmgandhi 18:6a4db94011d3 841
sahilmgandhi 18:6a4db94011d3 842 hcan->pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
sahilmgandhi 18:6a4db94011d3 843 /* Get the DLC */
sahilmgandhi 18:6a4db94011d3 844 hcan->pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
sahilmgandhi 18:6a4db94011d3 845 /* Get the FMI */
sahilmgandhi 18:6a4db94011d3 846 hcan->pRxMsg->FMI = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8U);
sahilmgandhi 18:6a4db94011d3 847 /* Get the data field */
sahilmgandhi 18:6a4db94011d3 848 hcan->pRxMsg->Data[0U] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
sahilmgandhi 18:6a4db94011d3 849 hcan->pRxMsg->Data[1U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8U);
sahilmgandhi 18:6a4db94011d3 850 hcan->pRxMsg->Data[2U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16U);
sahilmgandhi 18:6a4db94011d3 851 hcan->pRxMsg->Data[3U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24U);
sahilmgandhi 18:6a4db94011d3 852 hcan->pRxMsg->Data[4U] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
sahilmgandhi 18:6a4db94011d3 853 hcan->pRxMsg->Data[5U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8U);
sahilmgandhi 18:6a4db94011d3 854 hcan->pRxMsg->Data[6U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16U);
sahilmgandhi 18:6a4db94011d3 855 hcan->pRxMsg->Data[7U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24U);
sahilmgandhi 18:6a4db94011d3 856
sahilmgandhi 18:6a4db94011d3 857 /* Release the FIFO */
sahilmgandhi 18:6a4db94011d3 858 if(FIFONumber == CAN_FIFO0)
sahilmgandhi 18:6a4db94011d3 859 {
sahilmgandhi 18:6a4db94011d3 860 /* Release FIFO0 */
sahilmgandhi 18:6a4db94011d3 861 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
sahilmgandhi 18:6a4db94011d3 862 }
sahilmgandhi 18:6a4db94011d3 863 else /* FIFONumber == CAN_FIFO1 */
sahilmgandhi 18:6a4db94011d3 864 {
sahilmgandhi 18:6a4db94011d3 865 /* Release FIFO1 */
sahilmgandhi 18:6a4db94011d3 866 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
sahilmgandhi 18:6a4db94011d3 867 }
sahilmgandhi 18:6a4db94011d3 868
sahilmgandhi 18:6a4db94011d3 869 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
sahilmgandhi 18:6a4db94011d3 870 {
sahilmgandhi 18:6a4db94011d3 871 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 872 hcan->State = HAL_CAN_STATE_BUSY_TX;
sahilmgandhi 18:6a4db94011d3 873
sahilmgandhi 18:6a4db94011d3 874 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 875 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 876 }
sahilmgandhi 18:6a4db94011d3 877 else
sahilmgandhi 18:6a4db94011d3 878 {
sahilmgandhi 18:6a4db94011d3 879 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 880 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 881
sahilmgandhi 18:6a4db94011d3 882 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 883 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 884 }
sahilmgandhi 18:6a4db94011d3 885
sahilmgandhi 18:6a4db94011d3 886 /* Return function status */
sahilmgandhi 18:6a4db94011d3 887 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 888 }
sahilmgandhi 18:6a4db94011d3 889
sahilmgandhi 18:6a4db94011d3 890 /**
sahilmgandhi 18:6a4db94011d3 891 * @brief Receives a correct CAN frame.
sahilmgandhi 18:6a4db94011d3 892 * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 893 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 894 * @param FIFONumber: Specify the FIFO number
sahilmgandhi 18:6a4db94011d3 895 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 896 */
sahilmgandhi 18:6a4db94011d3 897 HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
sahilmgandhi 18:6a4db94011d3 898 {
sahilmgandhi 18:6a4db94011d3 899 uint32_t tmp = 0U;
sahilmgandhi 18:6a4db94011d3 900
sahilmgandhi 18:6a4db94011d3 901 /* Check the parameters */
sahilmgandhi 18:6a4db94011d3 902 assert_param(IS_CAN_FIFO(FIFONumber));
sahilmgandhi 18:6a4db94011d3 903
sahilmgandhi 18:6a4db94011d3 904 tmp = hcan->State;
sahilmgandhi 18:6a4db94011d3 905 if((tmp == HAL_CAN_STATE_READY) || (tmp == HAL_CAN_STATE_BUSY_TX))
sahilmgandhi 18:6a4db94011d3 906 {
sahilmgandhi 18:6a4db94011d3 907 /* Process locked */
sahilmgandhi 18:6a4db94011d3 908 __HAL_LOCK(hcan);
sahilmgandhi 18:6a4db94011d3 909
sahilmgandhi 18:6a4db94011d3 910 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
sahilmgandhi 18:6a4db94011d3 911 {
sahilmgandhi 18:6a4db94011d3 912 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 913 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
sahilmgandhi 18:6a4db94011d3 914 }
sahilmgandhi 18:6a4db94011d3 915 else
sahilmgandhi 18:6a4db94011d3 916 {
sahilmgandhi 18:6a4db94011d3 917 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 918 hcan->State = HAL_CAN_STATE_BUSY_RX;
sahilmgandhi 18:6a4db94011d3 919 }
sahilmgandhi 18:6a4db94011d3 920
sahilmgandhi 18:6a4db94011d3 921 /* Set CAN error code to none */
sahilmgandhi 18:6a4db94011d3 922 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
sahilmgandhi 18:6a4db94011d3 923
sahilmgandhi 18:6a4db94011d3 924 /* Enable Error warning Interrupt */
sahilmgandhi 18:6a4db94011d3 925 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
sahilmgandhi 18:6a4db94011d3 926
sahilmgandhi 18:6a4db94011d3 927 /* Enable Error passive Interrupt */
sahilmgandhi 18:6a4db94011d3 928 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
sahilmgandhi 18:6a4db94011d3 929
sahilmgandhi 18:6a4db94011d3 930 /* Enable Bus-off Interrupt */
sahilmgandhi 18:6a4db94011d3 931 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
sahilmgandhi 18:6a4db94011d3 932
sahilmgandhi 18:6a4db94011d3 933 /* Enable Last error code Interrupt */
sahilmgandhi 18:6a4db94011d3 934 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
sahilmgandhi 18:6a4db94011d3 935
sahilmgandhi 18:6a4db94011d3 936 /* Enable Error Interrupt */
sahilmgandhi 18:6a4db94011d3 937 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 938
sahilmgandhi 18:6a4db94011d3 939 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 940 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 941
sahilmgandhi 18:6a4db94011d3 942 if(FIFONumber == CAN_FIFO0)
sahilmgandhi 18:6a4db94011d3 943 {
sahilmgandhi 18:6a4db94011d3 944 /* Enable FIFO 0 message pending Interrupt */
sahilmgandhi 18:6a4db94011d3 945 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);
sahilmgandhi 18:6a4db94011d3 946 }
sahilmgandhi 18:6a4db94011d3 947 else
sahilmgandhi 18:6a4db94011d3 948 {
sahilmgandhi 18:6a4db94011d3 949 /* Enable FIFO 1 message pending Interrupt */
sahilmgandhi 18:6a4db94011d3 950 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);
sahilmgandhi 18:6a4db94011d3 951 }
sahilmgandhi 18:6a4db94011d3 952
sahilmgandhi 18:6a4db94011d3 953 }
sahilmgandhi 18:6a4db94011d3 954 else
sahilmgandhi 18:6a4db94011d3 955 {
sahilmgandhi 18:6a4db94011d3 956 return HAL_BUSY;
sahilmgandhi 18:6a4db94011d3 957 }
sahilmgandhi 18:6a4db94011d3 958
sahilmgandhi 18:6a4db94011d3 959 /* Return function status */
sahilmgandhi 18:6a4db94011d3 960 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 961 }
sahilmgandhi 18:6a4db94011d3 962
sahilmgandhi 18:6a4db94011d3 963 /**
sahilmgandhi 18:6a4db94011d3 964 * @brief Enters the Sleep (low power) mode.
sahilmgandhi 18:6a4db94011d3 965 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 966 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 967 * @retval HAL status.
sahilmgandhi 18:6a4db94011d3 968 */
sahilmgandhi 18:6a4db94011d3 969 HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 970 {
sahilmgandhi 18:6a4db94011d3 971 uint32_t tickstart = 0U;
sahilmgandhi 18:6a4db94011d3 972
sahilmgandhi 18:6a4db94011d3 973 /* Process locked */
sahilmgandhi 18:6a4db94011d3 974 __HAL_LOCK(hcan);
sahilmgandhi 18:6a4db94011d3 975
sahilmgandhi 18:6a4db94011d3 976 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 977 hcan->State = HAL_CAN_STATE_BUSY;
sahilmgandhi 18:6a4db94011d3 978
sahilmgandhi 18:6a4db94011d3 979 /* Request Sleep mode */
sahilmgandhi 18:6a4db94011d3 980 hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
sahilmgandhi 18:6a4db94011d3 981
sahilmgandhi 18:6a4db94011d3 982 /* Sleep mode status */
sahilmgandhi 18:6a4db94011d3 983 if ((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
sahilmgandhi 18:6a4db94011d3 984 {
sahilmgandhi 18:6a4db94011d3 985 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 986 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 987
sahilmgandhi 18:6a4db94011d3 988 /* Return function status */
sahilmgandhi 18:6a4db94011d3 989 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 990 }
sahilmgandhi 18:6a4db94011d3 991
sahilmgandhi 18:6a4db94011d3 992 /* Get tick */
sahilmgandhi 18:6a4db94011d3 993 tickstart = HAL_GetTick();
sahilmgandhi 18:6a4db94011d3 994
sahilmgandhi 18:6a4db94011d3 995 /* Wait the acknowledge */
sahilmgandhi 18:6a4db94011d3 996 while((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
sahilmgandhi 18:6a4db94011d3 997 {
sahilmgandhi 18:6a4db94011d3 998 if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
sahilmgandhi 18:6a4db94011d3 999 {
sahilmgandhi 18:6a4db94011d3 1000 hcan->State = HAL_CAN_STATE_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 1001 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 1002 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 1003 return HAL_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 1004 }
sahilmgandhi 18:6a4db94011d3 1005 }
sahilmgandhi 18:6a4db94011d3 1006
sahilmgandhi 18:6a4db94011d3 1007 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 1008 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 1009
sahilmgandhi 18:6a4db94011d3 1010 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 1011 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 1012
sahilmgandhi 18:6a4db94011d3 1013 /* Return function status */
sahilmgandhi 18:6a4db94011d3 1014 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 1015 }
sahilmgandhi 18:6a4db94011d3 1016
sahilmgandhi 18:6a4db94011d3 1017 /**
sahilmgandhi 18:6a4db94011d3 1018 * @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
sahilmgandhi 18:6a4db94011d3 1019 * is in the normal mode.
sahilmgandhi 18:6a4db94011d3 1020 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1021 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1022 * @retval HAL status.
sahilmgandhi 18:6a4db94011d3 1023 */
sahilmgandhi 18:6a4db94011d3 1024 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 1025 {
sahilmgandhi 18:6a4db94011d3 1026 uint32_t tickstart = 0U;
sahilmgandhi 18:6a4db94011d3 1027
sahilmgandhi 18:6a4db94011d3 1028 /* Process locked */
sahilmgandhi 18:6a4db94011d3 1029 __HAL_LOCK(hcan);
sahilmgandhi 18:6a4db94011d3 1030
sahilmgandhi 18:6a4db94011d3 1031 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 1032 hcan->State = HAL_CAN_STATE_BUSY;
sahilmgandhi 18:6a4db94011d3 1033
sahilmgandhi 18:6a4db94011d3 1034 /* Wake up request */
sahilmgandhi 18:6a4db94011d3 1035 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
sahilmgandhi 18:6a4db94011d3 1036
sahilmgandhi 18:6a4db94011d3 1037 /* Get tick */
sahilmgandhi 18:6a4db94011d3 1038 tickstart = HAL_GetTick();
sahilmgandhi 18:6a4db94011d3 1039
sahilmgandhi 18:6a4db94011d3 1040 /* Sleep mode status */
sahilmgandhi 18:6a4db94011d3 1041 while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
sahilmgandhi 18:6a4db94011d3 1042 {
sahilmgandhi 18:6a4db94011d3 1043 if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
sahilmgandhi 18:6a4db94011d3 1044 {
sahilmgandhi 18:6a4db94011d3 1045 hcan->State= HAL_CAN_STATE_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 1046 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 1047 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 1048 return HAL_TIMEOUT;
sahilmgandhi 18:6a4db94011d3 1049 }
sahilmgandhi 18:6a4db94011d3 1050 }
sahilmgandhi 18:6a4db94011d3 1051 if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
sahilmgandhi 18:6a4db94011d3 1052 {
sahilmgandhi 18:6a4db94011d3 1053 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 1054 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 1055
sahilmgandhi 18:6a4db94011d3 1056 /* Return function status */
sahilmgandhi 18:6a4db94011d3 1057 return HAL_ERROR;
sahilmgandhi 18:6a4db94011d3 1058 }
sahilmgandhi 18:6a4db94011d3 1059
sahilmgandhi 18:6a4db94011d3 1060 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 1061 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 1062
sahilmgandhi 18:6a4db94011d3 1063 /* Process unlocked */
sahilmgandhi 18:6a4db94011d3 1064 __HAL_UNLOCK(hcan);
sahilmgandhi 18:6a4db94011d3 1065
sahilmgandhi 18:6a4db94011d3 1066 /* Return function status */
sahilmgandhi 18:6a4db94011d3 1067 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 1068 }
sahilmgandhi 18:6a4db94011d3 1069
sahilmgandhi 18:6a4db94011d3 1070 /**
sahilmgandhi 18:6a4db94011d3 1071 * @brief Handles CAN interrupt request
sahilmgandhi 18:6a4db94011d3 1072 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1073 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1074 * @retval None
sahilmgandhi 18:6a4db94011d3 1075 */
sahilmgandhi 18:6a4db94011d3 1076 void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 1077 {
sahilmgandhi 18:6a4db94011d3 1078 uint32_t tmp1 = 0U, tmp2 = 0U, tmp3 = 0U;
sahilmgandhi 18:6a4db94011d3 1079
sahilmgandhi 18:6a4db94011d3 1080 /* Check End of transmission flag */
sahilmgandhi 18:6a4db94011d3 1081 if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
sahilmgandhi 18:6a4db94011d3 1082 {
sahilmgandhi 18:6a4db94011d3 1083 tmp1 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0);
sahilmgandhi 18:6a4db94011d3 1084 tmp2 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1);
sahilmgandhi 18:6a4db94011d3 1085 tmp3 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2);
sahilmgandhi 18:6a4db94011d3 1086 if(tmp1 || tmp2 || tmp3)
sahilmgandhi 18:6a4db94011d3 1087 {
sahilmgandhi 18:6a4db94011d3 1088 /* Call transmit function */
sahilmgandhi 18:6a4db94011d3 1089 CAN_Transmit_IT(hcan);
sahilmgandhi 18:6a4db94011d3 1090 }
sahilmgandhi 18:6a4db94011d3 1091 }
sahilmgandhi 18:6a4db94011d3 1092
sahilmgandhi 18:6a4db94011d3 1093 tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0);
sahilmgandhi 18:6a4db94011d3 1094 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0);
sahilmgandhi 18:6a4db94011d3 1095 /* Check End of reception flag for FIFO0 */
sahilmgandhi 18:6a4db94011d3 1096 if((tmp1 != 0U) && tmp2)
sahilmgandhi 18:6a4db94011d3 1097 {
sahilmgandhi 18:6a4db94011d3 1098 /* Call receive function */
sahilmgandhi 18:6a4db94011d3 1099 CAN_Receive_IT(hcan, CAN_FIFO0);
sahilmgandhi 18:6a4db94011d3 1100 }
sahilmgandhi 18:6a4db94011d3 1101
sahilmgandhi 18:6a4db94011d3 1102 tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1);
sahilmgandhi 18:6a4db94011d3 1103 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1);
sahilmgandhi 18:6a4db94011d3 1104 /* Check End of reception flag for FIFO1 */
sahilmgandhi 18:6a4db94011d3 1105 if((tmp1 != 0U) && tmp2)
sahilmgandhi 18:6a4db94011d3 1106 {
sahilmgandhi 18:6a4db94011d3 1107 /* Call receive function */
sahilmgandhi 18:6a4db94011d3 1108 CAN_Receive_IT(hcan, CAN_FIFO1);
sahilmgandhi 18:6a4db94011d3 1109 }
sahilmgandhi 18:6a4db94011d3 1110
sahilmgandhi 18:6a4db94011d3 1111 tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG);
sahilmgandhi 18:6a4db94011d3 1112 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG);
sahilmgandhi 18:6a4db94011d3 1113 tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 1114 /* Check Error Warning Flag */
sahilmgandhi 18:6a4db94011d3 1115 if(tmp1 && tmp2 && tmp3)
sahilmgandhi 18:6a4db94011d3 1116 {
sahilmgandhi 18:6a4db94011d3 1117 /* Set CAN error code to EWG error */
sahilmgandhi 18:6a4db94011d3 1118 hcan->ErrorCode |= HAL_CAN_ERROR_EWG;
sahilmgandhi 18:6a4db94011d3 1119 }
sahilmgandhi 18:6a4db94011d3 1120
sahilmgandhi 18:6a4db94011d3 1121 tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV);
sahilmgandhi 18:6a4db94011d3 1122 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV);
sahilmgandhi 18:6a4db94011d3 1123 tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 1124 /* Check Error Passive Flag */
sahilmgandhi 18:6a4db94011d3 1125 if(tmp1 && tmp2 && tmp3)
sahilmgandhi 18:6a4db94011d3 1126 {
sahilmgandhi 18:6a4db94011d3 1127 /* Set CAN error code to EPV error */
sahilmgandhi 18:6a4db94011d3 1128 hcan->ErrorCode |= HAL_CAN_ERROR_EPV;
sahilmgandhi 18:6a4db94011d3 1129 }
sahilmgandhi 18:6a4db94011d3 1130
sahilmgandhi 18:6a4db94011d3 1131 tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF);
sahilmgandhi 18:6a4db94011d3 1132 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF);
sahilmgandhi 18:6a4db94011d3 1133 tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 1134 /* Check Bus-Off Flag */
sahilmgandhi 18:6a4db94011d3 1135 if(tmp1 && tmp2 && tmp3)
sahilmgandhi 18:6a4db94011d3 1136 {
sahilmgandhi 18:6a4db94011d3 1137 /* Set CAN error code to BOF error */
sahilmgandhi 18:6a4db94011d3 1138 hcan->ErrorCode |= HAL_CAN_ERROR_BOF;
sahilmgandhi 18:6a4db94011d3 1139 }
sahilmgandhi 18:6a4db94011d3 1140
sahilmgandhi 18:6a4db94011d3 1141 tmp1 = HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC);
sahilmgandhi 18:6a4db94011d3 1142 tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC);
sahilmgandhi 18:6a4db94011d3 1143 tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 1144 /* Check Last error code Flag */
sahilmgandhi 18:6a4db94011d3 1145 if((!tmp1) && tmp2 && tmp3)
sahilmgandhi 18:6a4db94011d3 1146 {
sahilmgandhi 18:6a4db94011d3 1147 tmp1 = (hcan->Instance->ESR) & CAN_ESR_LEC;
sahilmgandhi 18:6a4db94011d3 1148 switch(tmp1)
sahilmgandhi 18:6a4db94011d3 1149 {
sahilmgandhi 18:6a4db94011d3 1150 case(CAN_ESR_LEC_0):
sahilmgandhi 18:6a4db94011d3 1151 /* Set CAN error code to STF error */
sahilmgandhi 18:6a4db94011d3 1152 hcan->ErrorCode |= HAL_CAN_ERROR_STF;
sahilmgandhi 18:6a4db94011d3 1153 break;
sahilmgandhi 18:6a4db94011d3 1154 case(CAN_ESR_LEC_1):
sahilmgandhi 18:6a4db94011d3 1155 /* Set CAN error code to FOR error */
sahilmgandhi 18:6a4db94011d3 1156 hcan->ErrorCode |= HAL_CAN_ERROR_FOR;
sahilmgandhi 18:6a4db94011d3 1157 break;
sahilmgandhi 18:6a4db94011d3 1158 case(CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
sahilmgandhi 18:6a4db94011d3 1159 /* Set CAN error code to ACK error */
sahilmgandhi 18:6a4db94011d3 1160 hcan->ErrorCode |= HAL_CAN_ERROR_ACK;
sahilmgandhi 18:6a4db94011d3 1161 break;
sahilmgandhi 18:6a4db94011d3 1162 case(CAN_ESR_LEC_2):
sahilmgandhi 18:6a4db94011d3 1163 /* Set CAN error code to BR error */
sahilmgandhi 18:6a4db94011d3 1164 hcan->ErrorCode |= HAL_CAN_ERROR_BR;
sahilmgandhi 18:6a4db94011d3 1165 break;
sahilmgandhi 18:6a4db94011d3 1166 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
sahilmgandhi 18:6a4db94011d3 1167 /* Set CAN error code to BD error */
sahilmgandhi 18:6a4db94011d3 1168 hcan->ErrorCode |= HAL_CAN_ERROR_BD;
sahilmgandhi 18:6a4db94011d3 1169 break;
sahilmgandhi 18:6a4db94011d3 1170 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
sahilmgandhi 18:6a4db94011d3 1171 /* Set CAN error code to CRC error */
sahilmgandhi 18:6a4db94011d3 1172 hcan->ErrorCode |= HAL_CAN_ERROR_CRC;
sahilmgandhi 18:6a4db94011d3 1173 break;
sahilmgandhi 18:6a4db94011d3 1174 default:
sahilmgandhi 18:6a4db94011d3 1175 break;
sahilmgandhi 18:6a4db94011d3 1176 }
sahilmgandhi 18:6a4db94011d3 1177
sahilmgandhi 18:6a4db94011d3 1178 /* Clear Last error code Flag */
sahilmgandhi 18:6a4db94011d3 1179 hcan->Instance->ESR &= ~(CAN_ESR_LEC);
sahilmgandhi 18:6a4db94011d3 1180 }
sahilmgandhi 18:6a4db94011d3 1181
sahilmgandhi 18:6a4db94011d3 1182 /* Call the Error call Back in case of Errors */
sahilmgandhi 18:6a4db94011d3 1183 if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
sahilmgandhi 18:6a4db94011d3 1184 {
sahilmgandhi 18:6a4db94011d3 1185 /* Clear ERRI Flag */
sahilmgandhi 18:6a4db94011d3 1186 hcan->Instance->MSR = CAN_MSR_ERRI;
sahilmgandhi 18:6a4db94011d3 1187 /* Set the CAN state ready to be able to start again the process */
sahilmgandhi 18:6a4db94011d3 1188 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 1189 /* Call Error callback function */
sahilmgandhi 18:6a4db94011d3 1190 HAL_CAN_ErrorCallback(hcan);
sahilmgandhi 18:6a4db94011d3 1191 }
sahilmgandhi 18:6a4db94011d3 1192 }
sahilmgandhi 18:6a4db94011d3 1193
sahilmgandhi 18:6a4db94011d3 1194 /**
sahilmgandhi 18:6a4db94011d3 1195 * @brief Transmission complete callback in non blocking mode
sahilmgandhi 18:6a4db94011d3 1196 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1197 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1198 * @retval None
sahilmgandhi 18:6a4db94011d3 1199 */
sahilmgandhi 18:6a4db94011d3 1200 __weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 1201 {
sahilmgandhi 18:6a4db94011d3 1202 /* Prevent unused argument(s) compilation warning */
sahilmgandhi 18:6a4db94011d3 1203 UNUSED(hcan);
sahilmgandhi 18:6a4db94011d3 1204 /* NOTE : This function Should not be modified, when the callback is needed,
sahilmgandhi 18:6a4db94011d3 1205 the HAL_CAN_TxCpltCallback could be implemented in the user file
sahilmgandhi 18:6a4db94011d3 1206 */
sahilmgandhi 18:6a4db94011d3 1207 }
sahilmgandhi 18:6a4db94011d3 1208
sahilmgandhi 18:6a4db94011d3 1209 /**
sahilmgandhi 18:6a4db94011d3 1210 * @brief Transmission complete callback in non blocking mode
sahilmgandhi 18:6a4db94011d3 1211 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1212 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1213 * @retval None
sahilmgandhi 18:6a4db94011d3 1214 */
sahilmgandhi 18:6a4db94011d3 1215 __weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 1216 {
sahilmgandhi 18:6a4db94011d3 1217 /* Prevent unused argument(s) compilation warning */
sahilmgandhi 18:6a4db94011d3 1218 UNUSED(hcan);
sahilmgandhi 18:6a4db94011d3 1219 /* NOTE : This function Should not be modified, when the callback is needed,
sahilmgandhi 18:6a4db94011d3 1220 the HAL_CAN_RxCpltCallback could be implemented in the user file
sahilmgandhi 18:6a4db94011d3 1221 */
sahilmgandhi 18:6a4db94011d3 1222 }
sahilmgandhi 18:6a4db94011d3 1223
sahilmgandhi 18:6a4db94011d3 1224 /**
sahilmgandhi 18:6a4db94011d3 1225 * @brief Error CAN callback.
sahilmgandhi 18:6a4db94011d3 1226 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1227 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1228 * @retval None
sahilmgandhi 18:6a4db94011d3 1229 */
sahilmgandhi 18:6a4db94011d3 1230 __weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
sahilmgandhi 18:6a4db94011d3 1231 {
sahilmgandhi 18:6a4db94011d3 1232 /* Prevent unused argument(s) compilation warning */
sahilmgandhi 18:6a4db94011d3 1233 UNUSED(hcan);
sahilmgandhi 18:6a4db94011d3 1234 /* NOTE : This function Should not be modified, when the callback is needed,
sahilmgandhi 18:6a4db94011d3 1235 the HAL_CAN_ErrorCallback could be implemented in the user file
sahilmgandhi 18:6a4db94011d3 1236 */
sahilmgandhi 18:6a4db94011d3 1237 }
sahilmgandhi 18:6a4db94011d3 1238
sahilmgandhi 18:6a4db94011d3 1239 /**
sahilmgandhi 18:6a4db94011d3 1240 * @}
sahilmgandhi 18:6a4db94011d3 1241 */
sahilmgandhi 18:6a4db94011d3 1242
sahilmgandhi 18:6a4db94011d3 1243 /** @defgroup CAN_Exported_Functions_Group3 Peripheral State and Error functions
sahilmgandhi 18:6a4db94011d3 1244 * @brief CAN Peripheral State functions
sahilmgandhi 18:6a4db94011d3 1245 *
sahilmgandhi 18:6a4db94011d3 1246 @verbatim
sahilmgandhi 18:6a4db94011d3 1247 ==============================================================================
sahilmgandhi 18:6a4db94011d3 1248 ##### Peripheral State and Error functions #####
sahilmgandhi 18:6a4db94011d3 1249 ==============================================================================
sahilmgandhi 18:6a4db94011d3 1250 [..]
sahilmgandhi 18:6a4db94011d3 1251 This subsection provides functions allowing to :
sahilmgandhi 18:6a4db94011d3 1252 (+) Check the CAN state.
sahilmgandhi 18:6a4db94011d3 1253 (+) Check CAN Errors detected during interrupt process
sahilmgandhi 18:6a4db94011d3 1254
sahilmgandhi 18:6a4db94011d3 1255 @endverbatim
sahilmgandhi 18:6a4db94011d3 1256 * @{
sahilmgandhi 18:6a4db94011d3 1257 */
sahilmgandhi 18:6a4db94011d3 1258
sahilmgandhi 18:6a4db94011d3 1259 /**
sahilmgandhi 18:6a4db94011d3 1260 * @brief return the CAN state
sahilmgandhi 18:6a4db94011d3 1261 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1262 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1263 * @retval HAL state
sahilmgandhi 18:6a4db94011d3 1264 */
sahilmgandhi 18:6a4db94011d3 1265 HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 1266 {
sahilmgandhi 18:6a4db94011d3 1267 /* Return CAN state */
sahilmgandhi 18:6a4db94011d3 1268 return hcan->State;
sahilmgandhi 18:6a4db94011d3 1269 }
sahilmgandhi 18:6a4db94011d3 1270
sahilmgandhi 18:6a4db94011d3 1271 /**
sahilmgandhi 18:6a4db94011d3 1272 * @brief Return the CAN error code
sahilmgandhi 18:6a4db94011d3 1273 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1274 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1275 * @retval CAN Error Code
sahilmgandhi 18:6a4db94011d3 1276 */
sahilmgandhi 18:6a4db94011d3 1277 uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
sahilmgandhi 18:6a4db94011d3 1278 {
sahilmgandhi 18:6a4db94011d3 1279 return hcan->ErrorCode;
sahilmgandhi 18:6a4db94011d3 1280 }
sahilmgandhi 18:6a4db94011d3 1281
sahilmgandhi 18:6a4db94011d3 1282 /**
sahilmgandhi 18:6a4db94011d3 1283 * @}
sahilmgandhi 18:6a4db94011d3 1284 */
sahilmgandhi 18:6a4db94011d3 1285 /**
sahilmgandhi 18:6a4db94011d3 1286 * @brief Initiates and transmits a CAN frame message.
sahilmgandhi 18:6a4db94011d3 1287 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1288 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1289 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 1290 */
sahilmgandhi 18:6a4db94011d3 1291 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
sahilmgandhi 18:6a4db94011d3 1292 {
sahilmgandhi 18:6a4db94011d3 1293 /* Disable Transmit mailbox empty Interrupt */
sahilmgandhi 18:6a4db94011d3 1294 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
sahilmgandhi 18:6a4db94011d3 1295
sahilmgandhi 18:6a4db94011d3 1296 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
sahilmgandhi 18:6a4db94011d3 1297 {
sahilmgandhi 18:6a4db94011d3 1298 /* Disable Error warning Interrupt */
sahilmgandhi 18:6a4db94011d3 1299 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
sahilmgandhi 18:6a4db94011d3 1300
sahilmgandhi 18:6a4db94011d3 1301 /* Disable Error passive Interrupt */
sahilmgandhi 18:6a4db94011d3 1302 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
sahilmgandhi 18:6a4db94011d3 1303
sahilmgandhi 18:6a4db94011d3 1304 /* Disable Bus-off Interrupt */
sahilmgandhi 18:6a4db94011d3 1305 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
sahilmgandhi 18:6a4db94011d3 1306
sahilmgandhi 18:6a4db94011d3 1307 /* Disable Last error code Interrupt */
sahilmgandhi 18:6a4db94011d3 1308 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
sahilmgandhi 18:6a4db94011d3 1309
sahilmgandhi 18:6a4db94011d3 1310 /* Disable Error Interrupt */
sahilmgandhi 18:6a4db94011d3 1311 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 1312 }
sahilmgandhi 18:6a4db94011d3 1313
sahilmgandhi 18:6a4db94011d3 1314 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
sahilmgandhi 18:6a4db94011d3 1315 {
sahilmgandhi 18:6a4db94011d3 1316 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 1317 hcan->State = HAL_CAN_STATE_BUSY_RX;
sahilmgandhi 18:6a4db94011d3 1318 }
sahilmgandhi 18:6a4db94011d3 1319 else
sahilmgandhi 18:6a4db94011d3 1320 {
sahilmgandhi 18:6a4db94011d3 1321 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 1322 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 1323 }
sahilmgandhi 18:6a4db94011d3 1324
sahilmgandhi 18:6a4db94011d3 1325 /* Transmission complete callback */
sahilmgandhi 18:6a4db94011d3 1326 HAL_CAN_TxCpltCallback(hcan);
sahilmgandhi 18:6a4db94011d3 1327
sahilmgandhi 18:6a4db94011d3 1328 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 1329 }
sahilmgandhi 18:6a4db94011d3 1330
sahilmgandhi 18:6a4db94011d3 1331 /**
sahilmgandhi 18:6a4db94011d3 1332 * @brief Receives a correct CAN frame.
sahilmgandhi 18:6a4db94011d3 1333 * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
sahilmgandhi 18:6a4db94011d3 1334 * the configuration information for the specified CAN.
sahilmgandhi 18:6a4db94011d3 1335 * @param FIFONumber: Specify the FIFO number
sahilmgandhi 18:6a4db94011d3 1336 * @retval HAL status
sahilmgandhi 18:6a4db94011d3 1337 * @retval None
sahilmgandhi 18:6a4db94011d3 1338 */
sahilmgandhi 18:6a4db94011d3 1339 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
sahilmgandhi 18:6a4db94011d3 1340 {
sahilmgandhi 18:6a4db94011d3 1341 /* Get the Id */
sahilmgandhi 18:6a4db94011d3 1342 hcan->pRxMsg->IDE = (uint8_t)0x04U & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
sahilmgandhi 18:6a4db94011d3 1343 if (hcan->pRxMsg->IDE == CAN_ID_STD)
sahilmgandhi 18:6a4db94011d3 1344 {
sahilmgandhi 18:6a4db94011d3 1345 hcan->pRxMsg->StdId = (uint32_t)0x000007FFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21U);
sahilmgandhi 18:6a4db94011d3 1346 }
sahilmgandhi 18:6a4db94011d3 1347 else
sahilmgandhi 18:6a4db94011d3 1348 {
sahilmgandhi 18:6a4db94011d3 1349 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3U);
sahilmgandhi 18:6a4db94011d3 1350 }
sahilmgandhi 18:6a4db94011d3 1351
sahilmgandhi 18:6a4db94011d3 1352 hcan->pRxMsg->RTR = (uint8_t)0x02U & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
sahilmgandhi 18:6a4db94011d3 1353 /* Get the DLC */
sahilmgandhi 18:6a4db94011d3 1354 hcan->pRxMsg->DLC = (uint8_t)0x0FU & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
sahilmgandhi 18:6a4db94011d3 1355 /* Get the FMI */
sahilmgandhi 18:6a4db94011d3 1356 hcan->pRxMsg->FMI = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8U);
sahilmgandhi 18:6a4db94011d3 1357 /* Get the data field */
sahilmgandhi 18:6a4db94011d3 1358 hcan->pRxMsg->Data[0U] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
sahilmgandhi 18:6a4db94011d3 1359 hcan->pRxMsg->Data[1U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8U);
sahilmgandhi 18:6a4db94011d3 1360 hcan->pRxMsg->Data[2U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16U);
sahilmgandhi 18:6a4db94011d3 1361 hcan->pRxMsg->Data[3U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24U);
sahilmgandhi 18:6a4db94011d3 1362 hcan->pRxMsg->Data[4U] = (uint8_t)0xFFU & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
sahilmgandhi 18:6a4db94011d3 1363 hcan->pRxMsg->Data[5U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8U);
sahilmgandhi 18:6a4db94011d3 1364 hcan->pRxMsg->Data[6U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16U);
sahilmgandhi 18:6a4db94011d3 1365 hcan->pRxMsg->Data[7U] = (uint8_t)0xFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24U);
sahilmgandhi 18:6a4db94011d3 1366 /* Release the FIFO */
sahilmgandhi 18:6a4db94011d3 1367 /* Release FIFO0 */
sahilmgandhi 18:6a4db94011d3 1368 if (FIFONumber == CAN_FIFO0)
sahilmgandhi 18:6a4db94011d3 1369 {
sahilmgandhi 18:6a4db94011d3 1370 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
sahilmgandhi 18:6a4db94011d3 1371
sahilmgandhi 18:6a4db94011d3 1372 /* Disable FIFO 0 message pending Interrupt */
sahilmgandhi 18:6a4db94011d3 1373 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
sahilmgandhi 18:6a4db94011d3 1374 }
sahilmgandhi 18:6a4db94011d3 1375 /* Release FIFO1 */
sahilmgandhi 18:6a4db94011d3 1376 else /* FIFONumber == CAN_FIFO1 */
sahilmgandhi 18:6a4db94011d3 1377 {
sahilmgandhi 18:6a4db94011d3 1378 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
sahilmgandhi 18:6a4db94011d3 1379
sahilmgandhi 18:6a4db94011d3 1380 /* Disable FIFO 1 message pending Interrupt */
sahilmgandhi 18:6a4db94011d3 1381 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
sahilmgandhi 18:6a4db94011d3 1382 }
sahilmgandhi 18:6a4db94011d3 1383
sahilmgandhi 18:6a4db94011d3 1384 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
sahilmgandhi 18:6a4db94011d3 1385 {
sahilmgandhi 18:6a4db94011d3 1386 /* Disable Error warning Interrupt */
sahilmgandhi 18:6a4db94011d3 1387 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
sahilmgandhi 18:6a4db94011d3 1388
sahilmgandhi 18:6a4db94011d3 1389 /* Disable Error passive Interrupt */
sahilmgandhi 18:6a4db94011d3 1390 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
sahilmgandhi 18:6a4db94011d3 1391
sahilmgandhi 18:6a4db94011d3 1392 /* Disable Bus-off Interrupt */
sahilmgandhi 18:6a4db94011d3 1393 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
sahilmgandhi 18:6a4db94011d3 1394
sahilmgandhi 18:6a4db94011d3 1395 /* Disable Last error code Interrupt */
sahilmgandhi 18:6a4db94011d3 1396 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
sahilmgandhi 18:6a4db94011d3 1397
sahilmgandhi 18:6a4db94011d3 1398 /* Disable Error Interrupt */
sahilmgandhi 18:6a4db94011d3 1399 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
sahilmgandhi 18:6a4db94011d3 1400 }
sahilmgandhi 18:6a4db94011d3 1401
sahilmgandhi 18:6a4db94011d3 1402 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
sahilmgandhi 18:6a4db94011d3 1403 {
sahilmgandhi 18:6a4db94011d3 1404 /* Disable CAN state */
sahilmgandhi 18:6a4db94011d3 1405 hcan->State = HAL_CAN_STATE_BUSY_TX;
sahilmgandhi 18:6a4db94011d3 1406 }
sahilmgandhi 18:6a4db94011d3 1407 else
sahilmgandhi 18:6a4db94011d3 1408 {
sahilmgandhi 18:6a4db94011d3 1409 /* Change CAN state */
sahilmgandhi 18:6a4db94011d3 1410 hcan->State = HAL_CAN_STATE_READY;
sahilmgandhi 18:6a4db94011d3 1411 }
sahilmgandhi 18:6a4db94011d3 1412
sahilmgandhi 18:6a4db94011d3 1413 /* Receive complete callback */
sahilmgandhi 18:6a4db94011d3 1414 HAL_CAN_RxCpltCallback(hcan);
sahilmgandhi 18:6a4db94011d3 1415
sahilmgandhi 18:6a4db94011d3 1416 /* Return function status */
sahilmgandhi 18:6a4db94011d3 1417 return HAL_OK;
sahilmgandhi 18:6a4db94011d3 1418 }
sahilmgandhi 18:6a4db94011d3 1419
sahilmgandhi 18:6a4db94011d3 1420 /**
sahilmgandhi 18:6a4db94011d3 1421 * @}
sahilmgandhi 18:6a4db94011d3 1422 */
sahilmgandhi 18:6a4db94011d3 1423 #endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\
sahilmgandhi 18:6a4db94011d3 1424 STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\
sahilmgandhi 18:6a4db94011d3 1425 STM32F412Vx || STM32F412Rx || STM32F412Cx */
sahilmgandhi 18:6a4db94011d3 1426
sahilmgandhi 18:6a4db94011d3 1427 #endif /* HAL_CAN_MODULE_ENABLED */
sahilmgandhi 18:6a4db94011d3 1428 /**
sahilmgandhi 18:6a4db94011d3 1429 * @}
sahilmgandhi 18:6a4db94011d3 1430 */
sahilmgandhi 18:6a4db94011d3 1431
sahilmgandhi 18:6a4db94011d3 1432 /**
sahilmgandhi 18:6a4db94011d3 1433 * @}
sahilmgandhi 18:6a4db94011d3 1434 */
sahilmgandhi 18:6a4db94011d3 1435
sahilmgandhi 18:6a4db94011d3 1436 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/