Projets S4 IUT de Cachan / CANnucleo

test

Fork of CANnucleo by Zoltan Hudak

can_api.c@12:c45310ff2233, 2015-12-22 (annotated)

Committer:
hudakz
Date:
Tue Dec 22 20:46:47 2015 +0000
Revision:
12:c45310ff2233
Parent:
11:439f3a34c42e
Child:
14:0344705e6fb8
Support for NUCLEO-F302R8, NUCLEO-F303K8, NUCLEO-F334R8 and DISCO-F334C8 added.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hudakz 0:e29bc8e0dddd 1 /*
hudakz 5:b53e5ee15315 2 ******************************************************************************
hudakz 5:b53e5ee15315 3 * @file can_api.c
hudakz 5:b53e5ee15315 4 * @author Zoltan Hudak
hudakz 5:b53e5ee15315 5 * @version
hudakz 5:b53e5ee15315 6 * @date 04-August-2015
hudakz 5:b53e5ee15315 7 * @brief CAN api for NUCLEO-F103RB platform
hudakz 5:b53e5ee15315 8 ******************************************************************************
hudakz 5:b53e5ee15315 9 * @attention
hudakz 5:b53e5ee15315 10 *
hudakz 5:b53e5ee15315 11 * <h2><center>&copy; COPYRIGHT(c) 2015 Zoltan Hudak <hudakz@inbox.com>
hudakz 5:b53e5ee15315 12 *
hudakz 5:b53e5ee15315 13 * All rights reserved.
hudakz 0:e29bc8e0dddd 14
hudakz 0:e29bc8e0dddd 15 This program is free software: you can redistribute it and/or modify
hudakz 0:e29bc8e0dddd 16 it under the terms of the GNU General Public License as published by
hudakz 0:e29bc8e0dddd 17 the Free Software Foundation, either version 3 of the License, or
hudakz 0:e29bc8e0dddd 18 (at your option) any later version.
hudakz 0:e29bc8e0dddd 19
hudakz 0:e29bc8e0dddd 20 This program is distributed in the hope that it will be useful,
hudakz 0:e29bc8e0dddd 21 but WITHOUT ANY WARRANTY; without even the implied warranty of
hudakz 0:e29bc8e0dddd 22 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
hudakz 0:e29bc8e0dddd 23 GNU General Public License for more details.
hudakz 0:e29bc8e0dddd 24
hudakz 0:e29bc8e0dddd 25 You should have received a copy of the GNU General Public License
hudakz 0:e29bc8e0dddd 26 along with this program. If not, see <http://www.gnu.org/licenses/>.
hudakz 0:e29bc8e0dddd 27 */
hudakz 11:439f3a34c42e 28 #if defined(TARGET_NUCLEO_F103RB)
hudakz 11:439f3a34c42e 29 #include "stm32f1xx_hal.h"
hudakz 12:c45310ff2233 30 #elif defined(TARGET_NUCLEO_F302R8) || \
hudakz 12:c45310ff2233 31 defined(TARGET_NUCLEO_F303RE) || \
hudakz 12:c45310ff2233 32 defined(TARGET_NUCLEO_F303K8) || \
hudakz 12:c45310ff2233 33 defined(TARGET_NUCLEO_F334R8) || \
hudakz 12:c45310ff2233 34 defined(TARGET_DISCO_F334C8)
hudakz 11:439f3a34c42e 35 #include "stm32f3xx_hal.h"
hudakz 11:439f3a34c42e 36 #endif
hudakz 0:e29bc8e0dddd 37 #include "can_api.h"
hudakz 0:e29bc8e0dddd 38 #include "can_helper.h"
hudakz 0:e29bc8e0dddd 39 #include "pinmap.h"
hudakz 0:e29bc8e0dddd 40
hudakz 0:e29bc8e0dddd 41 extern void (*rxCompleteCallback) (void);
hudakz 0:e29bc8e0dddd 42 extern CAN_HandleTypeDef _canHandle;
hudakz 0:e29bc8e0dddd 43
hudakz 0:e29bc8e0dddd 44 /**
hudakz 0:e29bc8e0dddd 45 * @brief
hudakz 0:e29bc8e0dddd 46 * @note
hudakz 0:e29bc8e0dddd 47 * @param
hudakz 0:e29bc8e0dddd 48 * @retval
hudakz 0:e29bc8e0dddd 49 */
hudakz 6:c5a40d5fd9f1 50 void can_init(can_t* obj, PinName rd, PinName td, FunctionalState abom) {
hudakz 6:c5a40d5fd9f1 51 initCAN(obj, rd, td, abom);
hudakz 0:e29bc8e0dddd 52 can_filter(obj, 0, 0, CANAny, 0);
hudakz 0:e29bc8e0dddd 53 }
hudakz 0:e29bc8e0dddd 54
hudakz 0:e29bc8e0dddd 55 /**
hudakz 0:e29bc8e0dddd 56 * @brief
hudakz 0:e29bc8e0dddd 57 * @note
hudakz 0:e29bc8e0dddd 58 * @param
hudakz 0:e29bc8e0dddd 59 * @retval
hudakz 0:e29bc8e0dddd 60 */
hudakz 0:e29bc8e0dddd 61 void can_free(can_t* obj) {
hudakz 0:e29bc8e0dddd 62 HAL_CAN_MspDeInit(obj);
hudakz 0:e29bc8e0dddd 63 }
hudakz 0:e29bc8e0dddd 64
hudakz 0:e29bc8e0dddd 65 /**
hudakz 0:e29bc8e0dddd 66 * @brief
hudakz 0:e29bc8e0dddd 67 * @note
hudakz 0:e29bc8e0dddd 68 * @param
hudakz 0:e29bc8e0dddd 69 * @retval
hudakz 0:e29bc8e0dddd 70 */
hudakz 0:e29bc8e0dddd 71 int can_frequency(can_t* obj, int hz) {
hudakz 11:439f3a34c42e 72 #if defined(TARGET_NUCLEO_F103RB)
hudakz 0:e29bc8e0dddd 73 HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 12:c45310ff2233 74 #elif defined(TARGET_NUCLEO_F302R8) || \
hudakz 12:c45310ff2233 75 defined(TARGET_NUCLEO_F303RE) || \
hudakz 12:c45310ff2233 76 defined(TARGET_NUCLEO_F303K8) || \
hudakz 12:c45310ff2233 77 defined(TARGET_NUCLEO_F334R8) || \
hudakz 12:c45310ff2233 78 defined(TARGET_DISCO_F334C8)
hudakz 11:439f3a34c42e 79 HAL_NVIC_DisableIRQ(CAN_RX1_IRQn);
hudakz 11:439f3a34c42e 80 #endif
hudakz 0:e29bc8e0dddd 81
hudakz 5:b53e5ee15315 82 // APB1 peripheral clock = 36000000Hz
hudakz 0:e29bc8e0dddd 83
hudakz 0:e29bc8e0dddd 84 switch(hz) {
hudakz 0:e29bc8e0dddd 85 case 1000000:
hudakz 0:e29bc8e0dddd 86 // 1000kbps bit rate
hudakz 0:e29bc8e0dddd 87 _canHandle.Init.Prescaler = 3; // number of time quanta = 36000000/3/1000000 = 12
hudakz 0:e29bc8e0dddd 88 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 89 _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
hudakz 0:e29bc8e0dddd 90 _canHandle.Init.BS2 = CAN_BS2_3TQ;
hudakz 0:e29bc8e0dddd 91 break;
hudakz 0:e29bc8e0dddd 92
hudakz 0:e29bc8e0dddd 93 case 500000:
hudakz 0:e29bc8e0dddd 94 // 500kbps bit rate
hudakz 0:e29bc8e0dddd 95 _canHandle.Init.Prescaler = 6; // number of time quanta = 36000000/6/500000 = 12
hudakz 0:e29bc8e0dddd 96 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 97 _canHandle.Init.BS1 = CAN_BS1_8TQ; // sample point at: (1 + 8) / 12 * 100 = 75%
hudakz 0:e29bc8e0dddd 98 _canHandle.Init.BS2 = CAN_BS2_3TQ;
hudakz 0:e29bc8e0dddd 99 break;
hudakz 0:e29bc8e0dddd 100
hudakz 0:e29bc8e0dddd 101 case 250000:
hudakz 0:e29bc8e0dddd 102 // 250kbps
hudakz 0:e29bc8e0dddd 103 _canHandle.Init.Prescaler = 9; // number of time quanta = 36000000/9/250000 = 16
hudakz 0:e29bc8e0dddd 104 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 105 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 106 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 107 break;
hudakz 0:e29bc8e0dddd 108
hudakz 0:e29bc8e0dddd 109 case 125000:
hudakz 0:e29bc8e0dddd 110 // 125kbps
hudakz 0:e29bc8e0dddd 111 _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16
hudakz 0:e29bc8e0dddd 112 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 113 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 114 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 115 break;
hudakz 0:e29bc8e0dddd 116
hudakz 0:e29bc8e0dddd 117 default:
hudakz 0:e29bc8e0dddd 118 // 125kbps (default)
hudakz 5:b53e5ee15315 119 #if DEBUG
hudakz 0:e29bc8e0dddd 120 printf("Unknown frequency specified!\r\n");
hudakz 0:e29bc8e0dddd 121 printf("Using default 125kbps\r\n");
hudakz 5:b53e5ee15315 122 #endif
hudakz 0:e29bc8e0dddd 123 _canHandle.Init.Prescaler = 18; // number of time quanta = 36000000/18/125000 = 16
hudakz 0:e29bc8e0dddd 124 _canHandle.Init.SJW = CAN_SJW_1TQ;
hudakz 0:e29bc8e0dddd 125 _canHandle.Init.BS1 = CAN_BS1_11TQ; // sample point at: (1 + 11) / 16 * 100 = 75%
hudakz 0:e29bc8e0dddd 126 _canHandle.Init.BS2 = CAN_BS2_4TQ;
hudakz 0:e29bc8e0dddd 127 }
hudakz 0:e29bc8e0dddd 128
hudakz 0:e29bc8e0dddd 129 HAL_CAN_Init(&_canHandle);
hudakz 11:439f3a34c42e 130 #if defined(TARGET_NUCLEO_F103RB)
hudakz 12:c45310ff2233 131 HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
hudakz 12:c45310ff2233 132 #elif defined(TARGET_NUCLEO_F302R8) || \
hudakz 12:c45310ff2233 133 defined(TARGET_NUCLEO_F303RE) || \
hudakz 12:c45310ff2233 134 defined(TARGET_NUCLEO_F303K8) || \
hudakz 12:c45310ff2233 135 defined(TARGET_NUCLEO_F334R8) || \
hudakz 12:c45310ff2233 136 defined(TARGET_DISCO_F334C8)
hudakz 11:439f3a34c42e 137 HAL_NVIC_EnableIRQ(CAN_RX1_IRQn);
hudakz 11:439f3a34c42e 138 #endif
hudakz 11:439f3a34c42e 139
hudakz 5:b53e5ee15315 140 return 1;
hudakz 0:e29bc8e0dddd 141 }
hudakz 0:e29bc8e0dddd 142
hudakz 0:e29bc8e0dddd 143 /**
hudakz 0:e29bc8e0dddd 144 * @brief
hudakz 0:e29bc8e0dddd 145 * @note
hudakz 0:e29bc8e0dddd 146 * @param
hudakz 0:e29bc8e0dddd 147 * @retval
hudakz 0:e29bc8e0dddd 148 */
hudakz 0:e29bc8e0dddd 149 void can_irq_init(can_t* obj, can_irq_handler handler, uint32_t id) {
hudakz 0:e29bc8e0dddd 150 if(HAL_CAN_Receive_IT(&_canHandle, CAN_FIFO0) != HAL_OK) {
hudakz 5:b53e5ee15315 151 #ifdef DEBUG
hudakz 0:e29bc8e0dddd 152 printf("CAN reception initialization error\r\n");
hudakz 5:b53e5ee15315 153 #endif
hudakz 0:e29bc8e0dddd 154 }
hudakz 0:e29bc8e0dddd 155 }
hudakz 0:e29bc8e0dddd 156
hudakz 0:e29bc8e0dddd 157 /**
hudakz 0:e29bc8e0dddd 158 * @brief
hudakz 0:e29bc8e0dddd 159 * @note
hudakz 0:e29bc8e0dddd 160 * @param
hudakz 0:e29bc8e0dddd 161 * @retval
hudakz 0:e29bc8e0dddd 162 */
hudakz 0:e29bc8e0dddd 163 void can_irq_free(can_t* obj) {
hudakz 11:439f3a34c42e 164 rxCompleteCallback = 0;
hudakz 0:e29bc8e0dddd 165 }
hudakz 0:e29bc8e0dddd 166
hudakz 0:e29bc8e0dddd 167 /**
hudakz 0:e29bc8e0dddd 168 * @brief
hudakz 0:e29bc8e0dddd 169 * @note
hudakz 0:e29bc8e0dddd 170 * @param
hudakz 0:e29bc8e0dddd 171 * @retval
hudakz 0:e29bc8e0dddd 172 */
hudakz 0:e29bc8e0dddd 173 void can_irq_set(void (*fptr) (void)) {
hudakz 0:e29bc8e0dddd 174 rxCompleteCallback = fptr;
hudakz 0:e29bc8e0dddd 175 }
hudakz 0:e29bc8e0dddd 176
hudakz 0:e29bc8e0dddd 177 /**
hudakz 0:e29bc8e0dddd 178 * @brief
hudakz 0:e29bc8e0dddd 179 * @note
hudakz 0:e29bc8e0dddd 180 * @param
hudakz 0:e29bc8e0dddd 181 * @retval
hudakz 0:e29bc8e0dddd 182 */
hudakz 0:e29bc8e0dddd 183 int can_write(can_t* obj, CAN_Message msg, int cc) {
hudakz 0:e29bc8e0dddd 184 int i = 0;
hudakz 0:e29bc8e0dddd 185
hudakz 0:e29bc8e0dddd 186 if(msg.format == CANStandard) {
hudakz 0:e29bc8e0dddd 187 _canHandle.pTxMsg->StdId = msg.id;
hudakz 0:e29bc8e0dddd 188 _canHandle.pTxMsg->ExtId = 0x00;
hudakz 0:e29bc8e0dddd 189 }
hudakz 0:e29bc8e0dddd 190 else {
hudakz 0:e29bc8e0dddd 191 _canHandle.pTxMsg->StdId = 0x00;
hudakz 0:e29bc8e0dddd 192 _canHandle.pTxMsg->ExtId = msg.id;
hudakz 0:e29bc8e0dddd 193 }
hudakz 0:e29bc8e0dddd 194
hudakz 0:e29bc8e0dddd 195 _canHandle.pTxMsg->RTR = msg.type == CANData ? CAN_RTR_DATA : CAN_RTR_REMOTE;
hudakz 0:e29bc8e0dddd 196 _canHandle.pTxMsg->IDE = msg.format == CANStandard ? CAN_ID_STD : CAN_ID_EXT;
hudakz 0:e29bc8e0dddd 197 _canHandle.pTxMsg->DLC = msg.len;
hudakz 0:e29bc8e0dddd 198
hudakz 0:e29bc8e0dddd 199 for(i = 0; i < msg.len; i++)
hudakz 0:e29bc8e0dddd 200 _canHandle.pTxMsg->Data[i] = msg.data[i];
hudakz 0:e29bc8e0dddd 201
hudakz 0:e29bc8e0dddd 202 if(HAL_CAN_Transmit(&_canHandle, 10) != HAL_OK) {
hudakz 5:b53e5ee15315 203 #ifdef DEBUG
hudakz 0:e29bc8e0dddd 204 printf("Transmission error\r\n");
hudakz 5:b53e5ee15315 205 #endif
hudakz 5:b53e5ee15315 206 return 0;
hudakz 0:e29bc8e0dddd 207 }
hudakz 5:b53e5ee15315 208 else
hudakz 5:b53e5ee15315 209 return 1;
hudakz 0:e29bc8e0dddd 210 }
hudakz 0:e29bc8e0dddd 211
hudakz 0:e29bc8e0dddd 212 /**
hudakz 0:e29bc8e0dddd 213 * @brief
hudakz 0:e29bc8e0dddd 214 * @note
hudakz 0:e29bc8e0dddd 215 * @param
hudakz 0:e29bc8e0dddd 216 * @retval
hudakz 0:e29bc8e0dddd 217 */
hudakz 0:e29bc8e0dddd 218 int can_read(can_t* obj, CAN_Message* msg, int handle) {
hudakz 10:227a455d0f9f 219 int i;
hudakz 0:e29bc8e0dddd 220 msg->id = _canHandle.pRxMsg->IDE == CAN_ID_STD ? _canHandle.pRxMsg->StdId : _canHandle.pRxMsg->ExtId;
hudakz 0:e29bc8e0dddd 221 msg->type = _canHandle.pRxMsg->RTR == CAN_RTR_DATA ? CANData : CANRemote;
hudakz 0:e29bc8e0dddd 222 msg->format = _canHandle.pRxMsg->IDE == CAN_ID_STD ? CANStandard : CANExtended;
hudakz 0:e29bc8e0dddd 223 msg->len = _canHandle.pRxMsg->DLC;
hudakz 10:227a455d0f9f 224 for(i = 0; i < msg->len; i++)
hudakz 0:e29bc8e0dddd 225 msg->data[i] = _canHandle.pRxMsg->Data[i];
hudakz 5:b53e5ee15315 226
hudakz 5:b53e5ee15315 227 return msg->len;
hudakz 0:e29bc8e0dddd 228 }
hudakz 0:e29bc8e0dddd 229
hudakz 0:e29bc8e0dddd 230 /**
hudakz 0:e29bc8e0dddd 231 * @brief
hudakz 0:e29bc8e0dddd 232 * @note
hudakz 0:e29bc8e0dddd 233 * @param
hudakz 0:e29bc8e0dddd 234 * @retval
hudakz 0:e29bc8e0dddd 235 */
hudakz 0:e29bc8e0dddd 236 int can_mode(can_t* obj, CanMode mode) {
hudakz 0:e29bc8e0dddd 237 switch(mode) {
hudakz 0:e29bc8e0dddd 238 case MODE_RESET:
hudakz 0:e29bc8e0dddd 239 return HAL_ERROR;
hudakz 0:e29bc8e0dddd 240
hudakz 0:e29bc8e0dddd 241 case MODE_NORMAL:
hudakz 0:e29bc8e0dddd 242 _canHandle.Init.Mode = CAN_MODE_NORMAL;
hudakz 0:e29bc8e0dddd 243 break;
hudakz 0:e29bc8e0dddd 244
hudakz 0:e29bc8e0dddd 245 case MODE_SILENT:
hudakz 0:e29bc8e0dddd 246 _canHandle.Init.Mode = CAN_MODE_SILENT;
hudakz 0:e29bc8e0dddd 247 break;
hudakz 0:e29bc8e0dddd 248
hudakz 0:e29bc8e0dddd 249 case MODE_TEST_GLOBAL:
hudakz 0:e29bc8e0dddd 250 _canHandle.Init.Mode = CAN_MODE_LOOPBACK;
hudakz 0:e29bc8e0dddd 251 break;
hudakz 0:e29bc8e0dddd 252
hudakz 0:e29bc8e0dddd 253 case MODE_TEST_LOCAL:
hudakz 0:e29bc8e0dddd 254 _canHandle.Init.Mode = CAN_MODE_LOOPBACK;
hudakz 0:e29bc8e0dddd 255 break;
hudakz 0:e29bc8e0dddd 256
hudakz 0:e29bc8e0dddd 257 case MODE_TEST_SILENT:
hudakz 0:e29bc8e0dddd 258 _canHandle.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
hudakz 0:e29bc8e0dddd 259 break;
hudakz 0:e29bc8e0dddd 260 }
hudakz 0:e29bc8e0dddd 261
hudakz 3:0fae6b54a2ee 262 return HAL_CAN_Init(&_canHandle);
hudakz 0:e29bc8e0dddd 263 }
hudakz 0:e29bc8e0dddd 264
hudakz 0:e29bc8e0dddd 265 /**
hudakz 0:e29bc8e0dddd 266 * @brief
hudakz 0:e29bc8e0dddd 267 * @note
hudakz 0:e29bc8e0dddd 268 * @param
hudakz 0:e29bc8e0dddd 269 * @retval
hudakz 0:e29bc8e0dddd 270 */
hudakz 0:e29bc8e0dddd 271 int can_filter(can_t* obj, uint32_t id, uint32_t mask, CANFormat format /*=CANAny*/, int32_t handle /*=0*/ ) {
hudakz 0:e29bc8e0dddd 272 CAN_FilterConfTypeDef sFilterConfig;
hudakz 0:e29bc8e0dddd 273
hudakz 8:5c90d6b9a382 274 sFilterConfig.FilterNumber = handle; // Specifies the filter number (must be a number between 0 and 13 at 32-bit filter scale)
hudakz 0:e29bc8e0dddd 275 sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
hudakz 0:e29bc8e0dddd 276 sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
hudakz 0:e29bc8e0dddd 277 sFilterConfig.FilterIdHigh = (((id) >> 16) & 0xFFFF);
hudakz 0:e29bc8e0dddd 278 sFilterConfig.FilterIdLow = ((id) & 0xFFFF);
hudakz 0:e29bc8e0dddd 279 sFilterConfig.FilterMaskIdHigh = (((mask) >> 16) & 0xFFFF);
hudakz 0:e29bc8e0dddd 280 sFilterConfig.FilterMaskIdLow = ((mask) & 0xFFFF);
hudakz 0:e29bc8e0dddd 281 sFilterConfig.FilterFIFOAssignment = 0;
hudakz 0:e29bc8e0dddd 282 sFilterConfig.FilterActivation = ENABLE;
hudakz 8:5c90d6b9a382 283 sFilterConfig.BankNumber = 0; // Selects the start bank filter
hudakz 8:5c90d6b9a382 284 return HAL_CAN_ConfigFilter(&_canHandle, &sFilterConfig);
hudakz 0:e29bc8e0dddd 285 }
hudakz 0:e29bc8e0dddd 286
hudakz 0:e29bc8e0dddd 287 /**
hudakz 0:e29bc8e0dddd 288 * @brief
hudakz 0:e29bc8e0dddd 289 * @note
hudakz 0:e29bc8e0dddd 290 * @param
hudakz 0:e29bc8e0dddd 291 * @retval
hudakz 0:e29bc8e0dddd 292 */
hudakz 0:e29bc8e0dddd 293 void can_reset(can_t* obj) {
hudakz 0:e29bc8e0dddd 294 __HAL_CAN_RESET_HANDLE_STATE(&_canHandle);
hudakz 0:e29bc8e0dddd 295 }
hudakz 0:e29bc8e0dddd 296
hudakz 0:e29bc8e0dddd 297 /**
hudakz 0:e29bc8e0dddd 298 * @brief
hudakz 0:e29bc8e0dddd 299 * @note
hudakz 0:e29bc8e0dddd 300 * @param
hudakz 0:e29bc8e0dddd 301 * @retval
hudakz 0:e29bc8e0dddd 302 */
hudakz 0:e29bc8e0dddd 303 unsigned char can_rderror(can_t* obj) {
hudakz 0:e29bc8e0dddd 304 return HAL_CAN_GetError(&_canHandle);
hudakz 0:e29bc8e0dddd 305 }
hudakz 0:e29bc8e0dddd 306
hudakz 0:e29bc8e0dddd 307 /**
hudakz 0:e29bc8e0dddd 308 * @brief
hudakz 0:e29bc8e0dddd 309 * @note
hudakz 0:e29bc8e0dddd 310 * @param
hudakz 0:e29bc8e0dddd 311 * @retval
hudakz 0:e29bc8e0dddd 312 */
hudakz 0:e29bc8e0dddd 313 unsigned char can_tderror(can_t* obj) {
hudakz 0:e29bc8e0dddd 314 return HAL_CAN_GetError(&_canHandle);
hudakz 0:e29bc8e0dddd 315 }
hudakz 0:e29bc8e0dddd 316
hudakz 0:e29bc8e0dddd 317 /**
hudakz 0:e29bc8e0dddd 318 * @brief
hudakz 0:e29bc8e0dddd 319 * @note
hudakz 0:e29bc8e0dddd 320 * @param
hudakz 0:e29bc8e0dddd 321 * @retval
hudakz 0:e29bc8e0dddd 322 */
hudakz 0:e29bc8e0dddd 323 void can_monitor(can_t* obj, int silent) {
hudakz 0:e29bc8e0dddd 324
hudakz 0:e29bc8e0dddd 325 // not implemented
hudakz 0:e29bc8e0dddd 326 }
hudakz 1:eb04f7f0478d 327
hudakz 5:b53e5ee15315 328
hudakz 6:c5a40d5fd9f1 329
hudakz 11:439f3a34c42e 330
hudakz 12:c45310ff2233 331