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Dependents: CAN_TEST SPIne_Plus_DYNO_SENSORS SPIne_Plus_v2 SPIne_Plus_Dyno_v2

targets/TARGET_STM/TARGET_STM32F4/device/stm32f4xx_hal_can.c@0:083111ae2a11, 2020-11-26 (annotated)

Committer:: saloutos
Date:: Thu Nov 26 04:08:56 2020 +0000
Revision:: 0:083111ae2a11

first commit of leaned mbed dev lib

Who changed what in which revision?

User	Revision	Line number	New contents of line
saloutos	0:083111ae2a11	1	/**
saloutos	0:083111ae2a11	2	******************************************************************************
saloutos	0:083111ae2a11	3	* @file stm32f4xx_hal_can.c
saloutos	0:083111ae2a11	4	* @author MCD Application Team
saloutos	0:083111ae2a11	5	* @version V1.7.1
saloutos	0:083111ae2a11	6	* @date 14-April-2017
saloutos	0:083111ae2a11	7	* @brief This file provides firmware functions to manage the following
saloutos	0:083111ae2a11	8	* functionalities of the Controller Area Network (CAN) peripheral:
saloutos	0:083111ae2a11	9	* + Initialization and de-initialization functions
saloutos	0:083111ae2a11	10	* + IO operation functions
saloutos	0:083111ae2a11	11	* + Peripheral Control functions
saloutos	0:083111ae2a11	12	* + Peripheral State and Error functions
saloutos	0:083111ae2a11	13	*
saloutos	0:083111ae2a11	14	@verbatim
saloutos	0:083111ae2a11	15	==============================================================================
saloutos	0:083111ae2a11	16	##### How to use this driver #####
saloutos	0:083111ae2a11	17	==============================================================================
saloutos	0:083111ae2a11	18	[..]
saloutos	0:083111ae2a11	19	(#) Enable the CAN controller interface clock using
saloutos	0:083111ae2a11	20	__HAL_RCC_CAN1_CLK_ENABLE() for CAN1, __HAL_RCC_CAN2_CLK_ENABLE() for CAN2
saloutos	0:083111ae2a11	21	and __HAL_RCC_CAN3_CLK_ENABLE() for CAN3
saloutos	0:083111ae2a11	22	-@- In case you are using CAN2 only, you have to enable the CAN1 clock.
saloutos	0:083111ae2a11	23
saloutos	0:083111ae2a11	24	(#) CAN pins configuration
saloutos	0:083111ae2a11	25	(++) Enable the clock for the CAN GPIOs using the following function:
saloutos	0:083111ae2a11	26	__GPIOx_CLK_ENABLE()
saloutos	0:083111ae2a11	27	(++) Connect and configure the involved CAN pins to AF9 using the
saloutos	0:083111ae2a11	28	following function HAL_GPIO_Init()
saloutos	0:083111ae2a11	29
saloutos	0:083111ae2a11	30	(#) Initialize and configure the CAN using CAN_Init() function.
saloutos	0:083111ae2a11	31
saloutos	0:083111ae2a11	32	(#) Transmit the desired CAN frame using HAL_CAN_Transmit() function.
saloutos	0:083111ae2a11	33
saloutos	0:083111ae2a11	34	(#) Or transmit the desired CAN frame using HAL_CAN_Transmit_IT() function.
saloutos	0:083111ae2a11	35
saloutos	0:083111ae2a11	36	(#) Receive a CAN frame using HAL_CAN_Receive() function.
saloutos	0:083111ae2a11	37
saloutos	0:083111ae2a11	38	(#) Or receive a CAN frame using HAL_CAN_Receive_IT() function.
saloutos	0:083111ae2a11	39
saloutos	0:083111ae2a11	40	* Polling mode IO operation *
saloutos	0:083111ae2a11	41	=================================
saloutos	0:083111ae2a11	42	[..]
saloutos	0:083111ae2a11	43	(+) Start the CAN peripheral transmission and wait the end of this operation
saloutos	0:083111ae2a11	44	using HAL_CAN_Transmit(), at this stage user can specify the value of timeout
saloutos	0:083111ae2a11	45	according to his end application
saloutos	0:083111ae2a11	46	(+) Start the CAN peripheral reception and wait the end of this operation
saloutos	0:083111ae2a11	47	using HAL_CAN_Receive(), at this stage user can specify the value of timeout
saloutos	0:083111ae2a11	48	according to his end application
saloutos	0:083111ae2a11	49
saloutos	0:083111ae2a11	50	* Interrupt mode IO operation *
saloutos	0:083111ae2a11	51	===================================
saloutos	0:083111ae2a11	52	[..]
saloutos	0:083111ae2a11	53	(+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT()
saloutos	0:083111ae2a11	54	(+) Start the CAN peripheral reception using HAL_CAN_Receive_IT()
saloutos	0:083111ae2a11	55	(+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine
saloutos	0:083111ae2a11	56	(+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can
saloutos	0:083111ae2a11	57	add his own code by customization of function pointer HAL_CAN_TxCpltCallback
saloutos	0:083111ae2a11	58	(+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can
saloutos	0:083111ae2a11	59	add his own code by customization of function pointer HAL_CAN_ErrorCallback
saloutos	0:083111ae2a11	60
saloutos	0:083111ae2a11	61	* CAN HAL driver macros list *
saloutos	0:083111ae2a11	62	=============================================
saloutos	0:083111ae2a11	63	[..]
saloutos	0:083111ae2a11	64	Below the list of most used macros in CAN HAL driver.
saloutos	0:083111ae2a11	65
saloutos	0:083111ae2a11	66	(+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts
saloutos	0:083111ae2a11	67	(+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts
saloutos	0:083111ae2a11	68	(+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled
saloutos	0:083111ae2a11	69	(+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags
saloutos	0:083111ae2a11	70	(+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status
saloutos	0:083111ae2a11	71
saloutos	0:083111ae2a11	72	[..]
saloutos	0:083111ae2a11	73	(@) You can refer to the CAN HAL driver header file for more useful macros
saloutos	0:083111ae2a11	74
saloutos	0:083111ae2a11	75	@endverbatim
saloutos	0:083111ae2a11	76
saloutos	0:083111ae2a11	77	******************************************************************************
saloutos	0:083111ae2a11	78	* @attention
saloutos	0:083111ae2a11	79	*
saloutos	0:083111ae2a11	80	* <h2><center>© COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
saloutos	0:083111ae2a11	81	*
saloutos	0:083111ae2a11	82	* Redistribution and use in source and binary forms, with or without modification,
saloutos	0:083111ae2a11	83	* are permitted provided that the following conditions are met:
saloutos	0:083111ae2a11	84	* 1. Redistributions of source code must retain the above copyright notice,
saloutos	0:083111ae2a11	85	* this list of conditions and the following disclaimer.
saloutos	0:083111ae2a11	86	* 2. Redistributions in binary form must reproduce the above copyright notice,
saloutos	0:083111ae2a11	87	* this list of conditions and the following disclaimer in the documentation
saloutos	0:083111ae2a11	88	* and/or other materials provided with the distribution.
saloutos	0:083111ae2a11	89	* 3. Neither the name of STMicroelectronics nor the names of its contributors
saloutos	0:083111ae2a11	90	* may be used to endorse or promote products derived from this software
saloutos	0:083111ae2a11	91	* without specific prior written permission.
saloutos	0:083111ae2a11	92	*
saloutos	0:083111ae2a11	93	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
saloutos	0:083111ae2a11	94	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
saloutos	0:083111ae2a11	95	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
saloutos	0:083111ae2a11	96	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
saloutos	0:083111ae2a11	97	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
saloutos	0:083111ae2a11	98	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
saloutos	0:083111ae2a11	99	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
saloutos	0:083111ae2a11	100	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
saloutos	0:083111ae2a11	101	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
saloutos	0:083111ae2a11	102	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
saloutos	0:083111ae2a11	103	*
saloutos	0:083111ae2a11	104	******************************************************************************
saloutos	0:083111ae2a11	105	*/
saloutos	0:083111ae2a11	106
saloutos	0:083111ae2a11	107	/* Includes ------------------------------------------------------------------*/
saloutos	0:083111ae2a11	108	#include "stm32f4xx_hal.h"
saloutos	0:083111ae2a11	109
saloutos	0:083111ae2a11	110	/** @addtogroup STM32F4xx_HAL_Driver
saloutos	0:083111ae2a11	111	* @{
saloutos	0:083111ae2a11	112	*/
saloutos	0:083111ae2a11	113
saloutos	0:083111ae2a11	114	/** @defgroup CAN CAN
saloutos	0:083111ae2a11	115	* @brief CAN driver modules
saloutos	0:083111ae2a11	116	* @{
saloutos	0:083111ae2a11	117	*/
saloutos	0:083111ae2a11	118
saloutos	0:083111ae2a11	119	#ifdef HAL_CAN_MODULE_ENABLED
saloutos	0:083111ae2a11	120
saloutos	0:083111ae2a11	121	#if defined(STM32F405xx) \|\| defined(STM32F415xx) \|\| defined(STM32F407xx) \|\| defined(STM32F417xx) \|\|\
saloutos	0:083111ae2a11	122	defined(STM32F427xx) \|\| defined(STM32F437xx) \|\| defined(STM32F429xx) \|\| defined(STM32F439xx) \|\|\
saloutos	0:083111ae2a11	123	defined(STM32F446xx) \|\| defined(STM32F469xx) \|\| defined(STM32F479xx) \|\| defined(STM32F412Zx) \|\|\
saloutos	0:083111ae2a11	124	defined(STM32F412Vx) \|\| defined(STM32F412Rx) \|\| defined(STM32F412Cx) \|\| defined(STM32F413xx) \|\|\
saloutos	0:083111ae2a11	125	defined(STM32F423xx)
saloutos	0:083111ae2a11	126
saloutos	0:083111ae2a11	127	/* Private typedef -----------------------------------------------------------*/
saloutos	0:083111ae2a11	128	/* Private define ------------------------------------------------------------*/
saloutos	0:083111ae2a11	129	/** @addtogroup CAN_Private_Constants
saloutos	0:083111ae2a11	130	* @{
saloutos	0:083111ae2a11	131	*/
saloutos	0:083111ae2a11	132	#define CAN_TIMEOUT_VALUE 10U
saloutos	0:083111ae2a11	133	/**
saloutos	0:083111ae2a11	134	* @}
saloutos	0:083111ae2a11	135	*/
saloutos	0:083111ae2a11	136	/* Private macro -------------------------------------------------------------*/
saloutos	0:083111ae2a11	137	/* Private variables ---------------------------------------------------------*/
saloutos	0:083111ae2a11	138	/* Private function prototypes -----------------------------------------------*/
saloutos	0:083111ae2a11	139	/** @addtogroup CAN_Private_Functions
saloutos	0:083111ae2a11	140	* @{
saloutos	0:083111ae2a11	141	*/
saloutos	0:083111ae2a11	142	static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
saloutos	0:083111ae2a11	143	static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
saloutos	0:083111ae2a11	144	/**
saloutos	0:083111ae2a11	145	* @}
saloutos	0:083111ae2a11	146	*/
saloutos	0:083111ae2a11	147
saloutos	0:083111ae2a11	148	/* Exported functions --------------------------------------------------------*/
saloutos	0:083111ae2a11	149	/** @defgroup CAN_Exported_Functions CAN Exported Functions
saloutos	0:083111ae2a11	150	* @{
saloutos	0:083111ae2a11	151	*/
saloutos	0:083111ae2a11	152
saloutos	0:083111ae2a11	153	/** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
saloutos	0:083111ae2a11	154	* @brief Initialization and Configuration functions
saloutos	0:083111ae2a11	155	*
saloutos	0:083111ae2a11	156	@verbatim
saloutos	0:083111ae2a11	157	==============================================================================
saloutos	0:083111ae2a11	158	##### Initialization and de-initialization functions #####
saloutos	0:083111ae2a11	159	==============================================================================
saloutos	0:083111ae2a11	160	[..] This section provides functions allowing to:
saloutos	0:083111ae2a11	161	(+) Initialize and configure the CAN.
saloutos	0:083111ae2a11	162	(+) De-initialize the CAN.
saloutos	0:083111ae2a11	163
saloutos	0:083111ae2a11	164	@endverbatim
saloutos	0:083111ae2a11	165	* @{
saloutos	0:083111ae2a11	166	*/
saloutos	0:083111ae2a11	167
saloutos	0:083111ae2a11	168	/**
saloutos	0:083111ae2a11	169	* @brief Initializes the CAN peripheral according to the specified
saloutos	0:083111ae2a11	170	* parameters in the CAN_InitStruct.
saloutos	0:083111ae2a11	171	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	172	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	173	* @retval HAL status
saloutos	0:083111ae2a11	174	*/
saloutos	0:083111ae2a11	175	HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
saloutos	0:083111ae2a11	176	{
saloutos	0:083111ae2a11	177	uint32_t InitStatus = CAN_INITSTATUS_FAILED;
saloutos	0:083111ae2a11	178	uint32_t tickstart = 0U;
saloutos	0:083111ae2a11	179
saloutos	0:083111ae2a11	180	/* Check CAN handle */
saloutos	0:083111ae2a11	181	if(hcan == NULL)
saloutos	0:083111ae2a11	182	{
saloutos	0:083111ae2a11	183	return HAL_ERROR;
saloutos	0:083111ae2a11	184	}
saloutos	0:083111ae2a11	185
saloutos	0:083111ae2a11	186	/* Check the parameters */
saloutos	0:083111ae2a11	187	assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
saloutos	0:083111ae2a11	188	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
saloutos	0:083111ae2a11	189	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
saloutos	0:083111ae2a11	190	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
saloutos	0:083111ae2a11	191	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
saloutos	0:083111ae2a11	192	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
saloutos	0:083111ae2a11	193	assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
saloutos	0:083111ae2a11	194	assert_param(IS_CAN_MODE(hcan->Init.Mode));
saloutos	0:083111ae2a11	195	assert_param(IS_CAN_SJW(hcan->Init.SJW));
saloutos	0:083111ae2a11	196	assert_param(IS_CAN_BS1(hcan->Init.BS1));
saloutos	0:083111ae2a11	197	assert_param(IS_CAN_BS2(hcan->Init.BS2));
saloutos	0:083111ae2a11	198	assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
saloutos	0:083111ae2a11	199
saloutos	0:083111ae2a11	200
saloutos	0:083111ae2a11	201	if(hcan->State == HAL_CAN_STATE_RESET)
saloutos	0:083111ae2a11	202	{
saloutos	0:083111ae2a11	203	/* Allocate lock resource and initialize it */
saloutos	0:083111ae2a11	204	hcan->Lock = HAL_UNLOCKED;
saloutos	0:083111ae2a11	205	/* Init the low level hardware */
saloutos	0:083111ae2a11	206	HAL_CAN_MspInit(hcan);
saloutos	0:083111ae2a11	207	}
saloutos	0:083111ae2a11	208
saloutos	0:083111ae2a11	209	/* Initialize the CAN state*/
saloutos	0:083111ae2a11	210	hcan->State = HAL_CAN_STATE_BUSY;
saloutos	0:083111ae2a11	211
saloutos	0:083111ae2a11	212	/* Exit from sleep mode */
saloutos	0:083111ae2a11	213	hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
saloutos	0:083111ae2a11	214
saloutos	0:083111ae2a11	215	/* Request initialisation */
saloutos	0:083111ae2a11	216	hcan->Instance->MCR \|= CAN_MCR_INRQ ;
saloutos	0:083111ae2a11	217
saloutos	0:083111ae2a11	218	/* Get tick */
saloutos	0:083111ae2a11	219	tickstart = HAL_GetTick();
saloutos	0:083111ae2a11	220
saloutos	0:083111ae2a11	221	/* Wait the acknowledge */
saloutos	0:083111ae2a11	222	while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
saloutos	0:083111ae2a11	223	{
saloutos	0:083111ae2a11	224	if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE)
saloutos	0:083111ae2a11	225	{
saloutos	0:083111ae2a11	226	hcan->State= HAL_CAN_STATE_TIMEOUT;
saloutos	0:083111ae2a11	227	/* Process unlocked */
saloutos	0:083111ae2a11	228	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	229	return HAL_TIMEOUT;
saloutos	0:083111ae2a11	230	}
saloutos	0:083111ae2a11	231	}
saloutos	0:083111ae2a11	232
saloutos	0:083111ae2a11	233	/* Check acknowledge */
saloutos	0:083111ae2a11	234	if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
saloutos	0:083111ae2a11	235	{
saloutos	0:083111ae2a11	236	/* Set the time triggered communication mode */
saloutos	0:083111ae2a11	237	if (hcan->Init.TTCM == ENABLE)
saloutos	0:083111ae2a11	238	{
saloutos	0:083111ae2a11	239	hcan->Instance->MCR \|= CAN_MCR_TTCM;
saloutos	0:083111ae2a11	240	}
saloutos	0:083111ae2a11	241	else
saloutos	0:083111ae2a11	242	{
saloutos	0:083111ae2a11	243	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
saloutos	0:083111ae2a11	244	}
saloutos	0:083111ae2a11	245
saloutos	0:083111ae2a11	246	/* Set the automatic bus-off management */
saloutos	0:083111ae2a11	247	if (hcan->Init.ABOM == ENABLE)
saloutos	0:083111ae2a11	248	{
saloutos	0:083111ae2a11	249	hcan->Instance->MCR \|= CAN_MCR_ABOM;
saloutos	0:083111ae2a11	250	}
saloutos	0:083111ae2a11	251	else
saloutos	0:083111ae2a11	252	{
saloutos	0:083111ae2a11	253	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
saloutos	0:083111ae2a11	254	}
saloutos	0:083111ae2a11	255
saloutos	0:083111ae2a11	256	/* Set the automatic wake-up mode */
saloutos	0:083111ae2a11	257	if (hcan->Init.AWUM == ENABLE)
saloutos	0:083111ae2a11	258	{
saloutos	0:083111ae2a11	259	hcan->Instance->MCR \|= CAN_MCR_AWUM;
saloutos	0:083111ae2a11	260	}
saloutos	0:083111ae2a11	261	else
saloutos	0:083111ae2a11	262	{
saloutos	0:083111ae2a11	263	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
saloutos	0:083111ae2a11	264	}
saloutos	0:083111ae2a11	265
saloutos	0:083111ae2a11	266	/* Set the no automatic retransmission */
saloutos	0:083111ae2a11	267	if (hcan->Init.NART == ENABLE)
saloutos	0:083111ae2a11	268	{
saloutos	0:083111ae2a11	269	hcan->Instance->MCR \|= CAN_MCR_NART;
saloutos	0:083111ae2a11	270	}
saloutos	0:083111ae2a11	271	else
saloutos	0:083111ae2a11	272	{
saloutos	0:083111ae2a11	273	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
saloutos	0:083111ae2a11	274	}
saloutos	0:083111ae2a11	275
saloutos	0:083111ae2a11	276	/* Set the receive FIFO locked mode */
saloutos	0:083111ae2a11	277	if (hcan->Init.RFLM == ENABLE)
saloutos	0:083111ae2a11	278	{
saloutos	0:083111ae2a11	279	hcan->Instance->MCR \|= CAN_MCR_RFLM;
saloutos	0:083111ae2a11	280	}
saloutos	0:083111ae2a11	281	else
saloutos	0:083111ae2a11	282	{
saloutos	0:083111ae2a11	283	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
saloutos	0:083111ae2a11	284	}
saloutos	0:083111ae2a11	285
saloutos	0:083111ae2a11	286	/* Set the transmit FIFO priority */
saloutos	0:083111ae2a11	287	if (hcan->Init.TXFP == ENABLE)
saloutos	0:083111ae2a11	288	{
saloutos	0:083111ae2a11	289	hcan->Instance->MCR \|= CAN_MCR_TXFP;
saloutos	0:083111ae2a11	290	}
saloutos	0:083111ae2a11	291	else
saloutos	0:083111ae2a11	292	{
saloutos	0:083111ae2a11	293	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
saloutos	0:083111ae2a11	294	}
saloutos	0:083111ae2a11	295
saloutos	0:083111ae2a11	296	/* Set the bit timing register */
saloutos	0:083111ae2a11	297	hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) \| \
saloutos	0:083111ae2a11	298	((uint32_t)hcan->Init.SJW) \| \
saloutos	0:083111ae2a11	299	((uint32_t)hcan->Init.BS1) \| \
saloutos	0:083111ae2a11	300	((uint32_t)hcan->Init.BS2) \| \
saloutos	0:083111ae2a11	301	((uint32_t)hcan->Init.Prescaler - 1U);
saloutos	0:083111ae2a11	302
saloutos	0:083111ae2a11	303	/* Request leave initialisation */
saloutos	0:083111ae2a11	304	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
saloutos	0:083111ae2a11	305
saloutos	0:083111ae2a11	306	/* Get tick */
saloutos	0:083111ae2a11	307	tickstart = HAL_GetTick();
saloutos	0:083111ae2a11	308
saloutos	0:083111ae2a11	309	/* Wait the acknowledge */
saloutos	0:083111ae2a11	310	while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
saloutos	0:083111ae2a11	311	{
saloutos	0:083111ae2a11	312	if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE)
saloutos	0:083111ae2a11	313	{
saloutos	0:083111ae2a11	314	hcan->State= HAL_CAN_STATE_TIMEOUT;
saloutos	0:083111ae2a11	315	/* Process unlocked */
saloutos	0:083111ae2a11	316	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	317	return HAL_TIMEOUT;
saloutos	0:083111ae2a11	318	}
saloutos	0:083111ae2a11	319	}
saloutos	0:083111ae2a11	320
saloutos	0:083111ae2a11	321	/* Check acknowledged */
saloutos	0:083111ae2a11	322	if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
saloutos	0:083111ae2a11	323	{
saloutos	0:083111ae2a11	324	InitStatus = CAN_INITSTATUS_SUCCESS;
saloutos	0:083111ae2a11	325	}
saloutos	0:083111ae2a11	326	}
saloutos	0:083111ae2a11	327
saloutos	0:083111ae2a11	328	if(InitStatus == CAN_INITSTATUS_SUCCESS)
saloutos	0:083111ae2a11	329	{
saloutos	0:083111ae2a11	330	/* Set CAN error code to none */
saloutos	0:083111ae2a11	331	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
saloutos	0:083111ae2a11	332
saloutos	0:083111ae2a11	333	/* Initialize the CAN state */
saloutos	0:083111ae2a11	334	hcan->State = HAL_CAN_STATE_READY;
saloutos	0:083111ae2a11	335
saloutos	0:083111ae2a11	336	/* Return function status */
saloutos	0:083111ae2a11	337	return HAL_OK;
saloutos	0:083111ae2a11	338	}
saloutos	0:083111ae2a11	339	else
saloutos	0:083111ae2a11	340	{
saloutos	0:083111ae2a11	341	/* Initialize the CAN state */
saloutos	0:083111ae2a11	342	hcan->State = HAL_CAN_STATE_ERROR;
saloutos	0:083111ae2a11	343
saloutos	0:083111ae2a11	344	/* Return function status */
saloutos	0:083111ae2a11	345	return HAL_ERROR;
saloutos	0:083111ae2a11	346	}
saloutos	0:083111ae2a11	347	}
saloutos	0:083111ae2a11	348
saloutos	0:083111ae2a11	349	/**
saloutos	0:083111ae2a11	350	* @brief Configures the CAN reception filter according to the specified
saloutos	0:083111ae2a11	351	* parameters in the CAN_FilterInitStruct.
saloutos	0:083111ae2a11	352	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	353	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	354	* @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
saloutos	0:083111ae2a11	355	* contains the filter configuration information.
saloutos	0:083111ae2a11	356	* @retval None
saloutos	0:083111ae2a11	357	*/
saloutos	0:083111ae2a11	358	HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
saloutos	0:083111ae2a11	359	{
saloutos	0:083111ae2a11	360	uint32_t filternbrbitpos = 0U;
saloutos	0:083111ae2a11	361	CAN_TypeDef *can_ip;
saloutos	0:083111ae2a11	362
saloutos	0:083111ae2a11	363	/* Prevent unused argument(s) compilation warning */
saloutos	0:083111ae2a11	364	UNUSED(hcan);
saloutos	0:083111ae2a11	365
saloutos	0:083111ae2a11	366	/* Check the parameters */
saloutos	0:083111ae2a11	367	assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
saloutos	0:083111ae2a11	368	assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
saloutos	0:083111ae2a11	369	assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
saloutos	0:083111ae2a11	370	assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
saloutos	0:083111ae2a11	371	assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
saloutos	0:083111ae2a11	372	assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
saloutos	0:083111ae2a11	373
saloutos	0:083111ae2a11	374	filternbrbitpos = 1U << sFilterConfig->FilterNumber;
saloutos	0:083111ae2a11	375	#if defined (CAN3)
saloutos	0:083111ae2a11	376	/* Check the CAN instance */
saloutos	0:083111ae2a11	377	if(hcan->Instance == CAN3)
saloutos	0:083111ae2a11	378	{
saloutos	0:083111ae2a11	379	can_ip = CAN3;
saloutos	0:083111ae2a11	380	}
saloutos	0:083111ae2a11	381	else
saloutos	0:083111ae2a11	382	{
saloutos	0:083111ae2a11	383	can_ip = CAN1;
saloutos	0:083111ae2a11	384	}
saloutos	0:083111ae2a11	385	#else
saloutos	0:083111ae2a11	386	can_ip = CAN1;
saloutos	0:083111ae2a11	387	#endif
saloutos	0:083111ae2a11	388
saloutos	0:083111ae2a11	389	/* Initialisation mode for the filter */
saloutos	0:083111ae2a11	390	can_ip->FMR \|= (uint32_t)CAN_FMR_FINIT;
saloutos	0:083111ae2a11	391
saloutos	0:083111ae2a11	392	#if defined (CAN2)
saloutos	0:083111ae2a11	393	/* Select the start slave bank */
saloutos	0:083111ae2a11	394	can_ip->FMR &= ~((uint32_t)CAN_FMR_CAN2SB);
saloutos	0:083111ae2a11	395	can_ip->FMR \|= (uint32_t)(sFilterConfig->BankNumber << 8U);
saloutos	0:083111ae2a11	396	#endif
saloutos	0:083111ae2a11	397
saloutos	0:083111ae2a11	398	/* Filter Deactivation */
saloutos	0:083111ae2a11	399	can_ip->FA1R &= ~(uint32_t)filternbrbitpos;
saloutos	0:083111ae2a11	400
saloutos	0:083111ae2a11	401	/* Filter Scale */
saloutos	0:083111ae2a11	402	if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
saloutos	0:083111ae2a11	403	{
saloutos	0:083111ae2a11	404	/* 16-bit scale for the filter */
saloutos	0:083111ae2a11	405	can_ip->FS1R &= ~(uint32_t)filternbrbitpos;
saloutos	0:083111ae2a11	406
saloutos	0:083111ae2a11	407	/* First 16-bit identifier and First 16-bit mask */
saloutos	0:083111ae2a11	408	/* Or First 16-bit identifier and Second 16-bit identifier */
saloutos	0:083111ae2a11	409	can_ip->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
saloutos	0:083111ae2a11	410	((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) \|
saloutos	0:083111ae2a11	411	(0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
saloutos	0:083111ae2a11	412
saloutos	0:083111ae2a11	413	/* Second 16-bit identifier and Second 16-bit mask */
saloutos	0:083111ae2a11	414	/* Or Third 16-bit identifier and Fourth 16-bit identifier */
saloutos	0:083111ae2a11	415	can_ip->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
saloutos	0:083111ae2a11	416	((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) \|
saloutos	0:083111ae2a11	417	(0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
saloutos	0:083111ae2a11	418	}
saloutos	0:083111ae2a11	419
saloutos	0:083111ae2a11	420	if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
saloutos	0:083111ae2a11	421	{
saloutos	0:083111ae2a11	422	/* 32-bit scale for the filter */
saloutos	0:083111ae2a11	423	can_ip->FS1R \|= filternbrbitpos;
saloutos	0:083111ae2a11	424
saloutos	0:083111ae2a11	425	/* 32-bit identifier or First 32-bit identifier */
saloutos	0:083111ae2a11	426	can_ip->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
saloutos	0:083111ae2a11	427	((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) \|
saloutos	0:083111ae2a11	428	(0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
saloutos	0:083111ae2a11	429	/* 32-bit mask or Second 32-bit identifier */
saloutos	0:083111ae2a11	430	can_ip->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
saloutos	0:083111ae2a11	431	((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) \|
saloutos	0:083111ae2a11	432	(0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
saloutos	0:083111ae2a11	433	}
saloutos	0:083111ae2a11	434
saloutos	0:083111ae2a11	435	/* Filter Mode */
saloutos	0:083111ae2a11	436	if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
saloutos	0:083111ae2a11	437	{
saloutos	0:083111ae2a11	438	/Id/Mask mode for the filter/
saloutos	0:083111ae2a11	439	can_ip->FM1R &= ~(uint32_t)filternbrbitpos;
saloutos	0:083111ae2a11	440	}
saloutos	0:083111ae2a11	441	else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
saloutos	0:083111ae2a11	442	{
saloutos	0:083111ae2a11	443	/Identifier list mode for the filter/
saloutos	0:083111ae2a11	444	can_ip->FM1R \|= (uint32_t)filternbrbitpos;
saloutos	0:083111ae2a11	445	}
saloutos	0:083111ae2a11	446
saloutos	0:083111ae2a11	447	/* Filter FIFO assignment */
saloutos	0:083111ae2a11	448	if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
saloutos	0:083111ae2a11	449	{
saloutos	0:083111ae2a11	450	/* FIFO 0 assignation for the filter */
saloutos	0:083111ae2a11	451	can_ip->FFA1R &= ~(uint32_t)filternbrbitpos;
saloutos	0:083111ae2a11	452	}
saloutos	0:083111ae2a11	453
saloutos	0:083111ae2a11	454	if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
saloutos	0:083111ae2a11	455	{
saloutos	0:083111ae2a11	456	/* FIFO 1 assignation for the filter */
saloutos	0:083111ae2a11	457	can_ip->FFA1R \|= (uint32_t)filternbrbitpos;
saloutos	0:083111ae2a11	458	}
saloutos	0:083111ae2a11	459
saloutos	0:083111ae2a11	460	/* Filter activation */
saloutos	0:083111ae2a11	461	if (sFilterConfig->FilterActivation == ENABLE)
saloutos	0:083111ae2a11	462	{
saloutos	0:083111ae2a11	463	can_ip->FA1R \|= filternbrbitpos;
saloutos	0:083111ae2a11	464	}
saloutos	0:083111ae2a11	465
saloutos	0:083111ae2a11	466	/* Leave the initialisation mode for the filter */
saloutos	0:083111ae2a11	467	can_ip->FMR &= ~((uint32_t)CAN_FMR_FINIT);
saloutos	0:083111ae2a11	468
saloutos	0:083111ae2a11	469	/* Return function status */
saloutos	0:083111ae2a11	470	return HAL_OK;
saloutos	0:083111ae2a11	471	}
saloutos	0:083111ae2a11	472
saloutos	0:083111ae2a11	473	/**
saloutos	0:083111ae2a11	474	* @brief Deinitializes the CANx peripheral registers to their default reset values.
saloutos	0:083111ae2a11	475	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	476	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	477	* @retval HAL status
saloutos	0:083111ae2a11	478	*/
saloutos	0:083111ae2a11	479	HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
saloutos	0:083111ae2a11	480	{
saloutos	0:083111ae2a11	481	/* Check CAN handle */
saloutos	0:083111ae2a11	482	if(hcan == NULL)
saloutos	0:083111ae2a11	483	{
saloutos	0:083111ae2a11	484	return HAL_ERROR;
saloutos	0:083111ae2a11	485	}
saloutos	0:083111ae2a11	486
saloutos	0:083111ae2a11	487	/* Check the parameters */
saloutos	0:083111ae2a11	488	assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
saloutos	0:083111ae2a11	489
saloutos	0:083111ae2a11	490	/* Change CAN state */
saloutos	0:083111ae2a11	491	hcan->State = HAL_CAN_STATE_BUSY;
saloutos	0:083111ae2a11	492
saloutos	0:083111ae2a11	493	/* DeInit the low level hardware */
saloutos	0:083111ae2a11	494	HAL_CAN_MspDeInit(hcan);
saloutos	0:083111ae2a11	495
saloutos	0:083111ae2a11	496	/* Change CAN state */
saloutos	0:083111ae2a11	497	hcan->State = HAL_CAN_STATE_RESET;
saloutos	0:083111ae2a11	498
saloutos	0:083111ae2a11	499	/* Release Lock */
saloutos	0:083111ae2a11	500	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	501
saloutos	0:083111ae2a11	502	/* Return function status */
saloutos	0:083111ae2a11	503	return HAL_OK;
saloutos	0:083111ae2a11	504	}
saloutos	0:083111ae2a11	505
saloutos	0:083111ae2a11	506	/**
saloutos	0:083111ae2a11	507	* @brief Initializes the CAN MSP.
saloutos	0:083111ae2a11	508	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	509	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	510	* @retval None
saloutos	0:083111ae2a11	511	*/
saloutos	0:083111ae2a11	512	__weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
saloutos	0:083111ae2a11	513	{
saloutos	0:083111ae2a11	514	/* Prevent unused argument(s) compilation warning */
saloutos	0:083111ae2a11	515	UNUSED(hcan);
saloutos	0:083111ae2a11	516	/* NOTE : This function Should not be modified, when the callback is needed,
saloutos	0:083111ae2a11	517	the HAL_CAN_MspInit could be implemented in the user file
saloutos	0:083111ae2a11	518	*/
saloutos	0:083111ae2a11	519	}
saloutos	0:083111ae2a11	520
saloutos	0:083111ae2a11	521	/**
saloutos	0:083111ae2a11	522	* @brief DeInitializes the CAN MSP.
saloutos	0:083111ae2a11	523	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	524	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	525	* @retval None
saloutos	0:083111ae2a11	526	*/
saloutos	0:083111ae2a11	527	__weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
saloutos	0:083111ae2a11	528	{
saloutos	0:083111ae2a11	529	/* Prevent unused argument(s) compilation warning */
saloutos	0:083111ae2a11	530	UNUSED(hcan);
saloutos	0:083111ae2a11	531	/* NOTE : This function Should not be modified, when the callback is needed,
saloutos	0:083111ae2a11	532	the HAL_CAN_MspDeInit could be implemented in the user file
saloutos	0:083111ae2a11	533	*/
saloutos	0:083111ae2a11	534	}
saloutos	0:083111ae2a11	535
saloutos	0:083111ae2a11	536	/**
saloutos	0:083111ae2a11	537	* @}
saloutos	0:083111ae2a11	538	*/
saloutos	0:083111ae2a11	539
saloutos	0:083111ae2a11	540	/** @defgroup CAN_Exported_Functions_Group2 IO operation functions
saloutos	0:083111ae2a11	541	* @brief IO operation functions
saloutos	0:083111ae2a11	542	*
saloutos	0:083111ae2a11	543	@verbatim
saloutos	0:083111ae2a11	544	==============================================================================
saloutos	0:083111ae2a11	545	##### IO operation functions #####
saloutos	0:083111ae2a11	546	==============================================================================
saloutos	0:083111ae2a11	547	[..] This section provides functions allowing to:
saloutos	0:083111ae2a11	548	(+) Transmit a CAN frame message.
saloutos	0:083111ae2a11	549	(+) Receive a CAN frame message.
saloutos	0:083111ae2a11	550	(+) Enter CAN peripheral in sleep mode.
saloutos	0:083111ae2a11	551	(+) Wake up the CAN peripheral from sleep mode.
saloutos	0:083111ae2a11	552
saloutos	0:083111ae2a11	553	@endverbatim
saloutos	0:083111ae2a11	554	* @{
saloutos	0:083111ae2a11	555	*/
saloutos	0:083111ae2a11	556
saloutos	0:083111ae2a11	557	/**
saloutos	0:083111ae2a11	558	* @brief Initiates and transmits a CAN frame message.
saloutos	0:083111ae2a11	559	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	560	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	561	* @param Timeout: Specify Timeout value
saloutos	0:083111ae2a11	562	* @retval HAL status
saloutos	0:083111ae2a11	563	*/
saloutos	0:083111ae2a11	564	HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
saloutos	0:083111ae2a11	565	{
saloutos	0:083111ae2a11	566	uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
saloutos	0:083111ae2a11	567	uint32_t tickstart = 0U;
saloutos	0:083111ae2a11	568
saloutos	0:083111ae2a11	569	/* Check the parameters */
saloutos	0:083111ae2a11	570	assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
saloutos	0:083111ae2a11	571	assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
saloutos	0:083111ae2a11	572	assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
saloutos	0:083111ae2a11	573
saloutos	0:083111ae2a11	574	if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) \|\| \
saloutos	0:083111ae2a11	575	((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) \|\| \
saloutos	0:083111ae2a11	576	((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2))
saloutos	0:083111ae2a11	577	{
saloutos	0:083111ae2a11	578	/* Process locked */
saloutos	0:083111ae2a11	579	__HAL_LOCK(hcan);
saloutos	0:083111ae2a11	580
saloutos	0:083111ae2a11	581	/* Change CAN state */
saloutos	0:083111ae2a11	582	switch(hcan->State)
saloutos	0:083111ae2a11	583	{
saloutos	0:083111ae2a11	584	case(HAL_CAN_STATE_BUSY_RX0):
saloutos	0:083111ae2a11	585	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
saloutos	0:083111ae2a11	586	break;
saloutos	0:083111ae2a11	587	case(HAL_CAN_STATE_BUSY_RX1):
saloutos	0:083111ae2a11	588	hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
saloutos	0:083111ae2a11	589	break;
saloutos	0:083111ae2a11	590	case(HAL_CAN_STATE_BUSY_RX0_RX1):
saloutos	0:083111ae2a11	591	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
saloutos	0:083111ae2a11	592	break;
saloutos	0:083111ae2a11	593	default: /* HAL_CAN_STATE_READY */
saloutos	0:083111ae2a11	594	hcan->State = HAL_CAN_STATE_BUSY_TX;
saloutos	0:083111ae2a11	595	break;
saloutos	0:083111ae2a11	596	}
saloutos	0:083111ae2a11	597
saloutos	0:083111ae2a11	598	/* Select one empty transmit mailbox */
saloutos	0:083111ae2a11	599	if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
saloutos	0:083111ae2a11	600	{
saloutos	0:083111ae2a11	601	transmitmailbox = CAN_TXMAILBOX_0;
saloutos	0:083111ae2a11	602	}
saloutos	0:083111ae2a11	603	else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
saloutos	0:083111ae2a11	604	{
saloutos	0:083111ae2a11	605	transmitmailbox = CAN_TXMAILBOX_1;
saloutos	0:083111ae2a11	606	}
saloutos	0:083111ae2a11	607	else
saloutos	0:083111ae2a11	608	{
saloutos	0:083111ae2a11	609	transmitmailbox = CAN_TXMAILBOX_2;
saloutos	0:083111ae2a11	610	}
saloutos	0:083111ae2a11	611
saloutos	0:083111ae2a11	612	/* Set up the Id */
saloutos	0:083111ae2a11	613	hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
saloutos	0:083111ae2a11	614	if (hcan->pTxMsg->IDE == CAN_ID_STD)
saloutos	0:083111ae2a11	615	{
saloutos	0:083111ae2a11	616	assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
saloutos	0:083111ae2a11	617	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->StdId << 21U) \| \
saloutos	0:083111ae2a11	618	hcan->pTxMsg->RTR);
saloutos	0:083111ae2a11	619	}
saloutos	0:083111ae2a11	620	else
saloutos	0:083111ae2a11	621	{
saloutos	0:083111ae2a11	622	assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
saloutos	0:083111ae2a11	623	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->ExtId << 3U) \| \
saloutos	0:083111ae2a11	624	hcan->pTxMsg->IDE \| \
saloutos	0:083111ae2a11	625	hcan->pTxMsg->RTR);
saloutos	0:083111ae2a11	626	}
saloutos	0:083111ae2a11	627
saloutos	0:083111ae2a11	628	/* Set up the DLC */
saloutos	0:083111ae2a11	629	hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
saloutos	0:083111ae2a11	630	hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0U;
saloutos	0:083111ae2a11	631	hcan->Instance->sTxMailBox[transmitmailbox].TDTR \|= hcan->pTxMsg->DLC;
saloutos	0:083111ae2a11	632
saloutos	0:083111ae2a11	633	/* Set up the data field */
saloutos	0:083111ae2a11	634	hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3U] << 24U) \|
saloutos	0:083111ae2a11	635	((uint32_t)hcan->pTxMsg->Data[2U] << 16U) \|
saloutos	0:083111ae2a11	636	((uint32_t)hcan->pTxMsg->Data[1U] << 8U) \|
saloutos	0:083111ae2a11	637	((uint32_t)hcan->pTxMsg->Data[0U]));
saloutos	0:083111ae2a11	638	hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7U] << 24U) \|
saloutos	0:083111ae2a11	639	((uint32_t)hcan->pTxMsg->Data[6U] << 16U) \|
saloutos	0:083111ae2a11	640	((uint32_t)hcan->pTxMsg->Data[5U] << 8U) \|
saloutos	0:083111ae2a11	641	((uint32_t)hcan->pTxMsg->Data[4U]));
saloutos	0:083111ae2a11	642	/* Request transmission */
saloutos	0:083111ae2a11	643	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= CAN_TI0R_TXRQ;
saloutos	0:083111ae2a11	644
saloutos	0:083111ae2a11	645	/* Get tick */
saloutos	0:083111ae2a11	646	tickstart = HAL_GetTick();
saloutos	0:083111ae2a11	647
saloutos	0:083111ae2a11	648	/* Check End of transmission flag */
saloutos	0:083111ae2a11	649	while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
saloutos	0:083111ae2a11	650	{
saloutos	0:083111ae2a11	651	/* Check for the Timeout */
saloutos	0:083111ae2a11	652	if(Timeout != HAL_MAX_DELAY)
saloutos	0:083111ae2a11	653	{
saloutos	0:083111ae2a11	654	if((Timeout == 0U)\|\|((HAL_GetTick() - tickstart ) > Timeout))
saloutos	0:083111ae2a11	655	{
saloutos	0:083111ae2a11	656	hcan->State = HAL_CAN_STATE_TIMEOUT;
saloutos	0:083111ae2a11	657
saloutos	0:083111ae2a11	658	__HAL_CAN_CANCEL_TRANSMIT(hcan, transmitmailbox);
saloutos	0:083111ae2a11	659
saloutos	0:083111ae2a11	660	/* Process unlocked */
saloutos	0:083111ae2a11	661	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	662	return HAL_TIMEOUT;
saloutos	0:083111ae2a11	663	}
saloutos	0:083111ae2a11	664	}
saloutos	0:083111ae2a11	665	}
saloutos	0:083111ae2a11	666
saloutos	0:083111ae2a11	667	/* Change CAN state */
saloutos	0:083111ae2a11	668	switch(hcan->State)
saloutos	0:083111ae2a11	669	{
saloutos	0:083111ae2a11	670	case(HAL_CAN_STATE_BUSY_TX_RX0):
saloutos	0:083111ae2a11	671	hcan->State = HAL_CAN_STATE_BUSY_RX0;
saloutos	0:083111ae2a11	672	break;
saloutos	0:083111ae2a11	673	case(HAL_CAN_STATE_BUSY_TX_RX1):
saloutos	0:083111ae2a11	674	hcan->State = HAL_CAN_STATE_BUSY_RX1;
saloutos	0:083111ae2a11	675	break;
saloutos	0:083111ae2a11	676	case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
saloutos	0:083111ae2a11	677	hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
saloutos	0:083111ae2a11	678	break;
saloutos	0:083111ae2a11	679	default: /* HAL_CAN_STATE_BUSY_TX */
saloutos	0:083111ae2a11	680	hcan->State = HAL_CAN_STATE_READY;
saloutos	0:083111ae2a11	681	break;
saloutos	0:083111ae2a11	682	}
saloutos	0:083111ae2a11	683
saloutos	0:083111ae2a11	684	/* Process unlocked */
saloutos	0:083111ae2a11	685	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	686
saloutos	0:083111ae2a11	687	/* Return function status */
saloutos	0:083111ae2a11	688	return HAL_OK;
saloutos	0:083111ae2a11	689	}
saloutos	0:083111ae2a11	690	else
saloutos	0:083111ae2a11	691	{
saloutos	0:083111ae2a11	692	/* Change CAN state */
saloutos	0:083111ae2a11	693	hcan->State = HAL_CAN_STATE_ERROR;
saloutos	0:083111ae2a11	694
saloutos	0:083111ae2a11	695	/* Return function status */
saloutos	0:083111ae2a11	696	return HAL_ERROR;
saloutos	0:083111ae2a11	697	}
saloutos	0:083111ae2a11	698	}
saloutos	0:083111ae2a11	699
saloutos	0:083111ae2a11	700	/**
saloutos	0:083111ae2a11	701	* @brief Initiates and transmits a CAN frame message.
saloutos	0:083111ae2a11	702	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	703	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	704	* @retval HAL status
saloutos	0:083111ae2a11	705	*/
saloutos	0:083111ae2a11	706	HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
saloutos	0:083111ae2a11	707	{
saloutos	0:083111ae2a11	708	uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
saloutos	0:083111ae2a11	709
saloutos	0:083111ae2a11	710	/* Check the parameters */
saloutos	0:083111ae2a11	711	assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
saloutos	0:083111ae2a11	712	assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
saloutos	0:083111ae2a11	713	assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
saloutos	0:083111ae2a11	714
saloutos	0:083111ae2a11	715	if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) \|\| \
saloutos	0:083111ae2a11	716	((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) \|\| \
saloutos	0:083111ae2a11	717	((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2))
saloutos	0:083111ae2a11	718	{
saloutos	0:083111ae2a11	719	/* Process Locked */
saloutos	0:083111ae2a11	720	__HAL_LOCK(hcan);
saloutos	0:083111ae2a11	721
saloutos	0:083111ae2a11	722	/* Select one empty transmit mailbox */
saloutos	0:083111ae2a11	723	if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
saloutos	0:083111ae2a11	724	{
saloutos	0:083111ae2a11	725	transmitmailbox = CAN_TXMAILBOX_0;
saloutos	0:083111ae2a11	726	}
saloutos	0:083111ae2a11	727	else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
saloutos	0:083111ae2a11	728	{
saloutos	0:083111ae2a11	729	transmitmailbox = CAN_TXMAILBOX_1;
saloutos	0:083111ae2a11	730	}
saloutos	0:083111ae2a11	731	else
saloutos	0:083111ae2a11	732	{
saloutos	0:083111ae2a11	733	transmitmailbox = CAN_TXMAILBOX_2;
saloutos	0:083111ae2a11	734	}
saloutos	0:083111ae2a11	735
saloutos	0:083111ae2a11	736	/* Set up the Id */
saloutos	0:083111ae2a11	737	hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
saloutos	0:083111ae2a11	738	if(hcan->pTxMsg->IDE == CAN_ID_STD)
saloutos	0:083111ae2a11	739	{
saloutos	0:083111ae2a11	740	assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
saloutos	0:083111ae2a11	741	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->StdId << 21U) \| \
saloutos	0:083111ae2a11	742	hcan->pTxMsg->RTR);
saloutos	0:083111ae2a11	743	}
saloutos	0:083111ae2a11	744	else
saloutos	0:083111ae2a11	745	{
saloutos	0:083111ae2a11	746	assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
saloutos	0:083111ae2a11	747	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= ((hcan->pTxMsg->ExtId << 3U) \| \
saloutos	0:083111ae2a11	748	hcan->pTxMsg->IDE \| \
saloutos	0:083111ae2a11	749	hcan->pTxMsg->RTR);
saloutos	0:083111ae2a11	750	}
saloutos	0:083111ae2a11	751
saloutos	0:083111ae2a11	752	/* Set up the DLC */
saloutos	0:083111ae2a11	753	hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
saloutos	0:083111ae2a11	754	hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0U;
saloutos	0:083111ae2a11	755	hcan->Instance->sTxMailBox[transmitmailbox].TDTR \|= hcan->pTxMsg->DLC;
saloutos	0:083111ae2a11	756
saloutos	0:083111ae2a11	757	/* Set up the data field */
saloutos	0:083111ae2a11	758	hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3U] << 24U) \|
saloutos	0:083111ae2a11	759	((uint32_t)hcan->pTxMsg->Data[2U] << 16U) \|
saloutos	0:083111ae2a11	760	((uint32_t)hcan->pTxMsg->Data[1U] << 8U) \|
saloutos	0:083111ae2a11	761	((uint32_t)hcan->pTxMsg->Data[0U]));
saloutos	0:083111ae2a11	762	hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7U] << 24U) \|
saloutos	0:083111ae2a11	763	((uint32_t)hcan->pTxMsg->Data[6U] << 16U) \|
saloutos	0:083111ae2a11	764	((uint32_t)hcan->pTxMsg->Data[5U] << 8U) \|
saloutos	0:083111ae2a11	765	((uint32_t)hcan->pTxMsg->Data[4U]));
saloutos	0:083111ae2a11	766
saloutos	0:083111ae2a11	767	/* Change CAN state */
saloutos	0:083111ae2a11	768	switch(hcan->State)
saloutos	0:083111ae2a11	769	{
saloutos	0:083111ae2a11	770	case(HAL_CAN_STATE_BUSY_RX0):
saloutos	0:083111ae2a11	771	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
saloutos	0:083111ae2a11	772	break;
saloutos	0:083111ae2a11	773	case(HAL_CAN_STATE_BUSY_RX1):
saloutos	0:083111ae2a11	774	hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
saloutos	0:083111ae2a11	775	break;
saloutos	0:083111ae2a11	776	case(HAL_CAN_STATE_BUSY_RX0_RX1):
saloutos	0:083111ae2a11	777	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
saloutos	0:083111ae2a11	778	break;
saloutos	0:083111ae2a11	779	default: /* HAL_CAN_STATE_READY */
saloutos	0:083111ae2a11	780	hcan->State = HAL_CAN_STATE_BUSY_TX;
saloutos	0:083111ae2a11	781	break;
saloutos	0:083111ae2a11	782	}
saloutos	0:083111ae2a11	783
saloutos	0:083111ae2a11	784	/* Set CAN error code to none */
saloutos	0:083111ae2a11	785	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
saloutos	0:083111ae2a11	786
saloutos	0:083111ae2a11	787	/* Process Unlocked */
saloutos	0:083111ae2a11	788	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	789
saloutos	0:083111ae2a11	790	/* Request transmission */
saloutos	0:083111ae2a11	791	hcan->Instance->sTxMailBox[transmitmailbox].TIR \|= CAN_TI0R_TXRQ;
saloutos	0:083111ae2a11	792
saloutos	0:083111ae2a11	793	/* Enable Error warning, Error passive, Bus-off,
saloutos	0:083111ae2a11	794	Last error and Error Interrupts */
saloutos	0:083111ae2a11	795	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG \|
saloutos	0:083111ae2a11	796	CAN_IT_EPV \|
saloutos	0:083111ae2a11	797	CAN_IT_BOF \|
saloutos	0:083111ae2a11	798	CAN_IT_LEC \|
saloutos	0:083111ae2a11	799	CAN_IT_ERR \|
saloutos	0:083111ae2a11	800	CAN_IT_TME);
saloutos	0:083111ae2a11	801	}
saloutos	0:083111ae2a11	802	else
saloutos	0:083111ae2a11	803	{
saloutos	0:083111ae2a11	804	/* Change CAN state */
saloutos	0:083111ae2a11	805	hcan->State = HAL_CAN_STATE_ERROR;
saloutos	0:083111ae2a11	806
saloutos	0:083111ae2a11	807	/* Return function status */
saloutos	0:083111ae2a11	808	return HAL_ERROR;
saloutos	0:083111ae2a11	809	}
saloutos	0:083111ae2a11	810
saloutos	0:083111ae2a11	811	return HAL_OK;
saloutos	0:083111ae2a11	812	}
saloutos	0:083111ae2a11	813
saloutos	0:083111ae2a11	814	/**
saloutos	0:083111ae2a11	815	* @brief Receives a correct CAN frame.
saloutos	0:083111ae2a11	816	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	817	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	818	* @param FIFONumber: FIFO Number value
saloutos	0:083111ae2a11	819	* @param Timeout: Specify Timeout value
saloutos	0:083111ae2a11	820	* @retval HAL status
saloutos	0:083111ae2a11	821	*/
saloutos	0:083111ae2a11	822	HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
saloutos	0:083111ae2a11	823	{
saloutos	0:083111ae2a11	824	uint32_t tickstart = 0U;
saloutos	0:083111ae2a11	825	CanRxMsgTypeDef* pRxMsg = NULL;
saloutos	0:083111ae2a11	826
saloutos	0:083111ae2a11	827	/* Check the parameters */
saloutos	0:083111ae2a11	828	assert_param(IS_CAN_FIFO(FIFONumber));
saloutos	0:083111ae2a11	829
saloutos	0:083111ae2a11	830	/* Check if CAN state is not busy for RX FIFO0 */
saloutos	0:083111ae2a11	831	if ((FIFONumber == CAN_FIFO0) && ((hcan->State == HAL_CAN_STATE_BUSY_RX0) \|\| \
saloutos	0:083111ae2a11	832	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX0) \|\| \
saloutos	0:083111ae2a11	833	(hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) \|\| \
saloutos	0:083111ae2a11	834	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1)))
saloutos	0:083111ae2a11	835	{
saloutos	0:083111ae2a11	836	return HAL_BUSY;
saloutos	0:083111ae2a11	837	}
saloutos	0:083111ae2a11	838
saloutos	0:083111ae2a11	839	/* Check if CAN state is not busy for RX FIFO1 */
saloutos	0:083111ae2a11	840	if ((FIFONumber == CAN_FIFO1) && ((hcan->State == HAL_CAN_STATE_BUSY_RX1) \|\| \
saloutos	0:083111ae2a11	841	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX1) \|\| \
saloutos	0:083111ae2a11	842	(hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) \|\| \
saloutos	0:083111ae2a11	843	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1)))
saloutos	0:083111ae2a11	844	{
saloutos	0:083111ae2a11	845	return HAL_BUSY;
saloutos	0:083111ae2a11	846	}
saloutos	0:083111ae2a11	847
saloutos	0:083111ae2a11	848	/* Process locked */
saloutos	0:083111ae2a11	849	__HAL_LOCK(hcan);
saloutos	0:083111ae2a11	850
saloutos	0:083111ae2a11	851	/* Change CAN state */
saloutos	0:083111ae2a11	852	if (FIFONumber == CAN_FIFO0)
saloutos	0:083111ae2a11	853	{
saloutos	0:083111ae2a11	854	switch(hcan->State)
saloutos	0:083111ae2a11	855	{
saloutos	0:083111ae2a11	856	case(HAL_CAN_STATE_BUSY_TX):
saloutos	0:083111ae2a11	857	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
saloutos	0:083111ae2a11	858	break;
saloutos	0:083111ae2a11	859	case(HAL_CAN_STATE_BUSY_RX1):
saloutos	0:083111ae2a11	860	hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
saloutos	0:083111ae2a11	861	break;
saloutos	0:083111ae2a11	862	case(HAL_CAN_STATE_BUSY_TX_RX1):
saloutos	0:083111ae2a11	863	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
saloutos	0:083111ae2a11	864	break;
saloutos	0:083111ae2a11	865	default: /* HAL_CAN_STATE_READY */
saloutos	0:083111ae2a11	866	hcan->State = HAL_CAN_STATE_BUSY_RX0;
saloutos	0:083111ae2a11	867	break;
saloutos	0:083111ae2a11	868	}
saloutos	0:083111ae2a11	869	}
saloutos	0:083111ae2a11	870	else /* FIFONumber == CAN_FIFO1 */
saloutos	0:083111ae2a11	871	{
saloutos	0:083111ae2a11	872	switch(hcan->State)
saloutos	0:083111ae2a11	873	{
saloutos	0:083111ae2a11	874	case(HAL_CAN_STATE_BUSY_TX):
saloutos	0:083111ae2a11	875	hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
saloutos	0:083111ae2a11	876	break;
saloutos	0:083111ae2a11	877	case(HAL_CAN_STATE_BUSY_RX0):
saloutos	0:083111ae2a11	878	hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
saloutos	0:083111ae2a11	879	break;
saloutos	0:083111ae2a11	880	case(HAL_CAN_STATE_BUSY_TX_RX0):
saloutos	0:083111ae2a11	881	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
saloutos	0:083111ae2a11	882	break;
saloutos	0:083111ae2a11	883	default: /* HAL_CAN_STATE_READY */
saloutos	0:083111ae2a11	884	hcan->State = HAL_CAN_STATE_BUSY_RX1;
saloutos	0:083111ae2a11	885	break;
saloutos	0:083111ae2a11	886	}
saloutos	0:083111ae2a11	887	}
saloutos	0:083111ae2a11	888
saloutos	0:083111ae2a11	889	/* Get tick */
saloutos	0:083111ae2a11	890	tickstart = HAL_GetTick();
saloutos	0:083111ae2a11	891
saloutos	0:083111ae2a11	892	/* Check pending message */
saloutos	0:083111ae2a11	893	while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0U)
saloutos	0:083111ae2a11	894	{
saloutos	0:083111ae2a11	895	/* Check for the Timeout */
saloutos	0:083111ae2a11	896	if(Timeout != HAL_MAX_DELAY)
saloutos	0:083111ae2a11	897	{
saloutos	0:083111ae2a11	898	if((Timeout == 0U)\|\|((HAL_GetTick() - tickstart ) > Timeout))
saloutos	0:083111ae2a11	899	{
saloutos	0:083111ae2a11	900	hcan->State = HAL_CAN_STATE_TIMEOUT;
saloutos	0:083111ae2a11	901	/* Process unlocked */
saloutos	0:083111ae2a11	902	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	903	return HAL_TIMEOUT;
saloutos	0:083111ae2a11	904	}
saloutos	0:083111ae2a11	905	}
saloutos	0:083111ae2a11	906	}
saloutos	0:083111ae2a11	907
saloutos	0:083111ae2a11	908	/* Set RxMsg pointer */
saloutos	0:083111ae2a11	909	if(FIFONumber == CAN_FIFO0)
saloutos	0:083111ae2a11	910	{
saloutos	0:083111ae2a11	911	pRxMsg = hcan->pRxMsg;
saloutos	0:083111ae2a11	912	}
saloutos	0:083111ae2a11	913	else /* FIFONumber == CAN_FIFO1 */
saloutos	0:083111ae2a11	914	{
saloutos	0:083111ae2a11	915	pRxMsg = hcan->pRx1Msg;
saloutos	0:083111ae2a11	916	}
saloutos	0:083111ae2a11	917
saloutos	0:083111ae2a11	918	/* Get the Id */
saloutos	0:083111ae2a11	919	pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
saloutos	0:083111ae2a11	920	if (pRxMsg->IDE == CAN_ID_STD)
saloutos	0:083111ae2a11	921	{
saloutos	0:083111ae2a11	922	pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21U);
saloutos	0:083111ae2a11	923	}
saloutos	0:083111ae2a11	924	else
saloutos	0:083111ae2a11	925	{
saloutos	0:083111ae2a11	926	pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3U);
saloutos	0:083111ae2a11	927	}
saloutos	0:083111ae2a11	928
saloutos	0:083111ae2a11	929	pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
saloutos	0:083111ae2a11	930	/* Get the DLC */
saloutos	0:083111ae2a11	931	pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
saloutos	0:083111ae2a11	932	/* Get the FMI */
saloutos	0:083111ae2a11	933	pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8U);
saloutos	0:083111ae2a11	934	/* Get the FIFONumber */
saloutos	0:083111ae2a11	935	pRxMsg->FIFONumber = FIFONumber;
saloutos	0:083111ae2a11	936	/* Get the data field */
saloutos	0:083111ae2a11	937	pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
saloutos	0:083111ae2a11	938	pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8U);
saloutos	0:083111ae2a11	939	pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16U);
saloutos	0:083111ae2a11	940	pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24U);
saloutos	0:083111ae2a11	941	pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
saloutos	0:083111ae2a11	942	pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8U);
saloutos	0:083111ae2a11	943	pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16U);
saloutos	0:083111ae2a11	944	pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24U);
saloutos	0:083111ae2a11	945
saloutos	0:083111ae2a11	946	/* Release the FIFO */
saloutos	0:083111ae2a11	947	if(FIFONumber == CAN_FIFO0)
saloutos	0:083111ae2a11	948	{
saloutos	0:083111ae2a11	949	/* Release FIFO0 */
saloutos	0:083111ae2a11	950	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
saloutos	0:083111ae2a11	951	}
saloutos	0:083111ae2a11	952	else /* FIFONumber == CAN_FIFO1 */
saloutos	0:083111ae2a11	953	{
saloutos	0:083111ae2a11	954	/* Release FIFO1 */
saloutos	0:083111ae2a11	955	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
saloutos	0:083111ae2a11	956	}
saloutos	0:083111ae2a11	957
saloutos	0:083111ae2a11	958	/* Change CAN state */
saloutos	0:083111ae2a11	959	if (FIFONumber == CAN_FIFO0)
saloutos	0:083111ae2a11	960	{
saloutos	0:083111ae2a11	961	switch(hcan->State)
saloutos	0:083111ae2a11	962	{
saloutos	0:083111ae2a11	963	case(HAL_CAN_STATE_BUSY_TX_RX0):
saloutos	0:083111ae2a11	964	hcan->State = HAL_CAN_STATE_BUSY_TX;
saloutos	0:083111ae2a11	965	break;
saloutos	0:083111ae2a11	966	case(HAL_CAN_STATE_BUSY_RX0_RX1):
saloutos	0:083111ae2a11	967	hcan->State = HAL_CAN_STATE_BUSY_RX1;
saloutos	0:083111ae2a11	968	break;
saloutos	0:083111ae2a11	969	case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
saloutos	0:083111ae2a11	970	hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
saloutos	0:083111ae2a11	971	break;
saloutos	0:083111ae2a11	972	default: /* HAL_CAN_STATE_BUSY_RX0 */
saloutos	0:083111ae2a11	973	hcan->State = HAL_CAN_STATE_READY;
saloutos	0:083111ae2a11	974	break;
saloutos	0:083111ae2a11	975	}
saloutos	0:083111ae2a11	976	}
saloutos	0:083111ae2a11	977	else /* FIFONumber == CAN_FIFO1 */
saloutos	0:083111ae2a11	978	{
saloutos	0:083111ae2a11	979	switch(hcan->State)
saloutos	0:083111ae2a11	980	{
saloutos	0:083111ae2a11	981	case(HAL_CAN_STATE_BUSY_TX_RX1):
saloutos	0:083111ae2a11	982	hcan->State = HAL_CAN_STATE_BUSY_TX;
saloutos	0:083111ae2a11	983	break;
saloutos	0:083111ae2a11	984	case(HAL_CAN_STATE_BUSY_RX0_RX1):
saloutos	0:083111ae2a11	985	hcan->State = HAL_CAN_STATE_BUSY_RX0;
saloutos	0:083111ae2a11	986	break;
saloutos	0:083111ae2a11	987	case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
saloutos	0:083111ae2a11	988	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
saloutos	0:083111ae2a11	989	break;
saloutos	0:083111ae2a11	990	default: /* HAL_CAN_STATE_BUSY_RX1 */
saloutos	0:083111ae2a11	991	hcan->State = HAL_CAN_STATE_READY;
saloutos	0:083111ae2a11	992	break;
saloutos	0:083111ae2a11	993	}
saloutos	0:083111ae2a11	994	}
saloutos	0:083111ae2a11	995
saloutos	0:083111ae2a11	996	/* Process unlocked */
saloutos	0:083111ae2a11	997	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	998
saloutos	0:083111ae2a11	999	/* Return function status */
saloutos	0:083111ae2a11	1000	return HAL_OK;
saloutos	0:083111ae2a11	1001	}
saloutos	0:083111ae2a11	1002
saloutos	0:083111ae2a11	1003	/**
saloutos	0:083111ae2a11	1004	* @brief Receives a correct CAN frame.
saloutos	0:083111ae2a11	1005	* @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	1006	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	1007	* @param FIFONumber: Specify the FIFO number
saloutos	0:083111ae2a11	1008	* @retval HAL status
saloutos	0:083111ae2a11	1009	*/
saloutos	0:083111ae2a11	1010	HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
saloutos	0:083111ae2a11	1011	{
saloutos	0:083111ae2a11	1012	/* Check the parameters */
saloutos	0:083111ae2a11	1013	assert_param(IS_CAN_FIFO(FIFONumber));
saloutos	0:083111ae2a11	1014
saloutos	0:083111ae2a11	1015	/* Check if CAN state is not busy for RX FIFO0 */
saloutos	0:083111ae2a11	1016	if((FIFONumber == CAN_FIFO0) && ((hcan->State == HAL_CAN_STATE_BUSY_RX0) \|\| \
saloutos	0:083111ae2a11	1017	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX0) \|\| \
saloutos	0:083111ae2a11	1018	(hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) \|\| \
saloutos	0:083111ae2a11	1019	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1)))
saloutos	0:083111ae2a11	1020	{
saloutos	0:083111ae2a11	1021	return HAL_BUSY;
saloutos	0:083111ae2a11	1022	}
saloutos	0:083111ae2a11	1023
saloutos	0:083111ae2a11	1024	/* Check if CAN state is not busy for RX FIFO1 */
saloutos	0:083111ae2a11	1025	if((FIFONumber == CAN_FIFO1) && ((hcan->State == HAL_CAN_STATE_BUSY_RX1) \|\| \
saloutos	0:083111ae2a11	1026	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX1) \|\| \
saloutos	0:083111ae2a11	1027	(hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) \|\| \
saloutos	0:083111ae2a11	1028	(hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1)))
saloutos	0:083111ae2a11	1029	{
saloutos	0:083111ae2a11	1030	return HAL_BUSY;
saloutos	0:083111ae2a11	1031	}
saloutos	0:083111ae2a11	1032
saloutos	0:083111ae2a11	1033	/* Process locked */
saloutos	0:083111ae2a11	1034	__HAL_LOCK(hcan);
saloutos	0:083111ae2a11	1035
saloutos	0:083111ae2a11	1036	/* Change CAN state */
saloutos	0:083111ae2a11	1037	if(FIFONumber == CAN_FIFO0)
saloutos	0:083111ae2a11	1038	{
saloutos	0:083111ae2a11	1039	switch(hcan->State)
saloutos	0:083111ae2a11	1040	{
saloutos	0:083111ae2a11	1041	case(HAL_CAN_STATE_BUSY_TX):
saloutos	0:083111ae2a11	1042	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
saloutos	0:083111ae2a11	1043	break;
saloutos	0:083111ae2a11	1044	case(HAL_CAN_STATE_BUSY_RX1):
saloutos	0:083111ae2a11	1045	hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
saloutos	0:083111ae2a11	1046	break;
saloutos	0:083111ae2a11	1047	case(HAL_CAN_STATE_BUSY_TX_RX1):
saloutos	0:083111ae2a11	1048	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
saloutos	0:083111ae2a11	1049	break;
saloutos	0:083111ae2a11	1050	default: /* HAL_CAN_STATE_READY */
saloutos	0:083111ae2a11	1051	hcan->State = HAL_CAN_STATE_BUSY_RX0;
saloutos	0:083111ae2a11	1052	break;
saloutos	0:083111ae2a11	1053	}
saloutos	0:083111ae2a11	1054	}
saloutos	0:083111ae2a11	1055	else /* FIFONumber == CAN_FIFO1 */
saloutos	0:083111ae2a11	1056	{
saloutos	0:083111ae2a11	1057	switch(hcan->State)
saloutos	0:083111ae2a11	1058	{
saloutos	0:083111ae2a11	1059	case(HAL_CAN_STATE_BUSY_TX):
saloutos	0:083111ae2a11	1060	hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
saloutos	0:083111ae2a11	1061	break;
saloutos	0:083111ae2a11	1062	case(HAL_CAN_STATE_BUSY_RX0):
saloutos	0:083111ae2a11	1063	hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
saloutos	0:083111ae2a11	1064	break;
saloutos	0:083111ae2a11	1065	case(HAL_CAN_STATE_BUSY_TX_RX0):
saloutos	0:083111ae2a11	1066	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
saloutos	0:083111ae2a11	1067	break;
saloutos	0:083111ae2a11	1068	default: /* HAL_CAN_STATE_READY */
saloutos	0:083111ae2a11	1069	hcan->State = HAL_CAN_STATE_BUSY_RX1;
saloutos	0:083111ae2a11	1070	break;
saloutos	0:083111ae2a11	1071	}
saloutos	0:083111ae2a11	1072	}
saloutos	0:083111ae2a11	1073	/* Set CAN error code to none */
saloutos	0:083111ae2a11	1074	hcan->ErrorCode = HAL_CAN_ERROR_NONE;
saloutos	0:083111ae2a11	1075
saloutos	0:083111ae2a11	1076	/* Enable interrupts: */
saloutos	0:083111ae2a11	1077	/* - Enable Error warning Interrupt */
saloutos	0:083111ae2a11	1078	/* - Enable Error passive Interrupt */
saloutos	0:083111ae2a11	1079	/* - Enable Bus-off Interrupt */
saloutos	0:083111ae2a11	1080	/* - Enable Last error code Interrupt */
saloutos	0:083111ae2a11	1081	/* - Enable Error Interrupt */
saloutos	0:083111ae2a11	1082	/* - Enable Transmit mailbox empty Interrupt */
saloutos	0:083111ae2a11	1083	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG \|
saloutos	0:083111ae2a11	1084	CAN_IT_EPV \|
saloutos	0:083111ae2a11	1085	CAN_IT_BOF \|
saloutos	0:083111ae2a11	1086	CAN_IT_LEC \|
saloutos	0:083111ae2a11	1087	CAN_IT_ERR \|
saloutos	0:083111ae2a11	1088	CAN_IT_TME);
saloutos	0:083111ae2a11	1089
saloutos	0:083111ae2a11	1090	/* Process unlocked */
saloutos	0:083111ae2a11	1091	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	1092
saloutos	0:083111ae2a11	1093	if(FIFONumber == CAN_FIFO0)
saloutos	0:083111ae2a11	1094	{
saloutos	0:083111ae2a11	1095	/* Enable FIFO 0 overrun and message pending Interrupt */
saloutos	0:083111ae2a11	1096	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_FOV0 \| CAN_IT_FMP0);
saloutos	0:083111ae2a11	1097	}
saloutos	0:083111ae2a11	1098	else
saloutos	0:083111ae2a11	1099	{
saloutos	0:083111ae2a11	1100	/* Enable FIFO 1 overrun and message pending Interrupt */
saloutos	0:083111ae2a11	1101	__HAL_CAN_ENABLE_IT(hcan, CAN_IT_FOV1 \| CAN_IT_FMP1);
saloutos	0:083111ae2a11	1102	}
saloutos	0:083111ae2a11	1103
saloutos	0:083111ae2a11	1104	/* Return function status */
saloutos	0:083111ae2a11	1105	return HAL_OK;
saloutos	0:083111ae2a11	1106	}
saloutos	0:083111ae2a11	1107
saloutos	0:083111ae2a11	1108	/**
saloutos	0:083111ae2a11	1109	* @brief Enters the Sleep (low power) mode.
saloutos	0:083111ae2a11	1110	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	1111	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	1112	* @retval HAL status.
saloutos	0:083111ae2a11	1113	*/
saloutos	0:083111ae2a11	1114	HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
saloutos	0:083111ae2a11	1115	{
saloutos	0:083111ae2a11	1116	uint32_t tickstart = 0U;
saloutos	0:083111ae2a11	1117
saloutos	0:083111ae2a11	1118	/* Process locked */
saloutos	0:083111ae2a11	1119	__HAL_LOCK(hcan);
saloutos	0:083111ae2a11	1120
saloutos	0:083111ae2a11	1121	/* Change CAN state */
saloutos	0:083111ae2a11	1122	hcan->State = HAL_CAN_STATE_BUSY;
saloutos	0:083111ae2a11	1123
saloutos	0:083111ae2a11	1124	/* Request Sleep mode */
saloutos	0:083111ae2a11	1125	hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) \| CAN_MCR_SLEEP);
saloutos	0:083111ae2a11	1126
saloutos	0:083111ae2a11	1127	/* Sleep mode status */
saloutos	0:083111ae2a11	1128	if ((hcan->Instance->MSR & (CAN_MSR_SLAK\|CAN_MSR_INAK)) != CAN_MSR_SLAK)
saloutos	0:083111ae2a11	1129	{
saloutos	0:083111ae2a11	1130	/* Process unlocked */
saloutos	0:083111ae2a11	1131	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	1132
saloutos	0:083111ae2a11	1133	/* Return function status */
saloutos	0:083111ae2a11	1134	return HAL_ERROR;
saloutos	0:083111ae2a11	1135	}
saloutos	0:083111ae2a11	1136
saloutos	0:083111ae2a11	1137	/* Get tick */
saloutos	0:083111ae2a11	1138	tickstart = HAL_GetTick();
saloutos	0:083111ae2a11	1139
saloutos	0:083111ae2a11	1140	/* Wait the acknowledge */
saloutos	0:083111ae2a11	1141	while((hcan->Instance->MSR & (CAN_MSR_SLAK\|CAN_MSR_INAK)) != CAN_MSR_SLAK)
saloutos	0:083111ae2a11	1142	{
saloutos	0:083111ae2a11	1143	if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
saloutos	0:083111ae2a11	1144	{
saloutos	0:083111ae2a11	1145	hcan->State = HAL_CAN_STATE_TIMEOUT;
saloutos	0:083111ae2a11	1146	/* Process unlocked */
saloutos	0:083111ae2a11	1147	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	1148	return HAL_TIMEOUT;
saloutos	0:083111ae2a11	1149	}
saloutos	0:083111ae2a11	1150	}
saloutos	0:083111ae2a11	1151
saloutos	0:083111ae2a11	1152	/* Change CAN state */
saloutos	0:083111ae2a11	1153	hcan->State = HAL_CAN_STATE_READY;
saloutos	0:083111ae2a11	1154
saloutos	0:083111ae2a11	1155	/* Process unlocked */
saloutos	0:083111ae2a11	1156	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	1157
saloutos	0:083111ae2a11	1158	/* Return function status */
saloutos	0:083111ae2a11	1159	return HAL_OK;
saloutos	0:083111ae2a11	1160	}
saloutos	0:083111ae2a11	1161
saloutos	0:083111ae2a11	1162	/**
saloutos	0:083111ae2a11	1163	* @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
saloutos	0:083111ae2a11	1164	* is in the normal mode.
saloutos	0:083111ae2a11	1165	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	1166	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	1167	* @retval HAL status.
saloutos	0:083111ae2a11	1168	*/
saloutos	0:083111ae2a11	1169	HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
saloutos	0:083111ae2a11	1170	{
saloutos	0:083111ae2a11	1171	uint32_t tickstart = 0U;
saloutos	0:083111ae2a11	1172
saloutos	0:083111ae2a11	1173	/* Process locked */
saloutos	0:083111ae2a11	1174	__HAL_LOCK(hcan);
saloutos	0:083111ae2a11	1175
saloutos	0:083111ae2a11	1176	/* Change CAN state */
saloutos	0:083111ae2a11	1177	hcan->State = HAL_CAN_STATE_BUSY;
saloutos	0:083111ae2a11	1178
saloutos	0:083111ae2a11	1179	/* Wake up request */
saloutos	0:083111ae2a11	1180	hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
saloutos	0:083111ae2a11	1181
saloutos	0:083111ae2a11	1182	/* Get tick */
saloutos	0:083111ae2a11	1183	tickstart = HAL_GetTick();
saloutos	0:083111ae2a11	1184
saloutos	0:083111ae2a11	1185	/* Sleep mode status */
saloutos	0:083111ae2a11	1186	while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
saloutos	0:083111ae2a11	1187	{
saloutos	0:083111ae2a11	1188	if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
saloutos	0:083111ae2a11	1189	{
saloutos	0:083111ae2a11	1190	hcan->State= HAL_CAN_STATE_TIMEOUT;
saloutos	0:083111ae2a11	1191	/* Process unlocked */
saloutos	0:083111ae2a11	1192	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	1193	return HAL_TIMEOUT;
saloutos	0:083111ae2a11	1194	}
saloutos	0:083111ae2a11	1195	}
saloutos	0:083111ae2a11	1196	if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
saloutos	0:083111ae2a11	1197	{
saloutos	0:083111ae2a11	1198	/* Process unlocked */
saloutos	0:083111ae2a11	1199	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	1200
saloutos	0:083111ae2a11	1201	/* Return function status */
saloutos	0:083111ae2a11	1202	return HAL_ERROR;
saloutos	0:083111ae2a11	1203	}
saloutos	0:083111ae2a11	1204
saloutos	0:083111ae2a11	1205	/* Change CAN state */
saloutos	0:083111ae2a11	1206	hcan->State = HAL_CAN_STATE_READY;
saloutos	0:083111ae2a11	1207
saloutos	0:083111ae2a11	1208	/* Process unlocked */
saloutos	0:083111ae2a11	1209	__HAL_UNLOCK(hcan);
saloutos	0:083111ae2a11	1210
saloutos	0:083111ae2a11	1211	/* Return function status */
saloutos	0:083111ae2a11	1212	return HAL_OK;
saloutos	0:083111ae2a11	1213	}
saloutos	0:083111ae2a11	1214
saloutos	0:083111ae2a11	1215	/**
saloutos	0:083111ae2a11	1216	* @brief Handles CAN interrupt request
saloutos	0:083111ae2a11	1217	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	1218	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	1219	* @retval None
saloutos	0:083111ae2a11	1220	*/
saloutos	0:083111ae2a11	1221	void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
saloutos	0:083111ae2a11	1222	{
saloutos	0:083111ae2a11	1223	uint32_t tmp1 = 0U, tmp2 = 0U, tmp3 = 0U;
saloutos	0:083111ae2a11	1224	uint32_t errorcode = HAL_CAN_ERROR_NONE;
saloutos	0:083111ae2a11	1225
saloutos	0:083111ae2a11	1226	/* Check Overrun flag for FIFO0 */
saloutos	0:083111ae2a11	1227	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0);
saloutos	0:083111ae2a11	1228	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FOV0);
saloutos	0:083111ae2a11	1229	if(tmp1 && tmp2)
saloutos	0:083111ae2a11	1230	{
saloutos	0:083111ae2a11	1231	/* Set CAN error code to FOV0 error */
saloutos	0:083111ae2a11	1232	errorcode \|= HAL_CAN_ERROR_FOV0;
saloutos	0:083111ae2a11	1233
saloutos	0:083111ae2a11	1234	/* Clear FIFO0 Overrun Flag */
saloutos	0:083111ae2a11	1235	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
saloutos	0:083111ae2a11	1236	}
saloutos	0:083111ae2a11	1237	/* Check Overrun flag for FIFO1 */
saloutos	0:083111ae2a11	1238	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV1);
saloutos	0:083111ae2a11	1239	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FOV1);
saloutos	0:083111ae2a11	1240
saloutos	0:083111ae2a11	1241	if(tmp1 && tmp2)
saloutos	0:083111ae2a11	1242	{
saloutos	0:083111ae2a11	1243	/* Set CAN error code to FOV1 error */
saloutos	0:083111ae2a11	1244	errorcode \|= HAL_CAN_ERROR_FOV1;
saloutos	0:083111ae2a11	1245
saloutos	0:083111ae2a11	1246	/* Clear FIFO1 Overrun Flag */
saloutos	0:083111ae2a11	1247	__HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
saloutos	0:083111ae2a11	1248	}
saloutos	0:083111ae2a11	1249
saloutos	0:083111ae2a11	1250	/* Check End of transmission flag */
saloutos	0:083111ae2a11	1251	if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
saloutos	0:083111ae2a11	1252	{
saloutos	0:083111ae2a11	1253	tmp1 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0);
saloutos	0:083111ae2a11	1254	tmp2 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1);
saloutos	0:083111ae2a11	1255	tmp3 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2);
saloutos	0:083111ae2a11	1256	if(tmp1 \|\| tmp2 \|\| tmp3)
saloutos	0:083111ae2a11	1257	{
saloutos	0:083111ae2a11	1258	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0);
saloutos	0:083111ae2a11	1259	tmp2 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1);
saloutos	0:083111ae2a11	1260	tmp3 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2);
saloutos	0:083111ae2a11	1261	/* Check Transmit success */
saloutos	0:083111ae2a11	1262	if(tmp1 \|\| tmp2 \|\| tmp3)
saloutos	0:083111ae2a11	1263	{
saloutos	0:083111ae2a11	1264	/* Call transmit function */
saloutos	0:083111ae2a11	1265	CAN_Transmit_IT(hcan);
saloutos	0:083111ae2a11	1266	}
saloutos	0:083111ae2a11	1267	else /* Transmit failure */
saloutos	0:083111ae2a11	1268	{
saloutos	0:083111ae2a11	1269	/* Set CAN error code to TXFAIL error */
saloutos	0:083111ae2a11	1270	errorcode \|= HAL_CAN_ERROR_TXFAIL;
saloutos	0:083111ae2a11	1271	}
saloutos	0:083111ae2a11	1272
saloutos	0:083111ae2a11	1273	/* Clear transmission status flags (RQCPx and TXOKx) */
saloutos	0:083111ae2a11	1274	SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0 \| CAN_TSR_RQCP1 \| CAN_TSR_RQCP2 \| \
saloutos	0:083111ae2a11	1275	CAN_FLAG_TXOK0 \| CAN_FLAG_TXOK1 \| CAN_FLAG_TXOK2);
saloutos	0:083111ae2a11	1276	}
saloutos	0:083111ae2a11	1277	}
saloutos	0:083111ae2a11	1278
saloutos	0:083111ae2a11	1279	tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0);
saloutos	0:083111ae2a11	1280	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0);
saloutos	0:083111ae2a11	1281	/* Check End of reception flag for FIFO0 */
saloutos	0:083111ae2a11	1282	if((tmp1 != 0U) && tmp2)
saloutos	0:083111ae2a11	1283	{
saloutos	0:083111ae2a11	1284	/* Call receive function */
saloutos	0:083111ae2a11	1285	CAN_Receive_IT(hcan, CAN_FIFO0);
saloutos	0:083111ae2a11	1286	}
saloutos	0:083111ae2a11	1287
saloutos	0:083111ae2a11	1288	tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1);
saloutos	0:083111ae2a11	1289	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1);
saloutos	0:083111ae2a11	1290	/* Check End of reception flag for FIFO1 */
saloutos	0:083111ae2a11	1291	if((tmp1 != 0U) && tmp2)
saloutos	0:083111ae2a11	1292	{
saloutos	0:083111ae2a11	1293	/* Call receive function */
saloutos	0:083111ae2a11	1294	CAN_Receive_IT(hcan, CAN_FIFO1);
saloutos	0:083111ae2a11	1295	}
saloutos	0:083111ae2a11	1296
saloutos	0:083111ae2a11	1297	/* Set error code in handle */
saloutos	0:083111ae2a11	1298	hcan->ErrorCode \|= errorcode;
saloutos	0:083111ae2a11	1299
saloutos	0:083111ae2a11	1300	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG);
saloutos	0:083111ae2a11	1301	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG);
saloutos	0:083111ae2a11	1302	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
saloutos	0:083111ae2a11	1303	/* Check Error Warning Flag */
saloutos	0:083111ae2a11	1304	if(tmp1 && tmp2 && tmp3)
saloutos	0:083111ae2a11	1305	{
saloutos	0:083111ae2a11	1306	/* Set CAN error code to EWG error */
saloutos	0:083111ae2a11	1307	hcan->ErrorCode \|= HAL_CAN_ERROR_EWG;
saloutos	0:083111ae2a11	1308	}
saloutos	0:083111ae2a11	1309
saloutos	0:083111ae2a11	1310	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV);
saloutos	0:083111ae2a11	1311	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV);
saloutos	0:083111ae2a11	1312	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
saloutos	0:083111ae2a11	1313	/* Check Error Passive Flag */
saloutos	0:083111ae2a11	1314	if(tmp1 && tmp2 && tmp3)
saloutos	0:083111ae2a11	1315	{
saloutos	0:083111ae2a11	1316	/* Set CAN error code to EPV error */
saloutos	0:083111ae2a11	1317	hcan->ErrorCode \|= HAL_CAN_ERROR_EPV;
saloutos	0:083111ae2a11	1318	}
saloutos	0:083111ae2a11	1319
saloutos	0:083111ae2a11	1320	tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF);
saloutos	0:083111ae2a11	1321	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF);
saloutos	0:083111ae2a11	1322	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
saloutos	0:083111ae2a11	1323	/* Check Bus-Off Flag */
saloutos	0:083111ae2a11	1324	if(tmp1 && tmp2 && tmp3)
saloutos	0:083111ae2a11	1325	{
saloutos	0:083111ae2a11	1326	/* Set CAN error code to BOF error */
saloutos	0:083111ae2a11	1327	hcan->ErrorCode \|= HAL_CAN_ERROR_BOF;
saloutos	0:083111ae2a11	1328	}
saloutos	0:083111ae2a11	1329
saloutos	0:083111ae2a11	1330	tmp1 = HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC);
saloutos	0:083111ae2a11	1331	tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC);
saloutos	0:083111ae2a11	1332	tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR);
saloutos	0:083111ae2a11	1333	/* Check Last error code Flag */
saloutos	0:083111ae2a11	1334	if((!tmp1) && tmp2 && tmp3)
saloutos	0:083111ae2a11	1335	{
saloutos	0:083111ae2a11	1336	tmp1 = (hcan->Instance->ESR) & CAN_ESR_LEC;
saloutos	0:083111ae2a11	1337	switch(tmp1)
saloutos	0:083111ae2a11	1338	{
saloutos	0:083111ae2a11	1339	case(CAN_ESR_LEC_0):
saloutos	0:083111ae2a11	1340	/* Set CAN error code to STF error */
saloutos	0:083111ae2a11	1341	hcan->ErrorCode \|= HAL_CAN_ERROR_STF;
saloutos	0:083111ae2a11	1342	break;
saloutos	0:083111ae2a11	1343	case(CAN_ESR_LEC_1):
saloutos	0:083111ae2a11	1344	/* Set CAN error code to FOR error */
saloutos	0:083111ae2a11	1345	hcan->ErrorCode \|= HAL_CAN_ERROR_FOR;
saloutos	0:083111ae2a11	1346	break;
saloutos	0:083111ae2a11	1347	case(CAN_ESR_LEC_1 \| CAN_ESR_LEC_0):
saloutos	0:083111ae2a11	1348	/* Set CAN error code to ACK error */
saloutos	0:083111ae2a11	1349	hcan->ErrorCode \|= HAL_CAN_ERROR_ACK;
saloutos	0:083111ae2a11	1350	break;
saloutos	0:083111ae2a11	1351	case(CAN_ESR_LEC_2):
saloutos	0:083111ae2a11	1352	/* Set CAN error code to BR error */
saloutos	0:083111ae2a11	1353	hcan->ErrorCode \|= HAL_CAN_ERROR_BR;
saloutos	0:083111ae2a11	1354	break;
saloutos	0:083111ae2a11	1355	case(CAN_ESR_LEC_2 \| CAN_ESR_LEC_0):
saloutos	0:083111ae2a11	1356	/* Set CAN error code to BD error */
saloutos	0:083111ae2a11	1357	hcan->ErrorCode \|= HAL_CAN_ERROR_BD;
saloutos	0:083111ae2a11	1358	break;
saloutos	0:083111ae2a11	1359	case(CAN_ESR_LEC_2 \| CAN_ESR_LEC_1):
saloutos	0:083111ae2a11	1360	/* Set CAN error code to CRC error */
saloutos	0:083111ae2a11	1361	hcan->ErrorCode \|= HAL_CAN_ERROR_CRC;
saloutos	0:083111ae2a11	1362	break;
saloutos	0:083111ae2a11	1363	default:
saloutos	0:083111ae2a11	1364	break;
saloutos	0:083111ae2a11	1365	}
saloutos	0:083111ae2a11	1366
saloutos	0:083111ae2a11	1367	/* Clear Last error code Flag */
saloutos	0:083111ae2a11	1368	hcan->Instance->ESR &= ~(CAN_ESR_LEC);
saloutos	0:083111ae2a11	1369	}
saloutos	0:083111ae2a11	1370
saloutos	0:083111ae2a11	1371	/* Call the Error call Back in case of Errors */
saloutos	0:083111ae2a11	1372	if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
saloutos	0:083111ae2a11	1373	{
saloutos	0:083111ae2a11	1374	/* Clear ERRI Flag */
saloutos	0:083111ae2a11	1375	hcan->Instance->MSR = CAN_MSR_ERRI;
saloutos	0:083111ae2a11	1376	/* Set the CAN state ready to be able to start again the process */
saloutos	0:083111ae2a11	1377	hcan->State = HAL_CAN_STATE_READY;
saloutos	0:083111ae2a11	1378
saloutos	0:083111ae2a11	1379	/* Disable interrupts: */
saloutos	0:083111ae2a11	1380	/* - Disable Error warning Interrupt */
saloutos	0:083111ae2a11	1381	/* - Disable Error passive Interrupt */
saloutos	0:083111ae2a11	1382	/* - Disable Bus-off Interrupt */
saloutos	0:083111ae2a11	1383	/* - Disable Last error code Interrupt */
saloutos	0:083111ae2a11	1384	/* - Disable Error Interrupt */
saloutos	0:083111ae2a11	1385	/* - Disable FIFO 0 message pending Interrupt */
saloutos	0:083111ae2a11	1386	/* - Disable FIFO 0 Overrun Interrupt */
saloutos	0:083111ae2a11	1387	/* - Disable FIFO 1 message pending Interrupt */
saloutos	0:083111ae2a11	1388	/* - Disable FIFO 1 Overrun Interrupt */
saloutos	0:083111ae2a11	1389	/* - Disable Transmit mailbox empty Interrupt */
saloutos	0:083111ae2a11	1390	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG \|
saloutos	0:083111ae2a11	1391	CAN_IT_EPV \|
saloutos	0:083111ae2a11	1392	CAN_IT_BOF \|
saloutos	0:083111ae2a11	1393	CAN_IT_LEC \|
saloutos	0:083111ae2a11	1394	CAN_IT_ERR \|
saloutos	0:083111ae2a11	1395	CAN_IT_FMP0\|
saloutos	0:083111ae2a11	1396	CAN_IT_FOV0\|
saloutos	0:083111ae2a11	1397	CAN_IT_FMP1\|
saloutos	0:083111ae2a11	1398	CAN_IT_FOV1\|
saloutos	0:083111ae2a11	1399	CAN_IT_TME);
saloutos	0:083111ae2a11	1400
saloutos	0:083111ae2a11	1401	/* Call Error callback function */
saloutos	0:083111ae2a11	1402	HAL_CAN_ErrorCallback(hcan);
saloutos	0:083111ae2a11	1403	}
saloutos	0:083111ae2a11	1404	}
saloutos	0:083111ae2a11	1405
saloutos	0:083111ae2a11	1406	/**
saloutos	0:083111ae2a11	1407	* @brief Transmission complete callback in non blocking mode
saloutos	0:083111ae2a11	1408	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	1409	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	1410	* @retval None
saloutos	0:083111ae2a11	1411	*/
saloutos	0:083111ae2a11	1412	__weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
saloutos	0:083111ae2a11	1413	{
saloutos	0:083111ae2a11	1414	/* Prevent unused argument(s) compilation warning */
saloutos	0:083111ae2a11	1415	UNUSED(hcan);
saloutos	0:083111ae2a11	1416	/* NOTE : This function Should not be modified, when the callback is needed,
saloutos	0:083111ae2a11	1417	the HAL_CAN_TxCpltCallback could be implemented in the user file
saloutos	0:083111ae2a11	1418	*/
saloutos	0:083111ae2a11	1419	}
saloutos	0:083111ae2a11	1420
saloutos	0:083111ae2a11	1421	/**
saloutos	0:083111ae2a11	1422	* @brief Transmission complete callback in non blocking mode
saloutos	0:083111ae2a11	1423	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	1424	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	1425	* @retval None
saloutos	0:083111ae2a11	1426	*/
saloutos	0:083111ae2a11	1427	__weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
saloutos	0:083111ae2a11	1428	{
saloutos	0:083111ae2a11	1429	/* Prevent unused argument(s) compilation warning */
saloutos	0:083111ae2a11	1430	UNUSED(hcan);
saloutos	0:083111ae2a11	1431	/* NOTE : This function Should not be modified, when the callback is needed,
saloutos	0:083111ae2a11	1432	the HAL_CAN_RxCpltCallback could be implemented in the user file
saloutos	0:083111ae2a11	1433	*/
saloutos	0:083111ae2a11	1434	}
saloutos	0:083111ae2a11	1435
saloutos	0:083111ae2a11	1436	/**
saloutos	0:083111ae2a11	1437	* @brief Error CAN callback.
saloutos	0:083111ae2a11	1438	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	1439	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	1440	* @retval None
saloutos	0:083111ae2a11	1441	*/
saloutos	0:083111ae2a11	1442	__weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
saloutos	0:083111ae2a11	1443	{
saloutos	0:083111ae2a11	1444	/* Prevent unused argument(s) compilation warning */
saloutos	0:083111ae2a11	1445	UNUSED(hcan);
saloutos	0:083111ae2a11	1446	/* NOTE : This function Should not be modified, when the callback is needed,
saloutos	0:083111ae2a11	1447	the HAL_CAN_ErrorCallback could be implemented in the user file
saloutos	0:083111ae2a11	1448	*/
saloutos	0:083111ae2a11	1449	}
saloutos	0:083111ae2a11	1450
saloutos	0:083111ae2a11	1451	/**
saloutos	0:083111ae2a11	1452	* @}
saloutos	0:083111ae2a11	1453	*/
saloutos	0:083111ae2a11	1454
saloutos	0:083111ae2a11	1455	/** @defgroup CAN_Exported_Functions_Group3 Peripheral State and Error functions
saloutos	0:083111ae2a11	1456	* @brief CAN Peripheral State functions
saloutos	0:083111ae2a11	1457	*
saloutos	0:083111ae2a11	1458	@verbatim
saloutos	0:083111ae2a11	1459	==============================================================================
saloutos	0:083111ae2a11	1460	##### Peripheral State and Error functions #####
saloutos	0:083111ae2a11	1461	==============================================================================
saloutos	0:083111ae2a11	1462	[..]
saloutos	0:083111ae2a11	1463	This subsection provides functions allowing to :
saloutos	0:083111ae2a11	1464	(+) Check the CAN state.
saloutos	0:083111ae2a11	1465	(+) Check CAN Errors detected during interrupt process
saloutos	0:083111ae2a11	1466
saloutos	0:083111ae2a11	1467	@endverbatim
saloutos	0:083111ae2a11	1468	* @{
saloutos	0:083111ae2a11	1469	*/
saloutos	0:083111ae2a11	1470
saloutos	0:083111ae2a11	1471	/**
saloutos	0:083111ae2a11	1472	* @brief return the CAN state
saloutos	0:083111ae2a11	1473	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	1474	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	1475	* @retval HAL state
saloutos	0:083111ae2a11	1476	*/
saloutos	0:083111ae2a11	1477	HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
saloutos	0:083111ae2a11	1478	{
saloutos	0:083111ae2a11	1479	/* Return CAN state */
saloutos	0:083111ae2a11	1480	return hcan->State;
saloutos	0:083111ae2a11	1481	}
saloutos	0:083111ae2a11	1482
saloutos	0:083111ae2a11	1483	/**
saloutos	0:083111ae2a11	1484	* @brief Return the CAN error code
saloutos	0:083111ae2a11	1485	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	1486	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	1487	* @retval CAN Error Code
saloutos	0:083111ae2a11	1488	*/
saloutos	0:083111ae2a11	1489	uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
saloutos	0:083111ae2a11	1490	{
saloutos	0:083111ae2a11	1491	return hcan->ErrorCode;
saloutos	0:083111ae2a11	1492	}
saloutos	0:083111ae2a11	1493
saloutos	0:083111ae2a11	1494	/**
saloutos	0:083111ae2a11	1495	* @}
saloutos	0:083111ae2a11	1496	*/
saloutos	0:083111ae2a11	1497	/**
saloutos	0:083111ae2a11	1498	* @brief Initiates and transmits a CAN frame message.
saloutos	0:083111ae2a11	1499	* @param hcan: pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	1500	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	1501	* @retval HAL status
saloutos	0:083111ae2a11	1502	*/
saloutos	0:083111ae2a11	1503	static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
saloutos	0:083111ae2a11	1504	{
saloutos	0:083111ae2a11	1505	/* Disable Transmit mailbox empty Interrupt */
saloutos	0:083111ae2a11	1506	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
saloutos	0:083111ae2a11	1507
saloutos	0:083111ae2a11	1508	if(hcan->State == HAL_CAN_STATE_BUSY_TX)
saloutos	0:083111ae2a11	1509	{
saloutos	0:083111ae2a11	1510	/* Disable Error warning, Error passive, Bus-off, Last error code
saloutos	0:083111ae2a11	1511	and Error Interrupts */
saloutos	0:083111ae2a11	1512	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG \|
saloutos	0:083111ae2a11	1513	CAN_IT_EPV \|
saloutos	0:083111ae2a11	1514	CAN_IT_BOF \|
saloutos	0:083111ae2a11	1515	CAN_IT_LEC \|
saloutos	0:083111ae2a11	1516	CAN_IT_ERR );
saloutos	0:083111ae2a11	1517	}
saloutos	0:083111ae2a11	1518
saloutos	0:083111ae2a11	1519	/* Change CAN state */
saloutos	0:083111ae2a11	1520	switch(hcan->State)
saloutos	0:083111ae2a11	1521	{
saloutos	0:083111ae2a11	1522	case(HAL_CAN_STATE_BUSY_TX_RX0):
saloutos	0:083111ae2a11	1523	hcan->State = HAL_CAN_STATE_BUSY_RX0;
saloutos	0:083111ae2a11	1524	break;
saloutos	0:083111ae2a11	1525	case(HAL_CAN_STATE_BUSY_TX_RX1):
saloutos	0:083111ae2a11	1526	hcan->State = HAL_CAN_STATE_BUSY_RX1;
saloutos	0:083111ae2a11	1527	break;
saloutos	0:083111ae2a11	1528	case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
saloutos	0:083111ae2a11	1529	hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
saloutos	0:083111ae2a11	1530	break;
saloutos	0:083111ae2a11	1531	default: /* HAL_CAN_STATE_BUSY_TX */
saloutos	0:083111ae2a11	1532	hcan->State = HAL_CAN_STATE_READY;
saloutos	0:083111ae2a11	1533	break;
saloutos	0:083111ae2a11	1534	}
saloutos	0:083111ae2a11	1535
saloutos	0:083111ae2a11	1536	/* Transmission complete callback */
saloutos	0:083111ae2a11	1537	HAL_CAN_TxCpltCallback(hcan);
saloutos	0:083111ae2a11	1538
saloutos	0:083111ae2a11	1539	return HAL_OK;
saloutos	0:083111ae2a11	1540	}
saloutos	0:083111ae2a11	1541
saloutos	0:083111ae2a11	1542	/**
saloutos	0:083111ae2a11	1543	* @brief Receives a correct CAN frame.
saloutos	0:083111ae2a11	1544	* @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
saloutos	0:083111ae2a11	1545	* the configuration information for the specified CAN.
saloutos	0:083111ae2a11	1546	* @param FIFONumber: Specify the FIFO number
saloutos	0:083111ae2a11	1547	* @retval HAL status
saloutos	0:083111ae2a11	1548	* @retval None
saloutos	0:083111ae2a11	1549	*/
saloutos	0:083111ae2a11	1550	static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
saloutos	0:083111ae2a11	1551	{
saloutos	0:083111ae2a11	1552	uint32_t tmp1 = 0U;
saloutos	0:083111ae2a11	1553	CanRxMsgTypeDef* pRxMsg = NULL;
saloutos	0:083111ae2a11	1554
saloutos	0:083111ae2a11	1555	/* Set RxMsg pointer */
saloutos	0:083111ae2a11	1556	if(FIFONumber == CAN_FIFO0)
saloutos	0:083111ae2a11	1557	{
saloutos	0:083111ae2a11	1558	pRxMsg = hcan->pRxMsg;
saloutos	0:083111ae2a11	1559	}
saloutos	0:083111ae2a11	1560	else /* FIFONumber == CAN_FIFO1 */
saloutos	0:083111ae2a11	1561	{
saloutos	0:083111ae2a11	1562	pRxMsg = hcan->pRx1Msg;
saloutos	0:083111ae2a11	1563	}
saloutos	0:083111ae2a11	1564
saloutos	0:083111ae2a11	1565	/* Get the Id */
saloutos	0:083111ae2a11	1566	pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
saloutos	0:083111ae2a11	1567	if (pRxMsg->IDE == CAN_ID_STD)
saloutos	0:083111ae2a11	1568	{
saloutos	0:083111ae2a11	1569	pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21U);
saloutos	0:083111ae2a11	1570	}
saloutos	0:083111ae2a11	1571	else
saloutos	0:083111ae2a11	1572	{
saloutos	0:083111ae2a11	1573	pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3U);
saloutos	0:083111ae2a11	1574	}
saloutos	0:083111ae2a11	1575
saloutos	0:083111ae2a11	1576	pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
saloutos	0:083111ae2a11	1577	/* Get the DLC */
saloutos	0:083111ae2a11	1578	pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
saloutos	0:083111ae2a11	1579	/* Get the FIFONumber */
saloutos	0:083111ae2a11	1580	pRxMsg->FIFONumber = FIFONumber;
saloutos	0:083111ae2a11	1581	/* Get the FMI */
saloutos	0:083111ae2a11	1582	pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8U);
saloutos	0:083111ae2a11	1583	/* Get the data field */
saloutos	0:083111ae2a11	1584	pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
saloutos	0:083111ae2a11	1585	pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8U);
saloutos	0:083111ae2a11	1586	pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16U);
saloutos	0:083111ae2a11	1587	pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24U);
saloutos	0:083111ae2a11	1588	pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
saloutos	0:083111ae2a11	1589	pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8U);
saloutos	0:083111ae2a11	1590	pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16U);
saloutos	0:083111ae2a11	1591	pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24U);
saloutos	0:083111ae2a11	1592	/* Release the FIFO */
saloutos	0:083111ae2a11	1593	/* Release FIFO0 */
saloutos	0:083111ae2a11	1594	if (FIFONumber == CAN_FIFO0)
saloutos	0:083111ae2a11	1595	{
saloutos	0:083111ae2a11	1596	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
saloutos	0:083111ae2a11	1597
saloutos	0:083111ae2a11	1598	/* Disable FIFO 0 overrun and message pending Interrupt */
saloutos	0:083111ae2a11	1599	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_FOV0 \| CAN_IT_FMP0);
saloutos	0:083111ae2a11	1600	}
saloutos	0:083111ae2a11	1601	/* Release FIFO1 */
saloutos	0:083111ae2a11	1602	else /* FIFONumber == CAN_FIFO1 */
saloutos	0:083111ae2a11	1603	{
saloutos	0:083111ae2a11	1604	__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
saloutos	0:083111ae2a11	1605
saloutos	0:083111ae2a11	1606	/* Disable FIFO 1 overrun and message pending Interrupt */
saloutos	0:083111ae2a11	1607	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_FOV1 \| CAN_IT_FMP1);
saloutos	0:083111ae2a11	1608	}
saloutos	0:083111ae2a11	1609
saloutos	0:083111ae2a11	1610	tmp1 = hcan->State;
saloutos	0:083111ae2a11	1611	if((tmp1 == HAL_CAN_STATE_BUSY_RX0) \|\| (tmp1 == HAL_CAN_STATE_BUSY_RX1))
saloutos	0:083111ae2a11	1612	{
saloutos	0:083111ae2a11	1613	/* Disable Error warning, Error passive, Bus-off, Last error code
saloutos	0:083111ae2a11	1614	and Error Interrupts */
saloutos	0:083111ae2a11	1615	__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG \|
saloutos	0:083111ae2a11	1616	CAN_IT_EPV \|
saloutos	0:083111ae2a11	1617	CAN_IT_BOF \|
saloutos	0:083111ae2a11	1618	CAN_IT_LEC \|
saloutos	0:083111ae2a11	1619	CAN_IT_ERR);
saloutos	0:083111ae2a11	1620	}
saloutos	0:083111ae2a11	1621
saloutos	0:083111ae2a11	1622	/* Change CAN state */
saloutos	0:083111ae2a11	1623	if (FIFONumber == CAN_FIFO0)
saloutos	0:083111ae2a11	1624	{
saloutos	0:083111ae2a11	1625	switch(hcan->State)
saloutos	0:083111ae2a11	1626	{
saloutos	0:083111ae2a11	1627	case(HAL_CAN_STATE_BUSY_TX_RX0):
saloutos	0:083111ae2a11	1628	hcan->State = HAL_CAN_STATE_BUSY_TX;
saloutos	0:083111ae2a11	1629	break;
saloutos	0:083111ae2a11	1630	case(HAL_CAN_STATE_BUSY_RX0_RX1):
saloutos	0:083111ae2a11	1631	hcan->State = HAL_CAN_STATE_BUSY_RX1;
saloutos	0:083111ae2a11	1632	break;
saloutos	0:083111ae2a11	1633	case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
saloutos	0:083111ae2a11	1634	hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
saloutos	0:083111ae2a11	1635	break;
saloutos	0:083111ae2a11	1636	default: /* HAL_CAN_STATE_BUSY_RX0 */
saloutos	0:083111ae2a11	1637	hcan->State = HAL_CAN_STATE_READY;
saloutos	0:083111ae2a11	1638	break;
saloutos	0:083111ae2a11	1639	}
saloutos	0:083111ae2a11	1640	}
saloutos	0:083111ae2a11	1641	else /* FIFONumber == CAN_FIFO1 */
saloutos	0:083111ae2a11	1642	{
saloutos	0:083111ae2a11	1643	switch(hcan->State)
saloutos	0:083111ae2a11	1644	{
saloutos	0:083111ae2a11	1645	case(HAL_CAN_STATE_BUSY_TX_RX1):
saloutos	0:083111ae2a11	1646	hcan->State = HAL_CAN_STATE_BUSY_TX;
saloutos	0:083111ae2a11	1647	break;
saloutos	0:083111ae2a11	1648	case(HAL_CAN_STATE_BUSY_RX0_RX1):
saloutos	0:083111ae2a11	1649	hcan->State = HAL_CAN_STATE_BUSY_RX0;
saloutos	0:083111ae2a11	1650	break;
saloutos	0:083111ae2a11	1651	case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
saloutos	0:083111ae2a11	1652	hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
saloutos	0:083111ae2a11	1653	break;
saloutos	0:083111ae2a11	1654	default: /* HAL_CAN_STATE_BUSY_RX1 */
saloutos	0:083111ae2a11	1655	hcan->State = HAL_CAN_STATE_READY;
saloutos	0:083111ae2a11	1656	break;
saloutos	0:083111ae2a11	1657	}
saloutos	0:083111ae2a11	1658	}
saloutos	0:083111ae2a11	1659
saloutos	0:083111ae2a11	1660	/* Receive complete callback */
saloutos	0:083111ae2a11	1661	HAL_CAN_RxCpltCallback(hcan);
saloutos	0:083111ae2a11	1662
saloutos	0:083111ae2a11	1663	/* Return function status */
saloutos	0:083111ae2a11	1664	return HAL_OK;
saloutos	0:083111ae2a11	1665	}
saloutos	0:083111ae2a11	1666
saloutos	0:083111ae2a11	1667	/**
saloutos	0:083111ae2a11	1668	* @}
saloutos	0:083111ae2a11	1669	*/
saloutos	0:083111ae2a11	1670	#endif /* STM32F405xx \|\| STM32F415xx \|\| STM32F407xx \|\| STM32F417xx \|\| STM32F427xx \|\| STM32F437xx \|\|\
saloutos	0:083111ae2a11	1671	STM32F429xx \|\| STM32F439xx \|\| STM32F446xx \|\| STM32F469xx \|\| STM32F479xx \|\| STM32F412Zx \|\|\
saloutos	0:083111ae2a11	1672	STM32F412Vx \|\| STM32F412Rx \|\| STM32F412Cx \|\| STM32F413xx \|\| STM32F423xx */
saloutos	0:083111ae2a11	1673
saloutos	0:083111ae2a11	1674	#endif /* HAL_CAN_MODULE_ENABLED */
saloutos	0:083111ae2a11	1675	/**
saloutos	0:083111ae2a11	1676	* @}
saloutos	0:083111ae2a11	1677	*/
saloutos	0:083111ae2a11	1678
saloutos	0:083111ae2a11	1679	/**
saloutos	0:083111ae2a11	1680	* @}
saloutos	0:083111ae2a11	1681	*/
saloutos	0:083111ae2a11	1682
saloutos	0:083111ae2a11	1683	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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Created:	09 Mar 2021
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