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targets/cmsis/TARGET_STM/TARGET_NUCLEO_F334R8/stm32f3xx_hal_can.c@237:f3da66175598, 2014-06-24 (annotated)

Committer:
mbed_official
Date:
Tue Jun 24 14:45:08 2014 +0100
Revision:
237:f3da66175598
Child:
375:3d36234a1087
Synchronized with git revision 8ef659bca81f12dfc896b5a7af7c2abbd1a1b8b7



Full URL: https://github.com/mbedmicro/mbed/commit/8ef659bca81f12dfc896b5a7af7c2abbd1a1b8b7/



[NUCLEO_F334R8] Add platform files

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UserRevisionLine numberNew contents of line
mbed_official 237:f3da66175598 1 /**
mbed_official 237:f3da66175598 2 ******************************************************************************
mbed_official 237:f3da66175598 3 * @file stm32f3xx_hal_can.c
mbed_official 237:f3da66175598 4 * @author MCD Application Team
mbed_official 237:f3da66175598 5 * @version V1.0.1
mbed_official 237:f3da66175598 6 * @date 18-June-2014
mbed_official 237:f3da66175598 7 * @brief CAN HAL module driver.
mbed_official 237:f3da66175598 8 *
mbed_official 237:f3da66175598 9 * This file provides firmware functions to manage the following
mbed_official 237:f3da66175598 10 * functionalities of the Controller Area Network (CAN) peripheral:
mbed_official 237:f3da66175598 11 * + Initialization and de-initialization functions
mbed_official 237:f3da66175598 12 * + IO operation functions
mbed_official 237:f3da66175598 13 * + Peripheral Control functions
mbed_official 237:f3da66175598 14 * + Peripheral State and Error functions
mbed_official 237:f3da66175598 15 *
mbed_official 237:f3da66175598 16 @verbatim
mbed_official 237:f3da66175598 17 ==============================================================================
mbed_official 237:f3da66175598 18 ##### How to use this driver #####
mbed_official 237:f3da66175598 19 ==============================================================================
mbed_official 237:f3da66175598 20 [..]
mbed_official 237:f3da66175598 21 (#) Enable the CAN controller interface clock using
mbed_official 237:f3da66175598 22 __CAN_CLK_ENABLE();
mbed_official 237:f3da66175598 23
mbed_official 237:f3da66175598 24 (#) CAN pins configuration
mbed_official 237:f3da66175598 25 (++) Enable the clock for the CAN GPIOs using the following function:
mbed_official 237:f3da66175598 26 __GPIOx_CLK_ENABLE();
mbed_official 237:f3da66175598 27 (++) Connect and configure the involved CAN pins to AF9 using the
mbed_official 237:f3da66175598 28 following function HAL_GPIO_Init();
mbed_official 237:f3da66175598 29
mbed_official 237:f3da66175598 30 (#) Initialise and configure the CAN using HAL_CAN_Init() function.
mbed_official 237:f3da66175598 31
mbed_official 237:f3da66175598 32 (#) Transmit the desired CAN frame using HAL_CAN_Transmit() function.
mbed_official 237:f3da66175598 33
mbed_official 237:f3da66175598 34 (#) Receive a CAN frame using HAL_CAN_Receive() function.
mbed_official 237:f3da66175598 35
mbed_official 237:f3da66175598 36 *** Polling mode IO operation ***
mbed_official 237:f3da66175598 37 =================================
mbed_official 237:f3da66175598 38 [..]
mbed_official 237:f3da66175598 39 (+) Start the CAN peripheral transmission and wait the end of this operation
mbed_official 237:f3da66175598 40 using HAL_CAN_Transmit(), at this stage user can specify the value of timeout
mbed_official 237:f3da66175598 41 according to his end application
mbed_official 237:f3da66175598 42 (+) Start the CAN peripheral reception and wait the end of this operation
mbed_official 237:f3da66175598 43 using HAL_CAN_Receive(), at this stage user can specify the value of timeout
mbed_official 237:f3da66175598 44 according to his end application
mbed_official 237:f3da66175598 45
mbed_official 237:f3da66175598 46 *** Interrupt mode IO operation ***
mbed_official 237:f3da66175598 47 ===================================
mbed_official 237:f3da66175598 48 [..]
mbed_official 237:f3da66175598 49 (+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT()
mbed_official 237:f3da66175598 50 (+) Start the CAN peripheral reception using HAL_CAN_Receive_IT()
mbed_official 237:f3da66175598 51 (+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine
mbed_official 237:f3da66175598 52 (+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can
mbed_official 237:f3da66175598 53 add his own code by customization of function pointer HAL_CAN_TxCpltCallback
mbed_official 237:f3da66175598 54 (+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can
mbed_official 237:f3da66175598 55 add his own code by customization of function pointer HAL_CAN_ErrorCallback
mbed_official 237:f3da66175598 56
mbed_official 237:f3da66175598 57 *** CAN HAL driver macros list ***
mbed_official 237:f3da66175598 58 =============================================
mbed_official 237:f3da66175598 59 [..]
mbed_official 237:f3da66175598 60 Below the list of most used macros in CAN HAL driver.
mbed_official 237:f3da66175598 61
mbed_official 237:f3da66175598 62 (+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts
mbed_official 237:f3da66175598 63 (+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts
mbed_official 237:f3da66175598 64 (+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled
mbed_official 237:f3da66175598 65 (+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags
mbed_official 237:f3da66175598 66 (+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status
mbed_official 237:f3da66175598 67
mbed_official 237:f3da66175598 68 [..]
mbed_official 237:f3da66175598 69 (@) You can refer to the CAN HAL driver header file for more useful macros
mbed_official 237:f3da66175598 70
mbed_official 237:f3da66175598 71 @endverbatim
mbed_official 237:f3da66175598 72
mbed_official 237:f3da66175598 73 ******************************************************************************
mbed_official 237:f3da66175598 74 * @attention
mbed_official 237:f3da66175598 75 *
mbed_official 237:f3da66175598 76 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
mbed_official 237:f3da66175598 77 *
mbed_official 237:f3da66175598 78 * Redistribution and use in source and binary forms, with or without modification,
mbed_official 237:f3da66175598 79 * are permitted provided that the following conditions are met:
mbed_official 237:f3da66175598 80 * 1. Redistributions of source code must retain the above copyright notice,
mbed_official 237:f3da66175598 81 * this list of conditions and the following disclaimer.
mbed_official 237:f3da66175598 82 * 2. Redistributions in binary form must reproduce the above copyright notice,
mbed_official 237:f3da66175598 83 * this list of conditions and the following disclaimer in the documentation
mbed_official 237:f3da66175598 84 * and/or other materials provided with the distribution.
mbed_official 237:f3da66175598 85 * 3. Neither the name of STMicroelectronics nor the names of its contributors
mbed_official 237:f3da66175598 86 * may be used to endorse or promote products derived from this software
mbed_official 237:f3da66175598 87 * without specific prior written permission.
mbed_official 237:f3da66175598 88 *
mbed_official 237:f3da66175598 89 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official 237:f3da66175598 90 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official 237:f3da66175598 91 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
mbed_official 237:f3da66175598 92 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
mbed_official 237:f3da66175598 93 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
mbed_official 237:f3da66175598 94 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
mbed_official 237:f3da66175598 95 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
mbed_official 237:f3da66175598 96 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
mbed_official 237:f3da66175598 97 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
mbed_official 237:f3da66175598 98 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
mbed_official 237:f3da66175598 99 *
mbed_official 237:f3da66175598 100 ******************************************************************************
mbed_official 237:f3da66175598 101 */
mbed_official 237:f3da66175598 102
mbed_official 237:f3da66175598 103 /* Includes ------------------------------------------------------------------*/
mbed_official 237:f3da66175598 104 #include "stm32f3xx_hal.h"
mbed_official 237:f3da66175598 105
mbed_official 237:f3da66175598 106 /** @addtogroup STM32F3xx_HAL_Driver
mbed_official 237:f3da66175598 107 * @{
mbed_official 237:f3da66175598 108 */
mbed_official 237:f3da66175598 109
mbed_official 237:f3da66175598 110 /** @defgroup CAN
mbed_official 237:f3da66175598 111 * @brief CAN driver modules
mbed_official 237:f3da66175598 112 * @{
mbed_official 237:f3da66175598 113 */
mbed_official 237:f3da66175598 114
mbed_official 237:f3da66175598 115 #ifdef HAL_CAN_MODULE_ENABLED
mbed_official 237:f3da66175598 116
mbed_official 237:f3da66175598 117 #if defined(STM32F302x8) || defined(STM32F302xC) || \
mbed_official 237:f3da66175598 118 defined(STM32F303x8) || defined(STM32F303xC) || defined(STM32F373xC) || \
mbed_official 237:f3da66175598 119 defined(STM32F334x8) || \
mbed_official 237:f3da66175598 120 defined(STM32F328xx) || defined(STM32F358xx) || defined(STM32F378xx)
mbed_official 237:f3da66175598 121
mbed_official 237:f3da66175598 122 /* Private typedef -----------------------------------------------------------*/
mbed_official 237:f3da66175598 123 /* Private define ------------------------------------------------------------*/
mbed_official 237:f3da66175598 124 /* Private macro -------------------------------------------------------------*/
mbed_official 237:f3da66175598 125 /* Private variables ---------------------------------------------------------*/
mbed_official 237:f3da66175598 126 /* Private function prototypes -----------------------------------------------*/
mbed_official 237:f3da66175598 127 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
mbed_official 237:f3da66175598 128 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
mbed_official 237:f3da66175598 129 /* Private functions ---------------------------------------------------------*/
mbed_official 237:f3da66175598 130
mbed_official 237:f3da66175598 131 /** @defgroup CAN_Private_Functions
mbed_official 237:f3da66175598 132 * @{
mbed_official 237:f3da66175598 133 */
mbed_official 237:f3da66175598 134
mbed_official 237:f3da66175598 135 /** @defgroup CAN_Group1 Initialization and de-initialization functions
mbed_official 237:f3da66175598 136 * @brief Initialization and Configuration functions
mbed_official 237:f3da66175598 137 *
mbed_official 237:f3da66175598 138 @verbatim
mbed_official 237:f3da66175598 139 ==============================================================================
mbed_official 237:f3da66175598 140 ##### Initialization and de-initialization functions #####
mbed_official 237:f3da66175598 141 ==============================================================================
mbed_official 237:f3da66175598 142 [..] This section provides functions allowing to:
mbed_official 237:f3da66175598 143 (+) Initialize and configure the CAN.
mbed_official 237:f3da66175598 144 (+) De-initialize the CAN.
mbed_official 237:f3da66175598 145
mbed_official 237:f3da66175598 146 @endverbatim
mbed_official 237:f3da66175598 147 * @{
mbed_official 237:f3da66175598 148 */
mbed_official 237:f3da66175598 149
mbed_official 237:f3da66175598 150 /**
mbed_official 237:f3da66175598 151 * @brief Initializes the CAN peripheral according to the specified
mbed_official 237:f3da66175598 152 * parameters in the CAN_InitStruct.
mbed_official 237:f3da66175598 153 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 154 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 155 * @retval HAL status
mbed_official 237:f3da66175598 156 */
mbed_official 237:f3da66175598 157 HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 158 {
mbed_official 237:f3da66175598 159 uint32_t status = CAN_INITSTATUS_FAILED; /* Default init status */
mbed_official 237:f3da66175598 160 uint32_t tickstart = 0;
mbed_official 237:f3da66175598 161
mbed_official 237:f3da66175598 162 /* Check CAN handle */
mbed_official 237:f3da66175598 163 if(hcan == NULL)
mbed_official 237:f3da66175598 164 {
mbed_official 237:f3da66175598 165 return HAL_ERROR;
mbed_official 237:f3da66175598 166 }
mbed_official 237:f3da66175598 167
mbed_official 237:f3da66175598 168 /* Check the parameters */
mbed_official 237:f3da66175598 169 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
mbed_official 237:f3da66175598 170 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
mbed_official 237:f3da66175598 171 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
mbed_official 237:f3da66175598 172 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
mbed_official 237:f3da66175598 173 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
mbed_official 237:f3da66175598 174 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
mbed_official 237:f3da66175598 175 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
mbed_official 237:f3da66175598 176 assert_param(IS_CAN_MODE(hcan->Init.Mode));
mbed_official 237:f3da66175598 177 assert_param(IS_CAN_SJW(hcan->Init.SJW));
mbed_official 237:f3da66175598 178 assert_param(IS_CAN_BS1(hcan->Init.BS1));
mbed_official 237:f3da66175598 179 assert_param(IS_CAN_BS2(hcan->Init.BS2));
mbed_official 237:f3da66175598 180 assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
mbed_official 237:f3da66175598 181
mbed_official 237:f3da66175598 182 if(hcan->State == HAL_CAN_STATE_RESET)
mbed_official 237:f3da66175598 183 {
mbed_official 237:f3da66175598 184 /* Init the low level hardware */
mbed_official 237:f3da66175598 185 HAL_CAN_MspInit(hcan);
mbed_official 237:f3da66175598 186 }
mbed_official 237:f3da66175598 187
mbed_official 237:f3da66175598 188 /* Initialize the CAN state*/
mbed_official 237:f3da66175598 189 hcan->State = HAL_CAN_STATE_BUSY;
mbed_official 237:f3da66175598 190
mbed_official 237:f3da66175598 191 /* Exit from sleep mode */
mbed_official 237:f3da66175598 192 hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
mbed_official 237:f3da66175598 193
mbed_official 237:f3da66175598 194 /* Request initialisation */
mbed_official 237:f3da66175598 195 hcan->Instance->MCR |= CAN_MCR_INRQ ;
mbed_official 237:f3da66175598 196
mbed_official 237:f3da66175598 197 /* Get timeout */
mbed_official 237:f3da66175598 198 tickstart = HAL_GetTick();
mbed_official 237:f3da66175598 199
mbed_official 237:f3da66175598 200 /* Wait the acknowledge */
mbed_official 237:f3da66175598 201 while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
mbed_official 237:f3da66175598 202 {
mbed_official 237:f3da66175598 203 if((HAL_GetTick()-tickstart) > INAK_TIMEOUT)
mbed_official 237:f3da66175598 204 {
mbed_official 237:f3da66175598 205 hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official 237:f3da66175598 206 return HAL_TIMEOUT;
mbed_official 237:f3da66175598 207 }
mbed_official 237:f3da66175598 208 }
mbed_official 237:f3da66175598 209
mbed_official 237:f3da66175598 210 /* Check acknowledge */
mbed_official 237:f3da66175598 211 if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
mbed_official 237:f3da66175598 212 {
mbed_official 237:f3da66175598 213 /* Set the time triggered communication mode */
mbed_official 237:f3da66175598 214 if (hcan->Init.TTCM == ENABLE)
mbed_official 237:f3da66175598 215 {
mbed_official 237:f3da66175598 216 hcan->Instance->MCR |= CAN_MCR_TTCM;
mbed_official 237:f3da66175598 217 }
mbed_official 237:f3da66175598 218 else
mbed_official 237:f3da66175598 219 {
mbed_official 237:f3da66175598 220 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
mbed_official 237:f3da66175598 221 }
mbed_official 237:f3da66175598 222
mbed_official 237:f3da66175598 223 /* Set the automatic bus-off management */
mbed_official 237:f3da66175598 224 if (hcan->Init.ABOM == ENABLE)
mbed_official 237:f3da66175598 225 {
mbed_official 237:f3da66175598 226 hcan->Instance->MCR |= CAN_MCR_ABOM;
mbed_official 237:f3da66175598 227 }
mbed_official 237:f3da66175598 228 else
mbed_official 237:f3da66175598 229 {
mbed_official 237:f3da66175598 230 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
mbed_official 237:f3da66175598 231 }
mbed_official 237:f3da66175598 232
mbed_official 237:f3da66175598 233 /* Set the automatic wake-up mode */
mbed_official 237:f3da66175598 234 if (hcan->Init.AWUM == ENABLE)
mbed_official 237:f3da66175598 235 {
mbed_official 237:f3da66175598 236 hcan->Instance->MCR |= CAN_MCR_AWUM;
mbed_official 237:f3da66175598 237 }
mbed_official 237:f3da66175598 238 else
mbed_official 237:f3da66175598 239 {
mbed_official 237:f3da66175598 240 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
mbed_official 237:f3da66175598 241 }
mbed_official 237:f3da66175598 242
mbed_official 237:f3da66175598 243 /* Set the no automatic retransmission */
mbed_official 237:f3da66175598 244 if (hcan->Init.NART == ENABLE)
mbed_official 237:f3da66175598 245 {
mbed_official 237:f3da66175598 246 hcan->Instance->MCR |= CAN_MCR_NART;
mbed_official 237:f3da66175598 247 }
mbed_official 237:f3da66175598 248 else
mbed_official 237:f3da66175598 249 {
mbed_official 237:f3da66175598 250 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
mbed_official 237:f3da66175598 251 }
mbed_official 237:f3da66175598 252
mbed_official 237:f3da66175598 253 /* Set the receive FIFO locked mode */
mbed_official 237:f3da66175598 254 if (hcan->Init.RFLM == ENABLE)
mbed_official 237:f3da66175598 255 {
mbed_official 237:f3da66175598 256 hcan->Instance->MCR |= CAN_MCR_RFLM;
mbed_official 237:f3da66175598 257 }
mbed_official 237:f3da66175598 258 else
mbed_official 237:f3da66175598 259 {
mbed_official 237:f3da66175598 260 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
mbed_official 237:f3da66175598 261 }
mbed_official 237:f3da66175598 262
mbed_official 237:f3da66175598 263 /* Set the transmit FIFO priority */
mbed_official 237:f3da66175598 264 if (hcan->Init.TXFP == ENABLE)
mbed_official 237:f3da66175598 265 {
mbed_official 237:f3da66175598 266 hcan->Instance->MCR |= CAN_MCR_TXFP;
mbed_official 237:f3da66175598 267 }
mbed_official 237:f3da66175598 268 else
mbed_official 237:f3da66175598 269 {
mbed_official 237:f3da66175598 270 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
mbed_official 237:f3da66175598 271 }
mbed_official 237:f3da66175598 272
mbed_official 237:f3da66175598 273 /* Set the bit timing register */
mbed_official 237:f3da66175598 274 hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \
mbed_official 237:f3da66175598 275 ((uint32_t)hcan->Init.SJW) | \
mbed_official 237:f3da66175598 276 ((uint32_t)hcan->Init.BS1) | \
mbed_official 237:f3da66175598 277 ((uint32_t)hcan->Init.BS2) | \
mbed_official 237:f3da66175598 278 ((uint32_t)hcan->Init.Prescaler - 1);
mbed_official 237:f3da66175598 279
mbed_official 237:f3da66175598 280 /* Request leave initialisation */
mbed_official 237:f3da66175598 281 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
mbed_official 237:f3da66175598 282
mbed_official 237:f3da66175598 283 /* Get timeout */
mbed_official 237:f3da66175598 284 tickstart = HAL_GetTick();
mbed_official 237:f3da66175598 285
mbed_official 237:f3da66175598 286 /* Wait the acknowledge */
mbed_official 237:f3da66175598 287 while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
mbed_official 237:f3da66175598 288 {
mbed_official 237:f3da66175598 289 if((HAL_GetTick()-tickstart) > INAK_TIMEOUT)
mbed_official 237:f3da66175598 290 {
mbed_official 237:f3da66175598 291 hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official 237:f3da66175598 292 return HAL_TIMEOUT;
mbed_official 237:f3da66175598 293 }
mbed_official 237:f3da66175598 294 }
mbed_official 237:f3da66175598 295
mbed_official 237:f3da66175598 296 /* Check acknowledged */
mbed_official 237:f3da66175598 297 if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
mbed_official 237:f3da66175598 298 {
mbed_official 237:f3da66175598 299 status = CAN_INITSTATUS_SUCCESS;
mbed_official 237:f3da66175598 300 }
mbed_official 237:f3da66175598 301 }
mbed_official 237:f3da66175598 302
mbed_official 237:f3da66175598 303 if(status == CAN_INITSTATUS_SUCCESS)
mbed_official 237:f3da66175598 304 {
mbed_official 237:f3da66175598 305 /* Set CAN error code to none */
mbed_official 237:f3da66175598 306 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official 237:f3da66175598 307
mbed_official 237:f3da66175598 308 /* Initialize the CAN state */
mbed_official 237:f3da66175598 309 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 310
mbed_official 237:f3da66175598 311 /* Return function status */
mbed_official 237:f3da66175598 312 return HAL_OK;
mbed_official 237:f3da66175598 313 }
mbed_official 237:f3da66175598 314 else
mbed_official 237:f3da66175598 315 {
mbed_official 237:f3da66175598 316 /* Initialize the CAN state */
mbed_official 237:f3da66175598 317 hcan->State = HAL_CAN_STATE_ERROR;
mbed_official 237:f3da66175598 318
mbed_official 237:f3da66175598 319 /* Return function status */
mbed_official 237:f3da66175598 320 return HAL_ERROR;
mbed_official 237:f3da66175598 321 }
mbed_official 237:f3da66175598 322 }
mbed_official 237:f3da66175598 323
mbed_official 237:f3da66175598 324 /**
mbed_official 237:f3da66175598 325 * @brief Configures the CAN reception filter according to the specified
mbed_official 237:f3da66175598 326 * parameters in the CAN_FilterInitStruct.
mbed_official 237:f3da66175598 327 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 328 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 329 * @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
mbed_official 237:f3da66175598 330 * contains the filter configuration information.
mbed_official 237:f3da66175598 331 * @retval None
mbed_official 237:f3da66175598 332 */
mbed_official 237:f3da66175598 333 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
mbed_official 237:f3da66175598 334 {
mbed_official 237:f3da66175598 335 uint32_t filternbrbitpos = 0;
mbed_official 237:f3da66175598 336
mbed_official 237:f3da66175598 337 /* Check the parameters */
mbed_official 237:f3da66175598 338 assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
mbed_official 237:f3da66175598 339 assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
mbed_official 237:f3da66175598 340 assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
mbed_official 237:f3da66175598 341 assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
mbed_official 237:f3da66175598 342 assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
mbed_official 237:f3da66175598 343 assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
mbed_official 237:f3da66175598 344
mbed_official 237:f3da66175598 345 filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber;
mbed_official 237:f3da66175598 346
mbed_official 237:f3da66175598 347 /* Initialisation mode for the filter */
mbed_official 237:f3da66175598 348 hcan->Instance->FMR |= (uint32_t)CAN_FMR_FINIT;
mbed_official 237:f3da66175598 349
mbed_official 237:f3da66175598 350 /* Filter Deactivation */
mbed_official 237:f3da66175598 351 hcan->Instance->FA1R &= ~(uint32_t)filternbrbitpos;
mbed_official 237:f3da66175598 352
mbed_official 237:f3da66175598 353 /* Filter Scale */
mbed_official 237:f3da66175598 354 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
mbed_official 237:f3da66175598 355 {
mbed_official 237:f3da66175598 356 /* 16-bit scale for the filter */
mbed_official 237:f3da66175598 357 hcan->Instance->FS1R &= ~(uint32_t)filternbrbitpos;
mbed_official 237:f3da66175598 358
mbed_official 237:f3da66175598 359 /* First 16-bit identifier and First 16-bit mask */
mbed_official 237:f3da66175598 360 /* Or First 16-bit identifier and Second 16-bit identifier */
mbed_official 237:f3da66175598 361 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
mbed_official 237:f3da66175598 362 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) |
mbed_official 237:f3da66175598 363 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
mbed_official 237:f3da66175598 364
mbed_official 237:f3da66175598 365 /* Second 16-bit identifier and Second 16-bit mask */
mbed_official 237:f3da66175598 366 /* Or Third 16-bit identifier and Fourth 16-bit identifier */
mbed_official 237:f3da66175598 367 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
mbed_official 237:f3da66175598 368 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
mbed_official 237:f3da66175598 369 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh);
mbed_official 237:f3da66175598 370 }
mbed_official 237:f3da66175598 371
mbed_official 237:f3da66175598 372 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
mbed_official 237:f3da66175598 373 {
mbed_official 237:f3da66175598 374 /* 32-bit scale for the filter */
mbed_official 237:f3da66175598 375 hcan->Instance->FS1R |= filternbrbitpos;
mbed_official 237:f3da66175598 376 /* 32-bit identifier or First 32-bit identifier */
mbed_official 237:f3da66175598 377 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
mbed_official 237:f3da66175598 378 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) |
mbed_official 237:f3da66175598 379 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
mbed_official 237:f3da66175598 380 /* 32-bit mask or Second 32-bit identifier */
mbed_official 237:f3da66175598 381 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
mbed_official 237:f3da66175598 382 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
mbed_official 237:f3da66175598 383 (0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow);
mbed_official 237:f3da66175598 384 }
mbed_official 237:f3da66175598 385
mbed_official 237:f3da66175598 386 /* Filter Mode */
mbed_official 237:f3da66175598 387 if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
mbed_official 237:f3da66175598 388 {
mbed_official 237:f3da66175598 389 /*Id/Mask mode for the filter*/
mbed_official 237:f3da66175598 390 hcan->Instance->FM1R &= ~(uint32_t)filternbrbitpos;
mbed_official 237:f3da66175598 391 }
mbed_official 237:f3da66175598 392 else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
mbed_official 237:f3da66175598 393 {
mbed_official 237:f3da66175598 394 /*Identifier list mode for the filter*/
mbed_official 237:f3da66175598 395 hcan->Instance->FM1R |= (uint32_t)filternbrbitpos;
mbed_official 237:f3da66175598 396 }
mbed_official 237:f3da66175598 397
mbed_official 237:f3da66175598 398 /* Filter FIFO assignment */
mbed_official 237:f3da66175598 399 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
mbed_official 237:f3da66175598 400 {
mbed_official 237:f3da66175598 401 /* FIFO 0 assignation for the filter */
mbed_official 237:f3da66175598 402 hcan->Instance->FFA1R &= ~(uint32_t)filternbrbitpos;
mbed_official 237:f3da66175598 403 }
mbed_official 237:f3da66175598 404
mbed_official 237:f3da66175598 405 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
mbed_official 237:f3da66175598 406 {
mbed_official 237:f3da66175598 407 /* FIFO 1 assignation for the filter */
mbed_official 237:f3da66175598 408 hcan->Instance->FFA1R |= (uint32_t)filternbrbitpos;
mbed_official 237:f3da66175598 409 }
mbed_official 237:f3da66175598 410
mbed_official 237:f3da66175598 411 /* Filter activation */
mbed_official 237:f3da66175598 412 if (sFilterConfig->FilterActivation == ENABLE)
mbed_official 237:f3da66175598 413 {
mbed_official 237:f3da66175598 414 hcan->Instance->FA1R |= filternbrbitpos;
mbed_official 237:f3da66175598 415 }
mbed_official 237:f3da66175598 416
mbed_official 237:f3da66175598 417 /* Leave the initialisation mode for the filter */
mbed_official 237:f3da66175598 418 hcan->Instance->FMR &= ~((uint32_t)CAN_FMR_FINIT);
mbed_official 237:f3da66175598 419
mbed_official 237:f3da66175598 420 /* Return function status */
mbed_official 237:f3da66175598 421 return HAL_OK;
mbed_official 237:f3da66175598 422 }
mbed_official 237:f3da66175598 423
mbed_official 237:f3da66175598 424 /**
mbed_official 237:f3da66175598 425 * @brief Deinitializes the CANx peripheral registers to their default reset values.
mbed_official 237:f3da66175598 426 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 427 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 428 * @retval HAL status
mbed_official 237:f3da66175598 429 */
mbed_official 237:f3da66175598 430 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 431 {
mbed_official 237:f3da66175598 432 /* Check CAN handle */
mbed_official 237:f3da66175598 433 if(hcan == NULL)
mbed_official 237:f3da66175598 434 {
mbed_official 237:f3da66175598 435 return HAL_ERROR;
mbed_official 237:f3da66175598 436 }
mbed_official 237:f3da66175598 437
mbed_official 237:f3da66175598 438 /* Check the parameters */
mbed_official 237:f3da66175598 439 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
mbed_official 237:f3da66175598 440
mbed_official 237:f3da66175598 441 /* Change CAN state */
mbed_official 237:f3da66175598 442 hcan->State = HAL_CAN_STATE_BUSY;
mbed_official 237:f3da66175598 443
mbed_official 237:f3da66175598 444 /* DeInit the low level hardware */
mbed_official 237:f3da66175598 445 HAL_CAN_MspDeInit(hcan);
mbed_official 237:f3da66175598 446
mbed_official 237:f3da66175598 447 /* Change CAN state */
mbed_official 237:f3da66175598 448 hcan->State = HAL_CAN_STATE_RESET;
mbed_official 237:f3da66175598 449
mbed_official 237:f3da66175598 450 /* Release Lock */
mbed_official 237:f3da66175598 451 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 452
mbed_official 237:f3da66175598 453 /* Return function status */
mbed_official 237:f3da66175598 454 return HAL_OK;
mbed_official 237:f3da66175598 455 }
mbed_official 237:f3da66175598 456
mbed_official 237:f3da66175598 457 /**
mbed_official 237:f3da66175598 458 * @brief Initializes the CAN MSP.
mbed_official 237:f3da66175598 459 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 460 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 461 * @retval None
mbed_official 237:f3da66175598 462 */
mbed_official 237:f3da66175598 463 __weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 464 {
mbed_official 237:f3da66175598 465 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 237:f3da66175598 466 the HAL_CAN_MspInit could be implemented in the user file
mbed_official 237:f3da66175598 467 */
mbed_official 237:f3da66175598 468 }
mbed_official 237:f3da66175598 469
mbed_official 237:f3da66175598 470 /**
mbed_official 237:f3da66175598 471 * @brief DeInitializes the CAN MSP.
mbed_official 237:f3da66175598 472 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 473 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 474 * @retval None
mbed_official 237:f3da66175598 475 */
mbed_official 237:f3da66175598 476 __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 477 {
mbed_official 237:f3da66175598 478 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 237:f3da66175598 479 the HAL_CAN_MspDeInit could be implemented in the user file
mbed_official 237:f3da66175598 480 */
mbed_official 237:f3da66175598 481 }
mbed_official 237:f3da66175598 482
mbed_official 237:f3da66175598 483 /**
mbed_official 237:f3da66175598 484 * @}
mbed_official 237:f3da66175598 485 */
mbed_official 237:f3da66175598 486
mbed_official 237:f3da66175598 487 /** @defgroup CAN_Group2 I/O operation functions
mbed_official 237:f3da66175598 488 * @brief I/O operation functions
mbed_official 237:f3da66175598 489 *
mbed_official 237:f3da66175598 490 @verbatim
mbed_official 237:f3da66175598 491 ==============================================================================
mbed_official 237:f3da66175598 492 ##### IO operation functions #####
mbed_official 237:f3da66175598 493 ==============================================================================
mbed_official 237:f3da66175598 494 [..] This section provides functions allowing to:
mbed_official 237:f3da66175598 495 (+) Transmit a CAN frame message.
mbed_official 237:f3da66175598 496 (+) Receive a CAN frame message.
mbed_official 237:f3da66175598 497 (+) Enter CAN peripheral in sleep mode.
mbed_official 237:f3da66175598 498 (+) Wake up the CAN peripheral from sleep mode.
mbed_official 237:f3da66175598 499
mbed_official 237:f3da66175598 500 @endverbatim
mbed_official 237:f3da66175598 501 * @{
mbed_official 237:f3da66175598 502 */
mbed_official 237:f3da66175598 503
mbed_official 237:f3da66175598 504 /**
mbed_official 237:f3da66175598 505 * @brief Initiates and transmits a CAN frame message.
mbed_official 237:f3da66175598 506 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 507 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 508 * @param Timeout: Timeout duration.
mbed_official 237:f3da66175598 509 * @retval HAL status
mbed_official 237:f3da66175598 510 */
mbed_official 237:f3da66175598 511 HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
mbed_official 237:f3da66175598 512 {
mbed_official 237:f3da66175598 513 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
mbed_official 237:f3da66175598 514 uint32_t tickstart = 0;
mbed_official 237:f3da66175598 515
mbed_official 237:f3da66175598 516 /* Check the parameters */
mbed_official 237:f3da66175598 517 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
mbed_official 237:f3da66175598 518 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
mbed_official 237:f3da66175598 519 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
mbed_official 237:f3da66175598 520
mbed_official 237:f3da66175598 521 /* Process locked */
mbed_official 237:f3da66175598 522 __HAL_LOCK(hcan);
mbed_official 237:f3da66175598 523
mbed_official 237:f3da66175598 524 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official 237:f3da66175598 525 {
mbed_official 237:f3da66175598 526 /* Change CAN state */
mbed_official 237:f3da66175598 527 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official 237:f3da66175598 528 }
mbed_official 237:f3da66175598 529 else
mbed_official 237:f3da66175598 530 {
mbed_official 237:f3da66175598 531 /* Change CAN state */
mbed_official 237:f3da66175598 532 hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official 237:f3da66175598 533 }
mbed_official 237:f3da66175598 534
mbed_official 237:f3da66175598 535 /* Select one empty transmit mailbox */
mbed_official 237:f3da66175598 536 if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
mbed_official 237:f3da66175598 537 {
mbed_official 237:f3da66175598 538 transmitmailbox = 0;
mbed_official 237:f3da66175598 539 }
mbed_official 237:f3da66175598 540 else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
mbed_official 237:f3da66175598 541 {
mbed_official 237:f3da66175598 542 transmitmailbox = 1;
mbed_official 237:f3da66175598 543 }
mbed_official 237:f3da66175598 544 else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
mbed_official 237:f3da66175598 545 {
mbed_official 237:f3da66175598 546 transmitmailbox = 2;
mbed_official 237:f3da66175598 547 }
mbed_official 237:f3da66175598 548
mbed_official 237:f3da66175598 549 if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
mbed_official 237:f3da66175598 550 {
mbed_official 237:f3da66175598 551 /* Set up the Id */
mbed_official 237:f3da66175598 552 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
mbed_official 237:f3da66175598 553 if (hcan->pTxMsg->IDE == CAN_ID_STD)
mbed_official 237:f3da66175598 554 {
mbed_official 237:f3da66175598 555 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
mbed_official 237:f3da66175598 556 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
mbed_official 237:f3da66175598 557 hcan->pTxMsg->RTR);
mbed_official 237:f3da66175598 558 }
mbed_official 237:f3da66175598 559 else
mbed_official 237:f3da66175598 560 {
mbed_official 237:f3da66175598 561 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
mbed_official 237:f3da66175598 562 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
mbed_official 237:f3da66175598 563 hcan->pTxMsg->IDE | \
mbed_official 237:f3da66175598 564 hcan->pTxMsg->RTR);
mbed_official 237:f3da66175598 565 }
mbed_official 237:f3da66175598 566
mbed_official 237:f3da66175598 567 /* Set up the DLC */
mbed_official 237:f3da66175598 568 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
mbed_official 237:f3da66175598 569 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
mbed_official 237:f3da66175598 570 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
mbed_official 237:f3da66175598 571
mbed_official 237:f3da66175598 572 /* Set up the data field */
mbed_official 237:f3da66175598 573 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
mbed_official 237:f3da66175598 574 ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
mbed_official 237:f3da66175598 575 ((uint32_t)hcan->pTxMsg->Data[1] << 8) |
mbed_official 237:f3da66175598 576 ((uint32_t)hcan->pTxMsg->Data[0]));
mbed_official 237:f3da66175598 577 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
mbed_official 237:f3da66175598 578 ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
mbed_official 237:f3da66175598 579 ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
mbed_official 237:f3da66175598 580 ((uint32_t)hcan->pTxMsg->Data[4]));
mbed_official 237:f3da66175598 581 /* Request transmission */
mbed_official 237:f3da66175598 582 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
mbed_official 237:f3da66175598 583
mbed_official 237:f3da66175598 584 /* Get timeout */
mbed_official 237:f3da66175598 585 tickstart = HAL_GetTick();
mbed_official 237:f3da66175598 586
mbed_official 237:f3da66175598 587 /* Check End of transmission flag */
mbed_official 237:f3da66175598 588 while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
mbed_official 237:f3da66175598 589 {
mbed_official 237:f3da66175598 590 /* Check for the Timeout */
mbed_official 237:f3da66175598 591 if(Timeout != HAL_MAX_DELAY)
mbed_official 237:f3da66175598 592 {
mbed_official 237:f3da66175598 593 if((Timeout == 0) || ((HAL_GetTick()-tickstart) > Timeout))
mbed_official 237:f3da66175598 594 {
mbed_official 237:f3da66175598 595 hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official 237:f3da66175598 596 /* Process unlocked */
mbed_official 237:f3da66175598 597 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 598 return HAL_TIMEOUT;
mbed_official 237:f3da66175598 599 }
mbed_official 237:f3da66175598 600 }
mbed_official 237:f3da66175598 601 }
mbed_official 237:f3da66175598 602 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official 237:f3da66175598 603 {
mbed_official 237:f3da66175598 604 /* Change CAN state */
mbed_official 237:f3da66175598 605 hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official 237:f3da66175598 606 }
mbed_official 237:f3da66175598 607 else
mbed_official 237:f3da66175598 608 {
mbed_official 237:f3da66175598 609 /* Change CAN state */
mbed_official 237:f3da66175598 610 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 611 }
mbed_official 237:f3da66175598 612
mbed_official 237:f3da66175598 613 /* Process unlocked */
mbed_official 237:f3da66175598 614 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 615
mbed_official 237:f3da66175598 616 /* Return function status */
mbed_official 237:f3da66175598 617 return HAL_OK;
mbed_official 237:f3da66175598 618 }
mbed_official 237:f3da66175598 619 else
mbed_official 237:f3da66175598 620 {
mbed_official 237:f3da66175598 621 /* Change CAN state */
mbed_official 237:f3da66175598 622 hcan->State = HAL_CAN_STATE_ERROR;
mbed_official 237:f3da66175598 623
mbed_official 237:f3da66175598 624 /* Process unlocked */
mbed_official 237:f3da66175598 625 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 626
mbed_official 237:f3da66175598 627 /* Return function status */
mbed_official 237:f3da66175598 628 return HAL_ERROR;
mbed_official 237:f3da66175598 629 }
mbed_official 237:f3da66175598 630 }
mbed_official 237:f3da66175598 631
mbed_official 237:f3da66175598 632 /**
mbed_official 237:f3da66175598 633 * @brief Initiates and transmits a CAN frame message.
mbed_official 237:f3da66175598 634 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 635 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 636 * @retval HAL status
mbed_official 237:f3da66175598 637 */
mbed_official 237:f3da66175598 638 HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 639 {
mbed_official 237:f3da66175598 640 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
mbed_official 237:f3da66175598 641
mbed_official 237:f3da66175598 642 /* Check the parameters */
mbed_official 237:f3da66175598 643 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
mbed_official 237:f3da66175598 644 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
mbed_official 237:f3da66175598 645 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
mbed_official 237:f3da66175598 646
mbed_official 237:f3da66175598 647 if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_RX))
mbed_official 237:f3da66175598 648 {
mbed_official 237:f3da66175598 649 /* Process Locked */
mbed_official 237:f3da66175598 650 __HAL_LOCK(hcan);
mbed_official 237:f3da66175598 651
mbed_official 237:f3da66175598 652 /* Select one empty transmit mailbox */
mbed_official 237:f3da66175598 653 if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
mbed_official 237:f3da66175598 654 {
mbed_official 237:f3da66175598 655 transmitmailbox = 0;
mbed_official 237:f3da66175598 656 }
mbed_official 237:f3da66175598 657 else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
mbed_official 237:f3da66175598 658 {
mbed_official 237:f3da66175598 659 transmitmailbox = 1;
mbed_official 237:f3da66175598 660 }
mbed_official 237:f3da66175598 661 else if((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
mbed_official 237:f3da66175598 662 {
mbed_official 237:f3da66175598 663 transmitmailbox = 2;
mbed_official 237:f3da66175598 664 }
mbed_official 237:f3da66175598 665
mbed_official 237:f3da66175598 666 if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
mbed_official 237:f3da66175598 667 {
mbed_official 237:f3da66175598 668 /* Set up the Id */
mbed_official 237:f3da66175598 669 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
mbed_official 237:f3da66175598 670 if(hcan->pTxMsg->IDE == CAN_ID_STD)
mbed_official 237:f3da66175598 671 {
mbed_official 237:f3da66175598 672 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
mbed_official 237:f3da66175598 673 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
mbed_official 237:f3da66175598 674 hcan->pTxMsg->RTR);
mbed_official 237:f3da66175598 675 }
mbed_official 237:f3da66175598 676 else
mbed_official 237:f3da66175598 677 {
mbed_official 237:f3da66175598 678 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
mbed_official 237:f3da66175598 679 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
mbed_official 237:f3da66175598 680 hcan->pTxMsg->IDE | \
mbed_official 237:f3da66175598 681 hcan->pTxMsg->RTR);
mbed_official 237:f3da66175598 682 }
mbed_official 237:f3da66175598 683
mbed_official 237:f3da66175598 684 /* Set up the DLC */
mbed_official 237:f3da66175598 685 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
mbed_official 237:f3da66175598 686 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
mbed_official 237:f3da66175598 687 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
mbed_official 237:f3da66175598 688
mbed_official 237:f3da66175598 689 /* Set up the data field */
mbed_official 237:f3da66175598 690 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
mbed_official 237:f3da66175598 691 ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
mbed_official 237:f3da66175598 692 ((uint32_t)hcan->pTxMsg->Data[1] << 8) |
mbed_official 237:f3da66175598 693 ((uint32_t)hcan->pTxMsg->Data[0]));
mbed_official 237:f3da66175598 694 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
mbed_official 237:f3da66175598 695 ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
mbed_official 237:f3da66175598 696 ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
mbed_official 237:f3da66175598 697 ((uint32_t)hcan->pTxMsg->Data[4]));
mbed_official 237:f3da66175598 698
mbed_official 237:f3da66175598 699 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official 237:f3da66175598 700 {
mbed_official 237:f3da66175598 701 /* Change CAN state */
mbed_official 237:f3da66175598 702 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official 237:f3da66175598 703 }
mbed_official 237:f3da66175598 704 else
mbed_official 237:f3da66175598 705 {
mbed_official 237:f3da66175598 706 /* Change CAN state */
mbed_official 237:f3da66175598 707 hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official 237:f3da66175598 708 }
mbed_official 237:f3da66175598 709
mbed_official 237:f3da66175598 710 /* Set CAN error code to none */
mbed_official 237:f3da66175598 711 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official 237:f3da66175598 712
mbed_official 237:f3da66175598 713 /* Process Unlocked */
mbed_official 237:f3da66175598 714 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 715
mbed_official 237:f3da66175598 716 /* Enable Error warning Interrupt */
mbed_official 237:f3da66175598 717 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
mbed_official 237:f3da66175598 718
mbed_official 237:f3da66175598 719 /* Enable Error passive Interrupt */
mbed_official 237:f3da66175598 720 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
mbed_official 237:f3da66175598 721
mbed_official 237:f3da66175598 722 /* Enable Bus-off Interrupt */
mbed_official 237:f3da66175598 723 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
mbed_official 237:f3da66175598 724
mbed_official 237:f3da66175598 725 /* Enable Last error code Interrupt */
mbed_official 237:f3da66175598 726 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
mbed_official 237:f3da66175598 727
mbed_official 237:f3da66175598 728 /* Enable Error Interrupt */
mbed_official 237:f3da66175598 729 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
mbed_official 237:f3da66175598 730
mbed_official 237:f3da66175598 731 /* Enable Transmit mailbox empty Interrupt */
mbed_official 237:f3da66175598 732 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME);
mbed_official 237:f3da66175598 733
mbed_official 237:f3da66175598 734 /* Request transmission */
mbed_official 237:f3da66175598 735 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
mbed_official 237:f3da66175598 736 }
mbed_official 237:f3da66175598 737 }
mbed_official 237:f3da66175598 738 else
mbed_official 237:f3da66175598 739 {
mbed_official 237:f3da66175598 740 return HAL_BUSY;
mbed_official 237:f3da66175598 741 }
mbed_official 237:f3da66175598 742
mbed_official 237:f3da66175598 743 return HAL_OK;
mbed_official 237:f3da66175598 744 }
mbed_official 237:f3da66175598 745
mbed_official 237:f3da66175598 746 /**
mbed_official 237:f3da66175598 747 * @brief Receives a correct CAN frame.
mbed_official 237:f3da66175598 748 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 749 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 750 * @param FIFONumber: FIFO number.
mbed_official 237:f3da66175598 751 * @param Timeout: Timeout duration.
mbed_official 237:f3da66175598 752 * @retval HAL status
mbed_official 237:f3da66175598 753 * @retval None
mbed_official 237:f3da66175598 754 */
mbed_official 237:f3da66175598 755 HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
mbed_official 237:f3da66175598 756 {
mbed_official 237:f3da66175598 757 uint32_t tickstart = 0;
mbed_official 237:f3da66175598 758
mbed_official 237:f3da66175598 759 /* Check the parameters */
mbed_official 237:f3da66175598 760 assert_param(IS_CAN_FIFO(FIFONumber));
mbed_official 237:f3da66175598 761
mbed_official 237:f3da66175598 762 /* Process locked */
mbed_official 237:f3da66175598 763 __HAL_LOCK(hcan);
mbed_official 237:f3da66175598 764
mbed_official 237:f3da66175598 765 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official 237:f3da66175598 766 {
mbed_official 237:f3da66175598 767 /* Change CAN state */
mbed_official 237:f3da66175598 768 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official 237:f3da66175598 769 }
mbed_official 237:f3da66175598 770 else
mbed_official 237:f3da66175598 771 {
mbed_official 237:f3da66175598 772 /* Change CAN state */
mbed_official 237:f3da66175598 773 hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official 237:f3da66175598 774 }
mbed_official 237:f3da66175598 775
mbed_official 237:f3da66175598 776 /* Get timeout */
mbed_official 237:f3da66175598 777 tickstart = HAL_GetTick();
mbed_official 237:f3da66175598 778
mbed_official 237:f3da66175598 779 /* Check pending message */
mbed_official 237:f3da66175598 780 while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0)
mbed_official 237:f3da66175598 781 {
mbed_official 237:f3da66175598 782 /* Check for the Timeout */
mbed_official 237:f3da66175598 783 if(Timeout != HAL_MAX_DELAY)
mbed_official 237:f3da66175598 784 {
mbed_official 237:f3da66175598 785 if((Timeout == 0) || ((HAL_GetTick()-tickstart) > Timeout))
mbed_official 237:f3da66175598 786 {
mbed_official 237:f3da66175598 787 hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official 237:f3da66175598 788 /* Process unlocked */
mbed_official 237:f3da66175598 789 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 790 return HAL_TIMEOUT;
mbed_official 237:f3da66175598 791 }
mbed_official 237:f3da66175598 792 }
mbed_official 237:f3da66175598 793 }
mbed_official 237:f3da66175598 794
mbed_official 237:f3da66175598 795 /* Get the Id */
mbed_official 237:f3da66175598 796 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official 237:f3da66175598 797 if (hcan->pRxMsg->IDE == CAN_ID_STD)
mbed_official 237:f3da66175598 798 {
mbed_official 237:f3da66175598 799 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
mbed_official 237:f3da66175598 800 }
mbed_official 237:f3da66175598 801 else
mbed_official 237:f3da66175598 802 {
mbed_official 237:f3da66175598 803 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
mbed_official 237:f3da66175598 804 }
mbed_official 237:f3da66175598 805
mbed_official 237:f3da66175598 806 hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official 237:f3da66175598 807 /* Get the DLC */
mbed_official 237:f3da66175598 808 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
mbed_official 237:f3da66175598 809 /* Get the FMI */
mbed_official 237:f3da66175598 810 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
mbed_official 237:f3da66175598 811 /* Get the data field */
mbed_official 237:f3da66175598 812 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
mbed_official 237:f3da66175598 813 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
mbed_official 237:f3da66175598 814 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
mbed_official 237:f3da66175598 815 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
mbed_official 237:f3da66175598 816 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
mbed_official 237:f3da66175598 817 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
mbed_official 237:f3da66175598 818 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
mbed_official 237:f3da66175598 819 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
mbed_official 237:f3da66175598 820
mbed_official 237:f3da66175598 821 /* Release the FIFO */
mbed_official 237:f3da66175598 822 if(FIFONumber == CAN_FIFO0)
mbed_official 237:f3da66175598 823 {
mbed_official 237:f3da66175598 824 /* Release FIFO0 */
mbed_official 237:f3da66175598 825 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
mbed_official 237:f3da66175598 826 }
mbed_official 237:f3da66175598 827 else /* FIFONumber == CAN_FIFO1 */
mbed_official 237:f3da66175598 828 {
mbed_official 237:f3da66175598 829 /* Release FIFO1 */
mbed_official 237:f3da66175598 830 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
mbed_official 237:f3da66175598 831 }
mbed_official 237:f3da66175598 832
mbed_official 237:f3da66175598 833 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official 237:f3da66175598 834 {
mbed_official 237:f3da66175598 835 /* Change CAN state */
mbed_official 237:f3da66175598 836 hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official 237:f3da66175598 837 }
mbed_official 237:f3da66175598 838 else
mbed_official 237:f3da66175598 839 {
mbed_official 237:f3da66175598 840 /* Change CAN state */
mbed_official 237:f3da66175598 841 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 842 }
mbed_official 237:f3da66175598 843
mbed_official 237:f3da66175598 844 /* Process unlocked */
mbed_official 237:f3da66175598 845 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 846
mbed_official 237:f3da66175598 847 /* Return function status */
mbed_official 237:f3da66175598 848 return HAL_OK;
mbed_official 237:f3da66175598 849 }
mbed_official 237:f3da66175598 850
mbed_official 237:f3da66175598 851 /**
mbed_official 237:f3da66175598 852 * @brief Receives a correct CAN frame.
mbed_official 237:f3da66175598 853 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 854 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 855 * @param FIFONumber: FIFO number.
mbed_official 237:f3da66175598 856 * @retval HAL status
mbed_official 237:f3da66175598 857 * @retval None
mbed_official 237:f3da66175598 858 */
mbed_official 237:f3da66175598 859 HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
mbed_official 237:f3da66175598 860 {
mbed_official 237:f3da66175598 861 /* Check the parameters */
mbed_official 237:f3da66175598 862 assert_param(IS_CAN_FIFO(FIFONumber));
mbed_official 237:f3da66175598 863
mbed_official 237:f3da66175598 864 if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_TX))
mbed_official 237:f3da66175598 865 {
mbed_official 237:f3da66175598 866 /* Process locked */
mbed_official 237:f3da66175598 867 __HAL_LOCK(hcan);
mbed_official 237:f3da66175598 868
mbed_official 237:f3da66175598 869 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official 237:f3da66175598 870 {
mbed_official 237:f3da66175598 871 /* Change CAN state */
mbed_official 237:f3da66175598 872 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official 237:f3da66175598 873 }
mbed_official 237:f3da66175598 874 else
mbed_official 237:f3da66175598 875 {
mbed_official 237:f3da66175598 876 /* Change CAN state */
mbed_official 237:f3da66175598 877 hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official 237:f3da66175598 878 }
mbed_official 237:f3da66175598 879
mbed_official 237:f3da66175598 880 /* Set CAN error code to none */
mbed_official 237:f3da66175598 881 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official 237:f3da66175598 882
mbed_official 237:f3da66175598 883 /* Enable Error warning Interrupt */
mbed_official 237:f3da66175598 884 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
mbed_official 237:f3da66175598 885
mbed_official 237:f3da66175598 886 /* Enable Error passive Interrupt */
mbed_official 237:f3da66175598 887 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
mbed_official 237:f3da66175598 888
mbed_official 237:f3da66175598 889 /* Enable Bus-off Interrupt */
mbed_official 237:f3da66175598 890 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
mbed_official 237:f3da66175598 891
mbed_official 237:f3da66175598 892 /* Enable Last error code Interrupt */
mbed_official 237:f3da66175598 893 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
mbed_official 237:f3da66175598 894
mbed_official 237:f3da66175598 895 /* Enable Error Interrupt */
mbed_official 237:f3da66175598 896 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
mbed_official 237:f3da66175598 897
mbed_official 237:f3da66175598 898 /* Process unlocked */
mbed_official 237:f3da66175598 899 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 900
mbed_official 237:f3da66175598 901 if(FIFONumber == CAN_FIFO0)
mbed_official 237:f3da66175598 902 {
mbed_official 237:f3da66175598 903 /* Enable FIFO 0 message pending Interrupt */
mbed_official 237:f3da66175598 904 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);
mbed_official 237:f3da66175598 905 }
mbed_official 237:f3da66175598 906 else
mbed_official 237:f3da66175598 907 {
mbed_official 237:f3da66175598 908 /* Enable FIFO 1 message pending Interrupt */
mbed_official 237:f3da66175598 909 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);
mbed_official 237:f3da66175598 910 }
mbed_official 237:f3da66175598 911
mbed_official 237:f3da66175598 912 }
mbed_official 237:f3da66175598 913 else
mbed_official 237:f3da66175598 914 {
mbed_official 237:f3da66175598 915 return HAL_BUSY;
mbed_official 237:f3da66175598 916 }
mbed_official 237:f3da66175598 917
mbed_official 237:f3da66175598 918 /* Return function status */
mbed_official 237:f3da66175598 919 return HAL_OK;
mbed_official 237:f3da66175598 920 }
mbed_official 237:f3da66175598 921
mbed_official 237:f3da66175598 922 /**
mbed_official 237:f3da66175598 923 * @brief Enters the Sleep (low power) mode.
mbed_official 237:f3da66175598 924 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 925 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 926 * @retval HAL status.
mbed_official 237:f3da66175598 927 */
mbed_official 237:f3da66175598 928 HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 929 {
mbed_official 237:f3da66175598 930 uint32_t tickstart = 0;
mbed_official 237:f3da66175598 931
mbed_official 237:f3da66175598 932 /* Process locked */
mbed_official 237:f3da66175598 933 __HAL_LOCK(hcan);
mbed_official 237:f3da66175598 934
mbed_official 237:f3da66175598 935 /* Change CAN state */
mbed_official 237:f3da66175598 936 hcan->State = HAL_CAN_STATE_BUSY;
mbed_official 237:f3da66175598 937
mbed_official 237:f3da66175598 938 /* Request Sleep mode */
mbed_official 237:f3da66175598 939 hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
mbed_official 237:f3da66175598 940
mbed_official 237:f3da66175598 941 /* Sleep mode status */
mbed_official 237:f3da66175598 942 if ((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
mbed_official 237:f3da66175598 943 {
mbed_official 237:f3da66175598 944 /* Process unlocked */
mbed_official 237:f3da66175598 945 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 946
mbed_official 237:f3da66175598 947 /* Return function status */
mbed_official 237:f3da66175598 948 return HAL_ERROR;
mbed_official 237:f3da66175598 949 }
mbed_official 237:f3da66175598 950
mbed_official 237:f3da66175598 951 /* Get timeout */
mbed_official 237:f3da66175598 952 tickstart = HAL_GetTick();
mbed_official 237:f3da66175598 953
mbed_official 237:f3da66175598 954 /* Wait the acknowledge */
mbed_official 237:f3da66175598 955 while((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
mbed_official 237:f3da66175598 956 {
mbed_official 237:f3da66175598 957 if((HAL_GetTick()-tickstart) > 10)
mbed_official 237:f3da66175598 958 {
mbed_official 237:f3da66175598 959 hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official 237:f3da66175598 960 /* Process unlocked */
mbed_official 237:f3da66175598 961 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 962 return HAL_TIMEOUT;
mbed_official 237:f3da66175598 963 }
mbed_official 237:f3da66175598 964 }
mbed_official 237:f3da66175598 965
mbed_official 237:f3da66175598 966 /* Change CAN state */
mbed_official 237:f3da66175598 967 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 968
mbed_official 237:f3da66175598 969 /* Process unlocked */
mbed_official 237:f3da66175598 970 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 971
mbed_official 237:f3da66175598 972 /* Return function status */
mbed_official 237:f3da66175598 973 return HAL_OK;
mbed_official 237:f3da66175598 974 }
mbed_official 237:f3da66175598 975
mbed_official 237:f3da66175598 976 /**
mbed_official 237:f3da66175598 977 * @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
mbed_official 237:f3da66175598 978 * is in the normal mode.
mbed_official 237:f3da66175598 979 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 980 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 981 * @retval HAL status.
mbed_official 237:f3da66175598 982 */
mbed_official 237:f3da66175598 983 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 984 {
mbed_official 237:f3da66175598 985 uint32_t tickstart = 0;
mbed_official 237:f3da66175598 986
mbed_official 237:f3da66175598 987 /* Process locked */
mbed_official 237:f3da66175598 988 __HAL_LOCK(hcan);
mbed_official 237:f3da66175598 989
mbed_official 237:f3da66175598 990 /* Change CAN state */
mbed_official 237:f3da66175598 991 hcan->State = HAL_CAN_STATE_BUSY;
mbed_official 237:f3da66175598 992
mbed_official 237:f3da66175598 993 /* Wake up request */
mbed_official 237:f3da66175598 994 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
mbed_official 237:f3da66175598 995
mbed_official 237:f3da66175598 996 /* Get timeout */
mbed_official 237:f3da66175598 997 tickstart = HAL_GetTick();
mbed_official 237:f3da66175598 998
mbed_official 237:f3da66175598 999 /* Sleep mode status */
mbed_official 237:f3da66175598 1000 while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
mbed_official 237:f3da66175598 1001 {
mbed_official 237:f3da66175598 1002 if((HAL_GetTick()-tickstart) > 10)
mbed_official 237:f3da66175598 1003 {
mbed_official 237:f3da66175598 1004 hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official 237:f3da66175598 1005 /* Process unlocked */
mbed_official 237:f3da66175598 1006 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 1007 return HAL_TIMEOUT;
mbed_official 237:f3da66175598 1008 }
mbed_official 237:f3da66175598 1009 }
mbed_official 237:f3da66175598 1010 if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
mbed_official 237:f3da66175598 1011 {
mbed_official 237:f3da66175598 1012 /* Process unlocked */
mbed_official 237:f3da66175598 1013 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 1014
mbed_official 237:f3da66175598 1015 /* Return function status */
mbed_official 237:f3da66175598 1016 return HAL_ERROR;
mbed_official 237:f3da66175598 1017 }
mbed_official 237:f3da66175598 1018
mbed_official 237:f3da66175598 1019 /* Change CAN state */
mbed_official 237:f3da66175598 1020 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 1021
mbed_official 237:f3da66175598 1022 /* Process unlocked */
mbed_official 237:f3da66175598 1023 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 1024
mbed_official 237:f3da66175598 1025 /* Return function status */
mbed_official 237:f3da66175598 1026 return HAL_OK;
mbed_official 237:f3da66175598 1027 }
mbed_official 237:f3da66175598 1028
mbed_official 237:f3da66175598 1029 /**
mbed_official 237:f3da66175598 1030 * @brief Handles CAN interrupt request
mbed_official 237:f3da66175598 1031 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1032 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1033 * @retval None
mbed_official 237:f3da66175598 1034 */
mbed_official 237:f3da66175598 1035 void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 1036 {
mbed_official 237:f3da66175598 1037 /* Check End of transmission flag */
mbed_official 237:f3da66175598 1038 if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
mbed_official 237:f3da66175598 1039 {
mbed_official 237:f3da66175598 1040 if((__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0)) ||
mbed_official 237:f3da66175598 1041 (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1)) ||
mbed_official 237:f3da66175598 1042 (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2)))
mbed_official 237:f3da66175598 1043 {
mbed_official 237:f3da66175598 1044 /* Call transmit function */
mbed_official 237:f3da66175598 1045 CAN_Transmit_IT(hcan);
mbed_official 237:f3da66175598 1046 }
mbed_official 237:f3da66175598 1047 }
mbed_official 237:f3da66175598 1048
mbed_official 237:f3da66175598 1049 /* Check End of reception flag for FIFO0 */
mbed_official 237:f3da66175598 1050 if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0)) &&
mbed_official 237:f3da66175598 1051 (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0) != 0))
mbed_official 237:f3da66175598 1052 {
mbed_official 237:f3da66175598 1053 /* Call receive function */
mbed_official 237:f3da66175598 1054 CAN_Receive_IT(hcan, CAN_FIFO0);
mbed_official 237:f3da66175598 1055 }
mbed_official 237:f3da66175598 1056
mbed_official 237:f3da66175598 1057 /* Check End of reception flag for FIFO1 */
mbed_official 237:f3da66175598 1058 if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1)) &&
mbed_official 237:f3da66175598 1059 (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1) != 0))
mbed_official 237:f3da66175598 1060 {
mbed_official 237:f3da66175598 1061 /* Call receive function */
mbed_official 237:f3da66175598 1062 CAN_Receive_IT(hcan, CAN_FIFO1);
mbed_official 237:f3da66175598 1063 }
mbed_official 237:f3da66175598 1064
mbed_official 237:f3da66175598 1065 /* Check Error Warning Flag */
mbed_official 237:f3da66175598 1066 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG)) &&
mbed_official 237:f3da66175598 1067 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG)) &&
mbed_official 237:f3da66175598 1068 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
mbed_official 237:f3da66175598 1069 {
mbed_official 237:f3da66175598 1070 /* Set CAN error code to EWG error */
mbed_official 237:f3da66175598 1071 hcan->ErrorCode |= HAL_CAN_ERROR_EWG;
mbed_official 237:f3da66175598 1072 /* No need for clear of Error Warning Flag as read-only */
mbed_official 237:f3da66175598 1073 }
mbed_official 237:f3da66175598 1074
mbed_official 237:f3da66175598 1075 /* Check Error Passive Flag */
mbed_official 237:f3da66175598 1076 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV)) &&
mbed_official 237:f3da66175598 1077 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV)) &&
mbed_official 237:f3da66175598 1078 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
mbed_official 237:f3da66175598 1079 {
mbed_official 237:f3da66175598 1080 /* Set CAN error code to EPV error */
mbed_official 237:f3da66175598 1081 hcan->ErrorCode |= HAL_CAN_ERROR_EPV;
mbed_official 237:f3da66175598 1082 /* No need for clear of Error Passive Flag as read-only */
mbed_official 237:f3da66175598 1083 }
mbed_official 237:f3da66175598 1084
mbed_official 237:f3da66175598 1085 /* Check Bus-Off Flag */
mbed_official 237:f3da66175598 1086 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF)) &&
mbed_official 237:f3da66175598 1087 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF)) &&
mbed_official 237:f3da66175598 1088 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
mbed_official 237:f3da66175598 1089 {
mbed_official 237:f3da66175598 1090 /* Set CAN error code to BOF error */
mbed_official 237:f3da66175598 1091 hcan->ErrorCode |= HAL_CAN_ERROR_BOF;
mbed_official 237:f3da66175598 1092 /* No need for clear of Bus-Off Flag as read-only */
mbed_official 237:f3da66175598 1093 }
mbed_official 237:f3da66175598 1094
mbed_official 237:f3da66175598 1095 /* Check Last error code Flag */
mbed_official 237:f3da66175598 1096 if((!HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC)) &&
mbed_official 237:f3da66175598 1097 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC)) &&
mbed_official 237:f3da66175598 1098 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
mbed_official 237:f3da66175598 1099 {
mbed_official 237:f3da66175598 1100 switch(hcan->Instance->ESR & CAN_ESR_LEC)
mbed_official 237:f3da66175598 1101 {
mbed_official 237:f3da66175598 1102 case(CAN_ESR_LEC_0):
mbed_official 237:f3da66175598 1103 /* Set CAN error code to STF error */
mbed_official 237:f3da66175598 1104 hcan->ErrorCode |= HAL_CAN_ERROR_STF;
mbed_official 237:f3da66175598 1105 break;
mbed_official 237:f3da66175598 1106 case(CAN_ESR_LEC_1):
mbed_official 237:f3da66175598 1107 /* Set CAN error code to FOR error */
mbed_official 237:f3da66175598 1108 hcan->ErrorCode |= HAL_CAN_ERROR_FOR;
mbed_official 237:f3da66175598 1109 break;
mbed_official 237:f3da66175598 1110 case(CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
mbed_official 237:f3da66175598 1111 /* Set CAN error code to ACK error */
mbed_official 237:f3da66175598 1112 hcan->ErrorCode |= HAL_CAN_ERROR_ACK;
mbed_official 237:f3da66175598 1113 break;
mbed_official 237:f3da66175598 1114 case(CAN_ESR_LEC_2):
mbed_official 237:f3da66175598 1115 /* Set CAN error code to BR error */
mbed_official 237:f3da66175598 1116 hcan->ErrorCode |= HAL_CAN_ERROR_BR;
mbed_official 237:f3da66175598 1117 break;
mbed_official 237:f3da66175598 1118 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
mbed_official 237:f3da66175598 1119 /* Set CAN error code to BD error */
mbed_official 237:f3da66175598 1120 hcan->ErrorCode |= HAL_CAN_ERROR_BD;
mbed_official 237:f3da66175598 1121 break;
mbed_official 237:f3da66175598 1122 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
mbed_official 237:f3da66175598 1123 /* Set CAN error code to CRC error */
mbed_official 237:f3da66175598 1124 hcan->ErrorCode |= HAL_CAN_ERROR_CRC;
mbed_official 237:f3da66175598 1125 break;
mbed_official 237:f3da66175598 1126 default:
mbed_official 237:f3da66175598 1127 break;
mbed_official 237:f3da66175598 1128 }
mbed_official 237:f3da66175598 1129
mbed_official 237:f3da66175598 1130 /* Clear Last error code Flag */
mbed_official 237:f3da66175598 1131 hcan->Instance->ESR &= ~(CAN_ESR_LEC);
mbed_official 237:f3da66175598 1132 }
mbed_official 237:f3da66175598 1133
mbed_official 237:f3da66175598 1134 /* Call the Error call Back in case of Errors */
mbed_official 237:f3da66175598 1135 if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
mbed_official 237:f3da66175598 1136 {
mbed_official 237:f3da66175598 1137 /* Set the CAN state ready to be able to start again the process */
mbed_official 237:f3da66175598 1138 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 1139 /* Call Error callback function */
mbed_official 237:f3da66175598 1140 HAL_CAN_ErrorCallback(hcan);
mbed_official 237:f3da66175598 1141 }
mbed_official 237:f3da66175598 1142 }
mbed_official 237:f3da66175598 1143
mbed_official 237:f3da66175598 1144 /**
mbed_official 237:f3da66175598 1145 * @brief Transmission complete callback in non blocking mode
mbed_official 237:f3da66175598 1146 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1147 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1148 * @retval None
mbed_official 237:f3da66175598 1149 */
mbed_official 237:f3da66175598 1150 __weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 1151 {
mbed_official 237:f3da66175598 1152 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 237:f3da66175598 1153 the HAL_CAN_TxCpltCallback could be implemented in the user file
mbed_official 237:f3da66175598 1154 */
mbed_official 237:f3da66175598 1155 }
mbed_official 237:f3da66175598 1156
mbed_official 237:f3da66175598 1157 /**
mbed_official 237:f3da66175598 1158 * @brief Transmission complete callback in non blocking mode
mbed_official 237:f3da66175598 1159 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1160 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1161 * @retval None
mbed_official 237:f3da66175598 1162 */
mbed_official 237:f3da66175598 1163 __weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 1164 {
mbed_official 237:f3da66175598 1165 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 237:f3da66175598 1166 the HAL_CAN_RxCpltCallback could be implemented in the user file
mbed_official 237:f3da66175598 1167 */
mbed_official 237:f3da66175598 1168 }
mbed_official 237:f3da66175598 1169
mbed_official 237:f3da66175598 1170 /**
mbed_official 237:f3da66175598 1171 * @brief Error CAN callback.
mbed_official 237:f3da66175598 1172 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1173 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1174 * @retval None
mbed_official 237:f3da66175598 1175 */
mbed_official 237:f3da66175598 1176 __weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
mbed_official 237:f3da66175598 1177 {
mbed_official 237:f3da66175598 1178 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 237:f3da66175598 1179 the HAL_CAN_ErrorCallback could be implemented in the user file
mbed_official 237:f3da66175598 1180 */
mbed_official 237:f3da66175598 1181 }
mbed_official 237:f3da66175598 1182
mbed_official 237:f3da66175598 1183 /**
mbed_official 237:f3da66175598 1184 * @}
mbed_official 237:f3da66175598 1185 */
mbed_official 237:f3da66175598 1186
mbed_official 237:f3da66175598 1187 /** @defgroup CAN_Group3 Peripheral State and Error functions
mbed_official 237:f3da66175598 1188 * @brief CAN Peripheral State functions
mbed_official 237:f3da66175598 1189 *
mbed_official 237:f3da66175598 1190 @verbatim
mbed_official 237:f3da66175598 1191 ==============================================================================
mbed_official 237:f3da66175598 1192 ##### Peripheral State and Error functions #####
mbed_official 237:f3da66175598 1193 ==============================================================================
mbed_official 237:f3da66175598 1194 [..]
mbed_official 237:f3da66175598 1195 This subsection provides functions allowing to :
mbed_official 237:f3da66175598 1196 (+) Check the CAN state.
mbed_official 237:f3da66175598 1197 (+) Check CAN Errors detected during interrupt process
mbed_official 237:f3da66175598 1198
mbed_official 237:f3da66175598 1199 @endverbatim
mbed_official 237:f3da66175598 1200 * @{
mbed_official 237:f3da66175598 1201 */
mbed_official 237:f3da66175598 1202
mbed_official 237:f3da66175598 1203 /**
mbed_official 237:f3da66175598 1204 * @brief return the CAN state
mbed_official 237:f3da66175598 1205 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1206 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1207 * @retval HAL state
mbed_official 237:f3da66175598 1208 */
mbed_official 237:f3da66175598 1209 HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 1210 {
mbed_official 237:f3da66175598 1211 /* Return CAN state */
mbed_official 237:f3da66175598 1212 return hcan->State;
mbed_official 237:f3da66175598 1213 }
mbed_official 237:f3da66175598 1214
mbed_official 237:f3da66175598 1215 /**
mbed_official 237:f3da66175598 1216 * @brief Return the CAN error code
mbed_official 237:f3da66175598 1217 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1218 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1219 * @retval CAN Error Code
mbed_official 237:f3da66175598 1220 */
mbed_official 237:f3da66175598 1221 uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
mbed_official 237:f3da66175598 1222 {
mbed_official 237:f3da66175598 1223 return hcan->ErrorCode;
mbed_official 237:f3da66175598 1224 }
mbed_official 237:f3da66175598 1225
mbed_official 237:f3da66175598 1226 /**
mbed_official 237:f3da66175598 1227 * @}
mbed_official 237:f3da66175598 1228 */
mbed_official 237:f3da66175598 1229
mbed_official 237:f3da66175598 1230 /**
mbed_official 237:f3da66175598 1231 * @brief Initiates and transmits a CAN frame message.
mbed_official 237:f3da66175598 1232 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1233 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1234 * @retval HAL status
mbed_official 237:f3da66175598 1235 */
mbed_official 237:f3da66175598 1236 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 1237 {
mbed_official 237:f3da66175598 1238 /* Disable Transmit mailbox empty Interrupt */
mbed_official 237:f3da66175598 1239 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
mbed_official 237:f3da66175598 1240
mbed_official 237:f3da66175598 1241 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official 237:f3da66175598 1242 {
mbed_official 237:f3da66175598 1243 /* Disable Error warning Interrupt */
mbed_official 237:f3da66175598 1244 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
mbed_official 237:f3da66175598 1245
mbed_official 237:f3da66175598 1246 /* Disable Error passive Interrupt */
mbed_official 237:f3da66175598 1247 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
mbed_official 237:f3da66175598 1248
mbed_official 237:f3da66175598 1249 /* Disable Bus-off Interrupt */
mbed_official 237:f3da66175598 1250 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
mbed_official 237:f3da66175598 1251
mbed_official 237:f3da66175598 1252 /* Disable Last error code Interrupt */
mbed_official 237:f3da66175598 1253 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
mbed_official 237:f3da66175598 1254
mbed_official 237:f3da66175598 1255 /* Disable Error Interrupt */
mbed_official 237:f3da66175598 1256 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
mbed_official 237:f3da66175598 1257 }
mbed_official 237:f3da66175598 1258
mbed_official 237:f3da66175598 1259 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official 237:f3da66175598 1260 {
mbed_official 237:f3da66175598 1261 /* Change CAN state */
mbed_official 237:f3da66175598 1262 hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official 237:f3da66175598 1263 }
mbed_official 237:f3da66175598 1264 else
mbed_official 237:f3da66175598 1265 {
mbed_official 237:f3da66175598 1266 /* Change CAN state */
mbed_official 237:f3da66175598 1267 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 1268 }
mbed_official 237:f3da66175598 1269
mbed_official 237:f3da66175598 1270 /* Transmission complete callback */
mbed_official 237:f3da66175598 1271 HAL_CAN_TxCpltCallback(hcan);
mbed_official 237:f3da66175598 1272
mbed_official 237:f3da66175598 1273 return HAL_OK;
mbed_official 237:f3da66175598 1274 }
mbed_official 237:f3da66175598 1275
mbed_official 237:f3da66175598 1276 /**
mbed_official 237:f3da66175598 1277 * @brief Receives a correct CAN frame.
mbed_official 237:f3da66175598 1278 * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1279 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1280 * @param FIFONumber: Specify the FIFO number
mbed_official 237:f3da66175598 1281 * @retval HAL status
mbed_official 237:f3da66175598 1282 * @retval None
mbed_official 237:f3da66175598 1283 */
mbed_official 237:f3da66175598 1284 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
mbed_official 237:f3da66175598 1285 {
mbed_official 237:f3da66175598 1286 /* Get the Id */
mbed_official 237:f3da66175598 1287 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official 237:f3da66175598 1288 if (hcan->pRxMsg->IDE == CAN_ID_STD)
mbed_official 237:f3da66175598 1289 {
mbed_official 237:f3da66175598 1290 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
mbed_official 237:f3da66175598 1291 }
mbed_official 237:f3da66175598 1292 else
mbed_official 237:f3da66175598 1293 {
mbed_official 237:f3da66175598 1294 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
mbed_official 237:f3da66175598 1295 }
mbed_official 237:f3da66175598 1296
mbed_official 237:f3da66175598 1297 hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official 237:f3da66175598 1298 /* Get the DLC */
mbed_official 237:f3da66175598 1299 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
mbed_official 237:f3da66175598 1300 /* Get the FMI */
mbed_official 237:f3da66175598 1301 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
mbed_official 237:f3da66175598 1302 /* Get the data field */
mbed_official 237:f3da66175598 1303 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
mbed_official 237:f3da66175598 1304 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
mbed_official 237:f3da66175598 1305 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
mbed_official 237:f3da66175598 1306 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
mbed_official 237:f3da66175598 1307 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
mbed_official 237:f3da66175598 1308 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
mbed_official 237:f3da66175598 1309 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
mbed_official 237:f3da66175598 1310 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
mbed_official 237:f3da66175598 1311 /* Release the FIFO */
mbed_official 237:f3da66175598 1312 /* Release FIFO0 */
mbed_official 237:f3da66175598 1313 if (FIFONumber == CAN_FIFO0)
mbed_official 237:f3da66175598 1314 {
mbed_official 237:f3da66175598 1315 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
mbed_official 237:f3da66175598 1316
mbed_official 237:f3da66175598 1317 /* Disable FIFO 0 message pending Interrupt */
mbed_official 237:f3da66175598 1318 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
mbed_official 237:f3da66175598 1319 }
mbed_official 237:f3da66175598 1320 /* Release FIFO1 */
mbed_official 237:f3da66175598 1321 else /* FIFONumber == CAN_FIFO1 */
mbed_official 237:f3da66175598 1322 {
mbed_official 237:f3da66175598 1323 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
mbed_official 237:f3da66175598 1324
mbed_official 237:f3da66175598 1325 /* Disable FIFO 1 message pending Interrupt */
mbed_official 237:f3da66175598 1326 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
mbed_official 237:f3da66175598 1327 }
mbed_official 237:f3da66175598 1328
mbed_official 237:f3da66175598 1329 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official 237:f3da66175598 1330 {
mbed_official 237:f3da66175598 1331 /* Disable Error warning Interrupt */
mbed_official 237:f3da66175598 1332 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
mbed_official 237:f3da66175598 1333
mbed_official 237:f3da66175598 1334 /* Disable Error passive Interrupt */
mbed_official 237:f3da66175598 1335 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
mbed_official 237:f3da66175598 1336
mbed_official 237:f3da66175598 1337 /* Disable Bus-off Interrupt */
mbed_official 237:f3da66175598 1338 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
mbed_official 237:f3da66175598 1339
mbed_official 237:f3da66175598 1340 /* Disable Last error code Interrupt */
mbed_official 237:f3da66175598 1341 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
mbed_official 237:f3da66175598 1342
mbed_official 237:f3da66175598 1343 /* Disable Error Interrupt */
mbed_official 237:f3da66175598 1344 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
mbed_official 237:f3da66175598 1345 }
mbed_official 237:f3da66175598 1346
mbed_official 237:f3da66175598 1347 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official 237:f3da66175598 1348 {
mbed_official 237:f3da66175598 1349 /* Disable CAN state */
mbed_official 237:f3da66175598 1350 hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official 237:f3da66175598 1351 }
mbed_official 237:f3da66175598 1352 else
mbed_official 237:f3da66175598 1353 {
mbed_official 237:f3da66175598 1354 /* Change CAN state */
mbed_official 237:f3da66175598 1355 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 1356 }
mbed_official 237:f3da66175598 1357
mbed_official 237:f3da66175598 1358 /* Receive complete callback */
mbed_official 237:f3da66175598 1359 HAL_CAN_RxCpltCallback(hcan);
mbed_official 237:f3da66175598 1360
mbed_official 237:f3da66175598 1361 /* Return function status */
mbed_official 237:f3da66175598 1362 return HAL_OK;
mbed_official 237:f3da66175598 1363 }
mbed_official 237:f3da66175598 1364
mbed_official 237:f3da66175598 1365 /**
mbed_official 237:f3da66175598 1366 * @}
mbed_official 237:f3da66175598 1367 */
mbed_official 237:f3da66175598 1368
mbed_official 237:f3da66175598 1369 #endif /* defined(STM32F302x8) || defined(STM32F302xC) || */
mbed_official 237:f3da66175598 1370 /* defined(STM32F303x8) || defined(STM32F303xC) || defined(STM32F373xC) || */
mbed_official 237:f3da66175598 1371 /* defined(STM32F334x8) || */
mbed_official 237:f3da66175598 1372 /* defined(STM32F328xx) || defined(STM32F358xx) || defined(STM32F378xx) */
mbed_official 237:f3da66175598 1373
mbed_official 237:f3da66175598 1374 #endif /* HAL_CAN_MODULE_ENABLED */
mbed_official 237:f3da66175598 1375 /**
mbed_official 237:f3da66175598 1376 * @}
mbed_official 237:f3da66175598 1377 */
mbed_official 237:f3da66175598 1378
mbed_official 237:f3da66175598 1379 /**
mbed_official 237:f3da66175598 1380 * @}
mbed_official 237:f3da66175598 1381 */
mbed_official 237:f3da66175598 1382
mbed_official 237:f3da66175598 1383 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/