Thomas Lyp
Initial commit
Diff: mbed-dev-master/targets/TARGET_STM/TARGET_STM32F4/device/stm32f4xx_hal_can.c
- Revision:
- 0:bb348c97df44
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-dev-master/targets/TARGET_STM/TARGET_STM32F4/device/stm32f4xx_hal_can.c Wed Sep 16 01:11:49 2020 +0000
@@ -0,0 +1,1993 @@
+/**
+ ******************************************************************************
+ * @file stm32f4xx_hal_can.c
+ * @author MCD Application Team
+ * @brief CAN HAL module driver.
+ * This file provides firmware functions to manage the following
+ * functionalities of the Controller Area Network (CAN) peripheral:
+ * + Initialization and de-initialization functions
+ * + Configuration functions
+ * + Control functions
+ * + Interrupts management
+ * + Callbacks functions
+ * + Peripheral State and Error functions
+ *
+ @verbatim
+ ==============================================================================
+ ##### How to use this driver #####
+ ==============================================================================
+ [..]
+ (#) Initialize the CAN low level resources by implementing the
+ HAL_CAN_MspInit():
+ (++) Enable the CAN interface clock using __HAL_RCC_CANx_CLK_ENABLE()
+ (++) Configure CAN pins
+ (+++) Enable the clock for the CAN GPIOs
+ (+++) Configure CAN pins as alternate function open-drain
+ (++) In case of using interrupts (e.g. HAL_CAN_ActivateNotification())
+ (+++) Configure the CAN interrupt priority using
+ HAL_NVIC_SetPriority()
+ (+++) Enable the CAN IRQ handler using HAL_NVIC_EnableIRQ()
+ (+++) In CAN IRQ handler, call HAL_CAN_IRQHandler()
+
+ (#) Initialize the CAN peripheral using HAL_CAN_Init() function. This
+ function resorts to HAL_CAN_MspInit() for low-level initialization.
+
+ (#) Configure the reception filters using the following configuration
+ functions:
+ (++) HAL_CAN_ConfigFilter()
+
+ (#) Start the CAN module using HAL_CAN_Start() function. At this level
+ the node is active on the bus: it receive messages, and can send
+ messages.
+
+ (#) To manage messages transmission, the following Tx control functions
+ can be used:
+ (++) HAL_CAN_AddTxMessage() to request transmission of a new
+ message.
+ (++) HAL_CAN_AbortTxRequest() to abort transmission of a pending
+ message.
+ (++) HAL_CAN_GetTxMailboxesFreeLevel() to get the number of free Tx
+ mailboxes.
+ (++) HAL_CAN_IsTxMessagePending() to check if a message is pending
+ in a Tx mailbox.
+ (++) HAL_CAN_GetTxTimestamp() to get the timestamp of Tx message
+ sent, if time triggered communication mode is enabled.
+
+ (#) When a message is received into the CAN Rx FIFOs, it can be retrieved
+ using the HAL_CAN_GetRxMessage() function. The function
+ HAL_CAN_GetRxFifoFillLevel() allows to know how many Rx message are
+ stored in the Rx Fifo.
+
+ (#) Calling the HAL_CAN_Stop() function stops the CAN module.
+
+ (#) The deinitialization is achieved with HAL_CAN_DeInit() function.
+
+
+ *** Polling mode operation ***
+ ==============================
+ [..]
+ (#) Reception:
+ (++) Monitor reception of message using HAL_CAN_GetRxFifoFillLevel()
+ until at least one message is received.
+ (++) Then get the message using HAL_CAN_GetRxMessage().
+
+ (#) Transmission:
+ (++) Monitor the Tx mailboxes availability until at least one Tx
+ mailbox is free, using HAL_CAN_GetTxMailboxesFreeLevel().
+ (++) Then request transmission of a message using
+ HAL_CAN_AddTxMessage().
+
+
+ *** Interrupt mode operation ***
+ ================================
+ [..]
+ (#) Notifications are activated using HAL_CAN_ActivateNotification()
+ function. Then, the process can be controlled through the
+ available user callbacks: HAL_CAN_xxxCallback(), using same APIs
+ HAL_CAN_GetRxMessage() and HAL_CAN_AddTxMessage().
+
+ (#) Notifications can be deactivated using
+ HAL_CAN_DeactivateNotification() function.
+
+ (#) Special care should be taken for CAN_IT_RX_FIFO0_MSG_PENDING and
+ CAN_IT_RX_FIFO1_MSG_PENDING notifications. These notifications trig
+ the callbacks HAL_CAN_RxFIFO0MsgPendingCallback() and
+ HAL_CAN_RxFIFO1MsgPendingCallback(). User has two possible options
+ here.
+ (++) Directly get the Rx message in the callback, using
+ HAL_CAN_GetRxMessage().
+ (++) Or deactivate the notification in the callback without
+ getting the Rx message. The Rx message can then be got later
+ using HAL_CAN_GetRxMessage(). Once the Rx message have been
+ read, the notification can be activated again.
+
+
+ *** Sleep mode ***
+ ==================
+ [..]
+ (#) The CAN peripheral can be put in sleep mode (low power), using
+ HAL_CAN_RequestSleep(). The sleep mode will be entered as soon as the
+ current CAN activity (transmission or reception of a CAN frame) will
+ be completed.
+
+ (#) A notification can be activated to be informed when the sleep mode
+ will be entered.
+
+ (#) It can be checked if the sleep mode is entered using
+ HAL_CAN_IsSleepActive().
+ Note that the CAN state (accessible from the API HAL_CAN_GetState())
+ is HAL_CAN_STATE_SLEEP_PENDING as soon as the sleep mode request is
+ submitted (the sleep mode is not yet entered), and become
+ HAL_CAN_STATE_SLEEP_ACTIVE when the sleep mode is effective.
+
+ (#) The wake-up from sleep mode can be trigged by two ways:
+ (++) Using HAL_CAN_WakeUp(). When returning from this function,
+ the sleep mode is exited (if return status is HAL_OK).
+ (++) When a start of Rx CAN frame is detected by the CAN peripheral,
+ if automatic wake up mode is enabled.
+
+ @endverbatim
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_hal.h"
+
+/** @addtogroup STM32F4xx_HAL_Driver
+ * @{
+ */
+
+#if defined(CAN1)
+
+/** @defgroup CAN CAN
+ * @brief CAN driver modules
+ * @{
+ */
+
+#ifdef HAL_CAN_MODULE_ENABLED
+
+#ifdef HAL_CAN_LEGACY_MODULE_ENABLED
+ #error "The CAN driver cannot be used with its legacy, Please enable only one CAN module at once"
+#endif
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/** @defgroup CAN_Private_Constants CAN Private Constants
+ * @{
+ */
+#define CAN_TIMEOUT_VALUE 10U
+/**
+ * @}
+ */
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/
+
+/** @defgroup CAN_Exported_Functions CAN Exported Functions
+ * @{
+ */
+
+/** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
+ * @brief Initialization and Configuration functions
+ *
+@verbatim
+ ==============================================================================
+ ##### Initialization and de-initialization functions #####
+ ==============================================================================
+ [..] This section provides functions allowing to:
+ (+) HAL_CAN_Init : Initialize and configure the CAN.
+ (+) HAL_CAN_DeInit : De-initialize the CAN.
+ (+) HAL_CAN_MspInit : Initialize the CAN MSP.
+ (+) HAL_CAN_MspDeInit : DeInitialize the CAN MSP.
+
+@endverbatim
+ * @{
+ */
+
+/**
+ * @brief Initializes the CAN peripheral according to the specified
+ * parameters in the CAN_InitStruct.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *hcan)
+{
+ uint32_t tickstart = 0U;
+
+ /* Check CAN handle */
+ if (hcan == NULL)
+ {
+ return HAL_ERROR;
+ }
+
+ /* Check the parameters */
+ assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
+ assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TimeTriggeredMode));
+ assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoBusOff));
+ assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoWakeUp));
+ assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoRetransmission));
+ assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ReceiveFifoLocked));
+ assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TransmitFifoPriority));
+ assert_param(IS_CAN_MODE(hcan->Init.Mode));
+ assert_param(IS_CAN_SJW(hcan->Init.SyncJumpWidth));
+ assert_param(IS_CAN_BS1(hcan->Init.TimeSeg1));
+ assert_param(IS_CAN_BS2(hcan->Init.TimeSeg2));
+ assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
+
+ if (hcan->State == HAL_CAN_STATE_RESET)
+ {
+ /* Init the low level hardware: CLOCK, NVIC */
+ HAL_CAN_MspInit(hcan);
+ }
+
+ /* Exit from sleep mode */
+ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
+
+ /* Get tick */
+ tickstart = HAL_GetTick();
+
+ /* Check Sleep mode leave acknowledge */
+ while ((hcan->Instance->MSR & CAN_MSR_SLAK) != RESET)
+ {
+ if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
+
+ /* Change CAN state */
+ hcan->State = HAL_CAN_STATE_ERROR;
+
+ return HAL_ERROR;
+ }
+ }
+
+ /* Request initialisation */
+ SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
+
+ /* Get tick */
+ tickstart = HAL_GetTick();
+
+ /* Wait initialisation acknowledge */
+ while ((hcan->Instance->MSR & CAN_MSR_INAK) == RESET)
+ {
+ if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
+
+ /* Change CAN state */
+ hcan->State = HAL_CAN_STATE_ERROR;
+
+ return HAL_ERROR;
+ }
+ }
+
+ /* Set the time triggered communication mode */
+ if (hcan->Init.TimeTriggeredMode == ENABLE)
+ {
+ SET_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
+ }
+ else
+ {
+ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
+ }
+
+ /* Set the automatic bus-off management */
+ if (hcan->Init.AutoBusOff == ENABLE)
+ {
+ SET_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
+ }
+ else
+ {
+ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
+ }
+
+ /* Set the automatic wake-up mode */
+ if (hcan->Init.AutoWakeUp == ENABLE)
+ {
+ SET_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
+ }
+ else
+ {
+ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
+ }
+
+ /* Set the automatic retransmission */
+ if (hcan->Init.AutoRetransmission == ENABLE)
+ {
+ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_NART);
+ }
+ else
+ {
+ SET_BIT(hcan->Instance->MCR, CAN_MCR_NART);
+ }
+
+ /* Set the receive FIFO locked mode */
+ if (hcan->Init.ReceiveFifoLocked == ENABLE)
+ {
+ SET_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
+ }
+ else
+ {
+ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
+ }
+
+ /* Set the transmit FIFO priority */
+ if (hcan->Init.TransmitFifoPriority == ENABLE)
+ {
+ SET_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
+ }
+ else
+ {
+ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
+ }
+
+ /* Set the bit timing register */
+ WRITE_REG(hcan->Instance->BTR, (uint32_t)(hcan->Init.Mode |
+ hcan->Init.SyncJumpWidth |
+ hcan->Init.TimeSeg1 |
+ hcan->Init.TimeSeg2 |
+ (hcan->Init.Prescaler - 1U)));
+
+ /* Initialize the error code */
+ hcan->ErrorCode = HAL_CAN_ERROR_NONE;
+
+ /* Initialize the CAN state */
+ hcan->State = HAL_CAN_STATE_READY;
+
+ /* Return function status */
+ return HAL_OK;
+}
+
+/**
+ * @brief Deinitializes the CAN peripheral registers to their default
+ * reset values.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef *hcan)
+{
+ /* Check CAN handle */
+ if (hcan == NULL)
+ {
+ return HAL_ERROR;
+ }
+
+ /* Check the parameters */
+ assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
+
+ /* Stop the CAN module */
+ HAL_CAN_Stop(hcan);
+
+ /* DeInit the low level hardware: CLOCK, NVIC */
+ HAL_CAN_MspDeInit(hcan);
+
+ /* Reset the CAN peripheral */
+ SET_BIT(hcan->Instance->MCR, CAN_MCR_RESET);
+
+ /* Reset the CAN ErrorCode */
+ hcan->ErrorCode = HAL_CAN_ERROR_NONE;
+
+ /* Change CAN state */
+ hcan->State = HAL_CAN_STATE_RESET;
+
+ /* Return function status */
+ return HAL_OK;
+}
+
+/**
+ * @brief Initializes the CAN MSP.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_MspInit could be implemented in the user file
+ */
+}
+
+/**
+ * @brief DeInitializes the CAN MSP.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_MspDeInit could be implemented in the user file
+ */
+}
+
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Exported_Functions_Group2 Configuration functions
+ * @brief Configuration functions.
+ *
+@verbatim
+ ==============================================================================
+ ##### Configuration functions #####
+ ==============================================================================
+ [..] This section provides functions allowing to:
+ (+) HAL_CAN_ConfigFilter : Configure the CAN reception filters
+
+@endverbatim
+ * @{
+ */
+
+/**
+ * @brief Configures the CAN reception filter according to the specified
+ * parameters in the CAN_FilterInitStruct.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @param sFilterConfig pointer to a CAN_FilterTypeDef structure that
+ * contains the filter configuration information.
+ * @retval None
+ */
+HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan, CAN_FilterTypeDef *sFilterConfig)
+{
+ uint32_t filternbrbitpos = 0U;
+ CAN_TypeDef *can_ip = hcan->Instance;
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check the parameters */
+ assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdHigh));
+ assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdLow));
+ assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdHigh));
+ assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdLow));
+ assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
+ assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
+ assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
+ assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
+
+#if defined(CAN3)
+ /* Check the CAN instance */
+ if (hcan->Instance == CAN3)
+ {
+ /* CAN3 is single instance with 14 dedicated filters banks */
+
+ /* Check the parameters */
+ assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank));
+ }
+ else
+ {
+ /* CAN1 and CAN2 are dual instances with 28 common filters banks */
+ /* Select master instance to access the filter banks */
+ can_ip = CAN1;
+
+ /* Check the parameters */
+ assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->FilterBank));
+ assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->SlaveStartFilterBank));
+ }
+#elif defined(CAN2)
+ /* CAN1 and CAN2 are dual instances with 28 common filters banks */
+ /* Select master instance to access the filter banks */
+ can_ip = CAN1;
+
+ /* Check the parameters */
+ assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->FilterBank));
+ assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->SlaveStartFilterBank));
+#else
+ /* CAN1 is single instance with 14 dedicated filters banks */
+
+ /* Check the parameters */
+ assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank));
+#endif
+
+ /* Initialisation mode for the filter */
+ SET_BIT(can_ip->FMR, CAN_FMR_FINIT);
+
+#if defined(CAN3)
+ /* Check the CAN instance */
+ if (can_ip == CAN1)
+ {
+ /* Select the start filter number of CAN2 slave instance */
+ CLEAR_BIT(can_ip->FMR, CAN_FMR_CAN2SB);
+ SET_BIT(can_ip->FMR, sFilterConfig->SlaveStartFilterBank << CAN_FMR_CAN2SB_Pos);
+ }
+
+#elif defined(CAN2)
+ /* Select the start filter number of CAN2 slave instance */
+ CLEAR_BIT(can_ip->FMR, CAN_FMR_CAN2SB);
+ SET_BIT(can_ip->FMR, sFilterConfig->SlaveStartFilterBank << CAN_FMR_CAN2SB_Pos);
+
+#endif
+ /* Convert filter number into bit position */
+ filternbrbitpos = (1U) << sFilterConfig->FilterBank;
+
+ /* Filter Deactivation */
+ CLEAR_BIT(can_ip->FA1R, filternbrbitpos);
+
+ /* Filter Scale */
+ if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
+ {
+ /* 16-bit scale for the filter */
+ CLEAR_BIT(can_ip->FS1R, filternbrbitpos);
+
+ /* First 16-bit identifier and First 16-bit mask */
+ /* Or First 16-bit identifier and Second 16-bit identifier */
+ can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
+ ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) |
+ (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
+
+ /* Second 16-bit identifier and Second 16-bit mask */
+ /* Or Third 16-bit identifier and Fourth 16-bit identifier */
+ can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
+ ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
+ (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh);
+ }
+
+ if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
+ {
+ /* 32-bit scale for the filter */
+ SET_BIT(can_ip->FS1R, filternbrbitpos);
+
+ /* 32-bit identifier or First 32-bit identifier */
+ can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 =
+ ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) |
+ (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow);
+
+ /* 32-bit mask or Second 32-bit identifier */
+ can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 =
+ ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) |
+ (0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow);
+ }
+
+ /* Filter Mode */
+ if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
+ {
+ /* Id/Mask mode for the filter*/
+ CLEAR_BIT(can_ip->FM1R, filternbrbitpos);
+ }
+ else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
+ {
+ /* Identifier list mode for the filter*/
+ SET_BIT(can_ip->FM1R, filternbrbitpos);
+ }
+
+ /* Filter FIFO assignment */
+ if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
+ {
+ /* FIFO 0 assignation for the filter */
+ CLEAR_BIT(can_ip->FFA1R, filternbrbitpos);
+ }
+ else
+ {
+ /* FIFO 1 assignation for the filter */
+ SET_BIT(can_ip->FFA1R, filternbrbitpos);
+ }
+
+ /* Filter activation */
+ if (sFilterConfig->FilterActivation == ENABLE)
+ {
+ SET_BIT(can_ip->FA1R, filternbrbitpos);
+ }
+
+ /* Leave the initialisation mode for the filter */
+ CLEAR_BIT(can_ip->FMR, CAN_FMR_FINIT);
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Exported_Functions_Group3 Control functions
+ * @brief Control functions
+ *
+@verbatim
+ ==============================================================================
+ ##### Control functions #####
+ ==============================================================================
+ [..] This section provides functions allowing to:
+ (+) HAL_CAN_Start : Start the CAN module
+ (+) HAL_CAN_Stop : Stop the CAN module
+ (+) HAL_CAN_RequestSleep : Request sleep mode entry.
+ (+) HAL_CAN_WakeUp : Wake up from sleep mode.
+ (+) HAL_CAN_IsSleepActive : Check is sleep mode is active.
+ (+) HAL_CAN_AddTxMessage : Add a message to the Tx mailboxes
+ and activate the corresponding
+ transmission request
+ (+) HAL_CAN_AbortTxRequest : Abort transmission request
+ (+) HAL_CAN_GetTxMailboxesFreeLevel : Return Tx mailboxes free level
+ (+) HAL_CAN_IsTxMessagePending : Check if a transmission request is
+ pending on the selected Tx mailbox
+ (+) HAL_CAN_GetRxMessage : Get a CAN frame from the Rx FIFO
+ (+) HAL_CAN_GetRxFifoFillLevel : Return Rx FIFO fill level
+
+@endverbatim
+ * @{
+ */
+
+/**
+ * @brief Start the CAN module.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan)
+{
+ uint32_t tickstart = 0U;
+
+ if (hcan->State == HAL_CAN_STATE_READY)
+ {
+ /* Change CAN peripheral state */
+ hcan->State = HAL_CAN_STATE_LISTENING;
+
+ /* Request leave initialisation */
+ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
+
+ /* Get tick */
+ tickstart = HAL_GetTick();
+
+ /* Wait the acknowledge */
+ while ((hcan->Instance->MSR & CAN_MSR_INAK) != RESET)
+ {
+ /* Check for the Timeout */
+ if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
+
+ /* Change CAN state */
+ hcan->State = HAL_CAN_STATE_ERROR;
+
+ return HAL_ERROR;
+ }
+ }
+
+ /* Reset the CAN ErrorCode */
+ hcan->ErrorCode = HAL_CAN_ERROR_NONE;
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_READY;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Stop the CAN module and enable access to configuration registers.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan)
+{
+ uint32_t tickstart = 0U;
+
+ if (hcan->State == HAL_CAN_STATE_LISTENING)
+ {
+ /* Request initialisation */
+ SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
+
+ /* Get tick */
+ tickstart = HAL_GetTick();
+
+ /* Wait the acknowledge */
+ while ((hcan->Instance->MSR & CAN_MSR_INAK) == RESET)
+ {
+ /* Check for the Timeout */
+ if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
+
+ /* Change CAN state */
+ hcan->State = HAL_CAN_STATE_ERROR;
+
+ return HAL_ERROR;
+ }
+ }
+
+ /* Exit from sleep mode */
+ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
+
+ /* Change CAN peripheral state */
+ hcan->State = HAL_CAN_STATE_READY;
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_STARTED;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Request the sleep mode (low power) entry.
+ * When returning from this function, Sleep mode will be entered
+ * as soon as the current CAN activity (transmission or reception
+ * of a CAN frame) has been completed.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval HAL status.
+ */
+HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan)
+{
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Request Sleep mode */
+ SET_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ /* Return function status */
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Wake up from sleep mode.
+ * When returning with HAL_OK status from this function, Sleep mode
+ * is exited.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval HAL status.
+ */
+HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan)
+{
+ __IO uint32_t count = 0;
+ uint32_t timeout = 1000000U;
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Wake up request */
+ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
+
+ /* Wait sleep mode is exited */
+ do
+ {
+ /* Check if timeout is reached */
+ if (++count > timeout)
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
+
+ return HAL_ERROR;
+ }
+ }
+ while ((hcan->Instance->MSR & CAN_MSR_SLAK) != RESET);
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Check is sleep mode is active.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval Status
+ * - 0 : Sleep mode is not active.
+ * - 1 : Sleep mode is active.
+ */
+uint32_t HAL_CAN_IsSleepActive(CAN_HandleTypeDef *hcan)
+{
+ uint32_t status = 0U;
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check Sleep mode */
+ if ((hcan->Instance->MSR & CAN_MSR_SLAK) != RESET)
+ {
+ status = 1U;
+ }
+ }
+
+ /* Return function status */
+ return status;
+}
+
+/**
+ * @brief Add a message to the first free Tx mailbox and activate the
+ * corresponding transmission request.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @param pHeader pointer to a CAN_TxHeaderTypeDef structure.
+ * @param aData array containing the payload of the Tx frame.
+ * @param pTxMailbox pointer to a variable where the function will return
+ * the TxMailbox used to store the Tx message.
+ * This parameter can be a value of @arg CAN_Tx_Mailboxes.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, CAN_TxHeaderTypeDef *pHeader, uint8_t aData[], uint32_t *pTxMailbox)
+{
+ uint32_t transmitmailbox;
+
+ /* Check the parameters */
+ assert_param(IS_CAN_IDTYPE(pHeader->IDE));
+ assert_param(IS_CAN_RTR(pHeader->RTR));
+ assert_param(IS_CAN_DLC(pHeader->DLC));
+ if (pHeader->IDE == CAN_ID_STD)
+ {
+ assert_param(IS_CAN_STDID(pHeader->StdId));
+ }
+ else
+ {
+ assert_param(IS_CAN_EXTID(pHeader->ExtId));
+ }
+ assert_param(IS_FUNCTIONAL_STATE(pHeader->TransmitGlobalTime));
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check that all the Tx mailboxes are not full */
+ if (((hcan->Instance->TSR & CAN_TSR_TME0) != RESET) ||
+ ((hcan->Instance->TSR & CAN_TSR_TME1) != RESET) ||
+ ((hcan->Instance->TSR & CAN_TSR_TME2) != RESET))
+ {
+ /* Select an empty transmit mailbox */
+ transmitmailbox = (hcan->Instance->TSR & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
+
+ /* Store the Tx mailbox */
+ *pTxMailbox = 1U << transmitmailbox;
+
+ /* Set up the Id */
+ if (pHeader->IDE == CAN_ID_STD)
+ {
+ hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->StdId << CAN_TI0R_STID_Pos) |
+ pHeader->RTR);
+ }
+ else
+ {
+ hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->ExtId << CAN_TI0R_EXID_Pos) |
+ pHeader->IDE |
+ pHeader->RTR);
+ }
+
+ /* Set up the DLC */
+ hcan->Instance->sTxMailBox[transmitmailbox].TDTR = (pHeader->DLC);
+
+ /* Set up the Transmit Global Time mode */
+ if (pHeader->TransmitGlobalTime == ENABLE)
+ {
+ SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TDTR, CAN_TDT0R_TGT);
+ }
+
+ /* Set up the data field */
+ WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR,
+ ((uint32_t)aData[7] << CAN_TDH0R_DATA7_Pos) |
+ ((uint32_t)aData[6] << CAN_TDH0R_DATA6_Pos) |
+ ((uint32_t)aData[5] << CAN_TDH0R_DATA5_Pos) |
+ ((uint32_t)aData[4] << CAN_TDH0R_DATA4_Pos));
+ WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR,
+ ((uint32_t)aData[3] << CAN_TDL0R_DATA3_Pos) |
+ ((uint32_t)aData[2] << CAN_TDL0R_DATA2_Pos) |
+ ((uint32_t)aData[1] << CAN_TDL0R_DATA1_Pos) |
+ ((uint32_t)aData[0] << CAN_TDL0R_DATA0_Pos));
+
+ /* Request transmission */
+ SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
+
+ return HAL_ERROR;
+ }
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Abort transmission requests
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @param TxMailboxes List of the Tx Mailboxes to abort.
+ * This parameter can be any combination of @arg CAN_Tx_Mailboxes.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
+{
+ /* Check function parameters */
+ assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check Tx Mailbox 0 */
+ if ((TxMailboxes & CAN_TX_MAILBOX0) != RESET)
+ {
+ /* Add cancellation request for Tx Mailbox 0 */
+ SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0);
+ }
+
+ /* Check Tx Mailbox 1 */
+ if ((TxMailboxes & CAN_TX_MAILBOX1) != RESET)
+ {
+ /* Add cancellation request for Tx Mailbox 1 */
+ SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1);
+ }
+
+ /* Check Tx Mailbox 2 */
+ if ((TxMailboxes & CAN_TX_MAILBOX2) != RESET)
+ {
+ /* Add cancellation request for Tx Mailbox 2 */
+ SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ2);
+ }
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Return Tx Mailboxes free level: number of free Tx Mailboxes.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval Number of free Tx Mailboxes.
+ */
+uint32_t HAL_CAN_GetTxMailboxesFreeLevel(CAN_HandleTypeDef *hcan)
+{
+ uint32_t freelevel = 0U;
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check Tx Mailbox 0 status */
+ if ((hcan->Instance->TSR & CAN_TSR_TME0) != RESET)
+ {
+ freelevel++;
+ }
+
+ /* Check Tx Mailbox 1 status */
+ if ((hcan->Instance->TSR & CAN_TSR_TME1) != RESET)
+ {
+ freelevel++;
+ }
+
+ /* Check Tx Mailbox 2 status */
+ if ((hcan->Instance->TSR & CAN_TSR_TME2) != RESET)
+ {
+ freelevel++;
+ }
+ }
+
+ /* Return Tx Mailboxes free level */
+ return freelevel;
+}
+
+/**
+ * @brief Check if a transmission request is pending on the selected Tx
+ * Mailboxes.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @param TxMailboxes List of Tx Mailboxes to check.
+ * This parameter can be any combination of @arg CAN_Tx_Mailboxes.
+ * @retval Status
+ * - 0 : No pending transmission request on any selected Tx Mailboxes.
+ * - 1 : Pending transmission request on at least one of the selected
+ * Tx Mailbox.
+ */
+uint32_t HAL_CAN_IsTxMessagePending(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes)
+{
+ uint32_t status = 0U;
+
+ /* Check function parameters */
+ assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes));
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check pending transmission request on the selected Tx Mailboxes */
+ if ((hcan->Instance->TSR & (TxMailboxes << CAN_TSR_TME0_Pos)) != (TxMailboxes << CAN_TSR_TME0_Pos))
+ {
+ status = 1U;
+ }
+ }
+
+ /* Return status */
+ return status;
+}
+
+/**
+ * @brief Return timestamp of Tx message sent, if time triggered communication
+ mode is enabled.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @param TxMailbox Tx Mailbox where the timestamp of message sent will be
+ * read.
+ * This parameter can be one value of @arg CAN_Tx_Mailboxes.
+ * @retval Timestamp of message sent from Tx Mailbox.
+ */
+uint32_t HAL_CAN_GetTxTimestamp(CAN_HandleTypeDef *hcan, uint32_t TxMailbox)
+{
+ uint32_t timestamp = 0U;
+ uint32_t transmitmailbox;
+
+ /* Check function parameters */
+ assert_param(IS_CAN_TX_MAILBOX(TxMailbox));
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Select the Tx mailbox */
+ transmitmailbox = POSITION_VAL(TxMailbox);
+
+ /* Get timestamp */
+ timestamp = (hcan->Instance->sTxMailBox[transmitmailbox].TDTR & CAN_TDT0R_TIME) >> CAN_TDT0R_TIME_Pos;
+ }
+
+ /* Return the timestamp */
+ return timestamp;
+}
+
+/**
+ * @brief Get an CAN frame from the Rx FIFO zone into the message RAM.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @param RxFifo Fifo number of the received message to be read.
+ * This parameter can be a value of @arg CAN_receive_FIFO_number.
+ * @param pHeader pointer to a CAN_RxHeaderTypeDef structure where the header
+ * of the Rx frame will be stored.
+ * @param aData array where the payload of the Rx frame will be stored.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[])
+{
+ assert_param(IS_CAN_RX_FIFO(RxFifo));
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check the Rx FIFO */
+ if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
+ {
+ /* Check that the Rx FIFO 0 is not empty */
+ if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) == RESET)
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
+
+ return HAL_ERROR;
+ }
+ }
+ else if (RxFifo == CAN_RX_FIFO1) /* Rx element is assigned to Rx FIFO 1 */
+ {
+ /* Check that the Rx FIFO 1 is not empty */
+ if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) == RESET)
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_PARAM;
+
+ return HAL_ERROR;
+ }
+ }
+
+ /* Get the header */
+ pHeader->IDE = CAN_RI0R_IDE & hcan->Instance->sFIFOMailBox[RxFifo].RIR;
+ if (pHeader->IDE == CAN_ID_STD)
+ {
+ pHeader->StdId = (CAN_RI0R_STID & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_TI0R_STID_Pos;
+ }
+ else
+ {
+ pHeader->ExtId = ((CAN_RI0R_EXID | CAN_RI0R_STID) & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_EXID_Pos;
+ }
+ pHeader->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_RTR_Pos;
+ pHeader->DLC = (CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos;
+ pHeader->FilterMatchIndex = (CAN_RDT0R_FMI & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_FMI_Pos;
+ pHeader->Timestamp = (CAN_RDT0R_TIME & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_TIME_Pos;
+
+ /* Get the data */
+ aData[0] = (CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos;
+ aData[1] = (CAN_RDL0R_DATA1 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos;
+ aData[2] = (CAN_RDL0R_DATA2 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos;
+ aData[3] = (CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_Pos;
+ aData[4] = (CAN_RDH0R_DATA4 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA4_Pos;
+ aData[5] = (CAN_RDH0R_DATA5 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA5_Pos;
+ aData[6] = (CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos;
+ aData[7] = (CAN_RDH0R_DATA7 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA7_Pos;
+
+ /* Release the FIFO */
+ if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */
+ {
+ /* Release RX FIFO 0 */
+ SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0);
+ }
+ else if (RxFifo == CAN_RX_FIFO1) /* Rx element is assigned to Rx FIFO 1 */
+ {
+ /* Release RX FIFO 1 */
+ SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1);
+ }
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Return Rx FIFO fill level.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @param RxFifo Rx FIFO.
+ * This parameter can be a value of @arg CAN_receive_FIFO_number.
+ * @retval Number of messages available in Rx FIFO.
+ */
+uint32_t HAL_CAN_GetRxFifoFillLevel(CAN_HandleTypeDef *hcan, uint32_t RxFifo)
+{
+ uint32_t filllevel = 0U;
+
+ /* Check function parameters */
+ assert_param(IS_CAN_RX_FIFO(RxFifo));
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ if (RxFifo == CAN_RX_FIFO0)
+ {
+ filllevel = hcan->Instance->RF0R & CAN_RF0R_FMP0;
+ }
+ else /* RxFifo == CAN_RX_FIFO1 */
+ {
+ filllevel = hcan->Instance->RF1R & CAN_RF1R_FMP1;
+ }
+ }
+
+ /* Return Rx FIFO fill level */
+ return filllevel;
+}
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Exported_Functions_Group4 Interrupts management
+ * @brief Interrupts management
+ *
+@verbatim
+ ==============================================================================
+ ##### Interrupts management #####
+ ==============================================================================
+ [..] This section provides functions allowing to:
+ (+) HAL_CAN_ActivateNotification : Enable interrupts
+ (+) HAL_CAN_DeactivateNotification : Disable interrupts
+ (+) HAL_CAN_IRQHandler : Handles CAN interrupt request
+
+@endverbatim
+ * @{
+ */
+
+/**
+ * @brief Enable interrupts.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @param ActiveITs indicates which interrupts will be enabled.
+ * This parameter can be any combination of @arg CAN_Interrupts.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs)
+{
+ /* Check function parameters */
+ assert_param(IS_CAN_IT(ActiveITs));
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Enable the selected interrupts */
+ __HAL_CAN_ENABLE_IT(hcan, ActiveITs);
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Disable interrupts.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @param InactiveITs indicates which interrupts will be disabled.
+ * This parameter can be any combination of @arg CAN_Interrupts.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs)
+{
+ /* Check function parameters */
+ assert_param(IS_CAN_IT(InactiveITs));
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Disable the selected interrupts */
+ __HAL_CAN_DISABLE_IT(hcan, InactiveITs);
+
+ /* Return function status */
+ return HAL_OK;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ return HAL_ERROR;
+ }
+}
+
+/**
+ * @brief Handles CAN interrupt request
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan)
+{
+ uint32_t errorcode = HAL_CAN_ERROR_NONE;
+ uint32_t interrupts = READ_REG(hcan->Instance->IER);
+ uint32_t msrflags = READ_REG(hcan->Instance->MSR);
+ uint32_t tsrflags = READ_REG(hcan->Instance->TSR);
+ uint32_t rf0rflags = READ_REG(hcan->Instance->RF0R);
+ uint32_t rf1rflags = READ_REG(hcan->Instance->RF1R);
+ uint32_t esrflags = READ_REG(hcan->Instance->ESR);
+
+ /* Transmit Mailbox empty interrupt management *****************************/
+ if ((interrupts & CAN_IT_TX_MAILBOX_EMPTY) != RESET)
+ {
+ /* Transmit Mailbox 0 management *****************************************/
+ if ((tsrflags & CAN_TSR_RQCP0) != RESET)
+ {
+ /* Clear the Transmission Complete flag (and TXOK0,ALST0,TERR0 bits) */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP0);
+
+ if ((tsrflags & CAN_TSR_TXOK0) != RESET)
+ {
+ /* Transmission Mailbox 0 complete callback */
+ /* Call weak (surcharged) callback */
+ HAL_CAN_TxMailbox0CompleteCallback(hcan);
+ }
+ else
+ {
+ if ((tsrflags & CAN_TSR_ALST0) != RESET)
+ {
+ /* Update error code */
+ errorcode |= HAL_CAN_ERROR_TX_ALST0;
+ }
+ else if ((tsrflags & CAN_TSR_TERR0) != RESET)
+ {
+ /* Update error code */
+ errorcode |= HAL_CAN_ERROR_TX_TERR0;
+ }
+ else
+ {
+ /* Transmission Mailbox 0 abort callback */
+ /* Call weak (surcharged) callback */
+ HAL_CAN_TxMailbox0AbortCallback(hcan);
+ }
+ }
+ }
+
+ /* Transmit Mailbox 1 management *****************************************/
+ if ((tsrflags & CAN_TSR_RQCP1) != RESET)
+ {
+ /* Clear the Transmission Complete flag (and TXOK1,ALST1,TERR1 bits) */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP1);
+
+ if ((tsrflags & CAN_TSR_TXOK1) != RESET)
+ {
+ /* Transmission Mailbox 1 complete callback */
+ /* Call weak (surcharged) callback */
+ HAL_CAN_TxMailbox1CompleteCallback(hcan);
+ }
+ else
+ {
+ if ((tsrflags & CAN_TSR_ALST1) != RESET)
+ {
+ /* Update error code */
+ errorcode |= HAL_CAN_ERROR_TX_ALST1;
+ }
+ else if ((tsrflags & CAN_TSR_TERR1) != RESET)
+ {
+ /* Update error code */
+ errorcode |= HAL_CAN_ERROR_TX_TERR1;
+ }
+ else
+ {
+ /* Transmission Mailbox 1 abort callback */
+ /* Call weak (surcharged) callback */
+ HAL_CAN_TxMailbox1AbortCallback(hcan);
+ }
+ }
+ }
+
+ /* Transmit Mailbox 2 management *****************************************/
+ if ((tsrflags & CAN_TSR_RQCP2) != RESET)
+ {
+ /* Clear the Transmission Complete flag (and TXOK2,ALST2,TERR2 bits) */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP2);
+
+ if ((tsrflags & CAN_TSR_TXOK2) != RESET)
+ {
+ /* Transmission Mailbox 2 complete callback */
+ /* Call weak (surcharged) callback */
+ HAL_CAN_TxMailbox2CompleteCallback(hcan);
+ }
+ else
+ {
+ if ((tsrflags & CAN_TSR_ALST2) != RESET)
+ {
+ /* Update error code */
+ errorcode |= HAL_CAN_ERROR_TX_ALST2;
+ }
+ else if ((tsrflags & CAN_TSR_TERR2) != RESET)
+ {
+ /* Update error code */
+ errorcode |= HAL_CAN_ERROR_TX_TERR2;
+ }
+ else
+ {
+ /* Transmission Mailbox 2 abort callback */
+ /* Call weak (surcharged) callback */
+ HAL_CAN_TxMailbox2AbortCallback(hcan);
+ }
+ }
+ }
+ }
+
+ /* Receive FIFO 0 overrun interrupt management *****************************/
+ if ((interrupts & CAN_IT_RX_FIFO0_OVERRUN) != RESET)
+ {
+ if ((rf0rflags & CAN_RF0R_FOVR0) != RESET)
+ {
+ /* Set CAN error code to Rx Fifo 0 overrun error */
+ errorcode |= HAL_CAN_ERROR_RX_FOV0;
+
+ /* Clear FIFO0 Overrun Flag */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
+ }
+ }
+
+ /* Receive FIFO 0 full interrupt management ********************************/
+ if ((interrupts & CAN_IT_RX_FIFO0_FULL) != RESET)
+ {
+ if ((rf0rflags & CAN_RF0R_FULL0) != RESET)
+ {
+ /* Clear FIFO 0 full Flag */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
+
+ /* Receive FIFO 0 full Callback */
+ /* Call weak (surcharged) callback */
+ HAL_CAN_RxFifo0FullCallback(hcan);
+ }
+ }
+
+ /* Receive FIFO 0 message pending interrupt management *********************/
+ if ((interrupts & CAN_IT_RX_FIFO0_MSG_PENDING) != RESET)
+ {
+ /* Check if message is still pending */
+ if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != RESET)
+ {
+ /* Receive FIFO 0 mesage pending Callback */
+ /* Call weak (surcharged) callback */
+ HAL_CAN_RxFifo0MsgPendingCallback(hcan);
+ }
+ }
+
+ /* Receive FIFO 1 overrun interrupt management *****************************/
+ if ((interrupts & CAN_IT_RX_FIFO1_OVERRUN) != RESET)
+ {
+ if ((rf1rflags & CAN_RF1R_FOVR1) != RESET)
+ {
+ /* Set CAN error code to Rx Fifo 1 overrun error */
+ errorcode |= HAL_CAN_ERROR_RX_FOV1;
+
+ /* Clear FIFO1 Overrun Flag */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1);
+ }
+ }
+
+ /* Receive FIFO 1 full interrupt management ********************************/
+ if ((interrupts & CAN_IT_RX_FIFO1_FULL) != RESET)
+ {
+ if ((rf1rflags & CAN_RF1R_FULL1) != RESET)
+ {
+ /* Clear FIFO 1 full Flag */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1);
+
+ /* Receive FIFO 1 full Callback */
+ /* Call weak (surcharged) callback */
+ HAL_CAN_RxFifo1FullCallback(hcan);
+ }
+ }
+
+ /* Receive FIFO 1 message pending interrupt management *********************/
+ if ((interrupts & CAN_IT_RX_FIFO1_MSG_PENDING) != RESET)
+ {
+ /* Check if message is still pending */
+ if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != RESET)
+ {
+ /* Receive FIFO 1 mesage pending Callback */
+ /* Call weak (surcharged) callback */
+ HAL_CAN_RxFifo1MsgPendingCallback(hcan);
+ }
+ }
+
+ /* Sleep interrupt management *********************************************/
+ if ((interrupts & CAN_IT_SLEEP_ACK) != RESET)
+ {
+ if ((msrflags & CAN_MSR_SLAKI) != RESET)
+ {
+ /* Clear Sleep interrupt Flag */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_SLAKI);
+
+ /* Sleep Callback */
+ /* Call weak (surcharged) callback */
+ HAL_CAN_SleepCallback(hcan);
+ }
+ }
+
+ /* WakeUp interrupt management *********************************************/
+ if ((interrupts & CAN_IT_WAKEUP) != RESET)
+ {
+ if ((msrflags & CAN_MSR_WKUI) != RESET)
+ {
+ /* Clear WakeUp Flag */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_WKU);
+
+ /* WakeUp Callback */
+ /* Call weak (surcharged) callback */
+ HAL_CAN_WakeUpFromRxMsgCallback(hcan);
+ }
+ }
+
+ /* Error interrupts management *********************************************/
+ if ((interrupts & CAN_IT_ERROR) != RESET)
+ {
+ if ((msrflags & CAN_MSR_ERRI) != RESET)
+ {
+ /* Check Error Warning Flag */
+ if (((interrupts & CAN_IT_ERROR_WARNING) != RESET) &&
+ ((esrflags & CAN_ESR_EWGF) != RESET))
+ {
+ /* Set CAN error code to Error Warning */
+ errorcode |= HAL_CAN_ERROR_EWG;
+
+ /* No need for clear of Error Warning Flag as read-only */
+ }
+
+ /* Check Error Passive Flag */
+ if (((interrupts & CAN_IT_ERROR_PASSIVE) != RESET) &&
+ ((esrflags & CAN_ESR_EPVF) != RESET))
+ {
+ /* Set CAN error code to Error Passive */
+ errorcode |= HAL_CAN_ERROR_EPV;
+
+ /* No need for clear of Error Passive Flag as read-only */
+ }
+
+ /* Check Bus-off Flag */
+ if (((interrupts & CAN_IT_BUSOFF) != RESET) &&
+ ((esrflags & CAN_ESR_BOFF) != RESET))
+ {
+ /* Set CAN error code to Bus-Off */
+ errorcode |= HAL_CAN_ERROR_BOF;
+
+ /* No need for clear of Error Bus-Off as read-only */
+ }
+
+ /* Check Last Error Code Flag */
+ if (((interrupts & CAN_IT_LAST_ERROR_CODE) != RESET) &&
+ ((esrflags & CAN_ESR_LEC) != RESET))
+ {
+ switch (esrflags & CAN_ESR_LEC)
+ {
+ case (CAN_ESR_LEC_0):
+ /* Set CAN error code to Stuff error */
+ errorcode |= HAL_CAN_ERROR_STF;
+ break;
+ case (CAN_ESR_LEC_1):
+ /* Set CAN error code to Form error */
+ errorcode |= HAL_CAN_ERROR_FOR;
+ break;
+ case (CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
+ /* Set CAN error code to Acknowledgement error */
+ errorcode |= HAL_CAN_ERROR_ACK;
+ break;
+ case (CAN_ESR_LEC_2):
+ /* Set CAN error code to Bit recessive error */
+ errorcode |= HAL_CAN_ERROR_BR;
+ break;
+ case (CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
+ /* Set CAN error code to Bit Dominant error */
+ errorcode |= HAL_CAN_ERROR_BD;
+ break;
+ case (CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
+ /* Set CAN error code to CRC error */
+ errorcode |= HAL_CAN_ERROR_CRC;
+ break;
+ default:
+ break;
+ }
+
+ /* Clear Last error code Flag */
+ CLEAR_BIT(hcan->Instance->ESR, CAN_ESR_LEC);
+ }
+ }
+
+ /* Clear ERRI Flag */
+ __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_ERRI);
+ }
+
+ /* Call the Error call Back in case of Errors */
+ if (errorcode != HAL_CAN_ERROR_NONE)
+ {
+ /* Update error code in handle */
+ hcan->ErrorCode |= errorcode;
+
+ /* Call Error callback function */
+ /* Call weak (surcharged) callback */
+ HAL_CAN_ErrorCallback(hcan);
+ }
+}
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Exported_Functions_Group5 Callback functions
+ * @brief CAN Callback functions
+ *
+@verbatim
+ ==============================================================================
+ ##### Callback functions #####
+ ==============================================================================
+ [..]
+ This subsection provides the following callback functions:
+ (+) HAL_CAN_TxMailbox0CompleteCallback
+ (+) HAL_CAN_TxMailbox1CompleteCallback
+ (+) HAL_CAN_TxMailbox2CompleteCallback
+ (+) HAL_CAN_TxMailbox0AbortCallback
+ (+) HAL_CAN_TxMailbox1AbortCallback
+ (+) HAL_CAN_TxMailbox2AbortCallback
+ (+) HAL_CAN_RxFifo0MsgPendingCallback
+ (+) HAL_CAN_RxFifo0FullCallback
+ (+) HAL_CAN_RxFifo1MsgPendingCallback
+ (+) HAL_CAN_RxFifo1FullCallback
+ (+) HAL_CAN_SleepCallback
+ (+) HAL_CAN_WakeUpFromRxMsgCallback
+ (+) HAL_CAN_ErrorCallback
+
+@endverbatim
+ * @{
+ */
+
+/**
+ * @brief Transmission Mailbox 0 complete callback.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_TxMailbox0CompleteCallback could be implemented in the
+ user file
+ */
+}
+
+/**
+ * @brief Transmission Mailbox 1 complete callback.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_TxMailbox1CompleteCallback could be implemented in the
+ user file
+ */
+}
+
+/**
+ * @brief Transmission Mailbox 2 complete callback.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_TxMailbox2CompleteCallback could be implemented in the
+ user file
+ */
+}
+
+/**
+ * @brief Transmission Mailbox 0 Cancellation callback.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_TxMailbox0AbortCallback could be implemented in the
+ user file
+ */
+}
+
+/**
+ * @brief Transmission Mailbox 1 Cancellation callback.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_TxMailbox1AbortCallback could be implemented in the
+ user file
+ */
+}
+
+/**
+ * @brief Transmission Mailbox 2 Cancellation callback.
+ * @param hcan pointer to an CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_TxMailbox2AbortCallback could be implemented in the
+ user file
+ */
+}
+
+/**
+ * @brief Rx FIFO 0 message pending callback.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_RxFifo0MsgPendingCallback could be implemented in the
+ user file
+ */
+}
+
+/**
+ * @brief Rx FIFO 0 full callback.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_RxFifo0FullCallback could be implemented in the user
+ file
+ */
+}
+
+/**
+ * @brief Rx FIFO 1 message pending callback.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_RxFifo1MsgPendingCallback could be implemented in the
+ user file
+ */
+}
+
+/**
+ * @brief Rx FIFO 1 full callback.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_RxFifo1FullCallback could be implemented in the user
+ file
+ */
+}
+
+/**
+ * @brief Sleep callback.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_SleepCallback could be implemented in the user file
+ */
+}
+
+/**
+ * @brief WakeUp from Rx message callback.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_WakeUpFromRxMsgCallback could be implemented in the
+ user file
+ */
+}
+
+/**
+ * @brief Error CAN callback.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval None
+ */
+__weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
+{
+ /* Prevent unused argument(s) compilation warning */
+ UNUSED(hcan);
+
+ /* NOTE : This function Should not be modified, when the callback is needed,
+ the HAL_CAN_ErrorCallback could be implemented in the user file
+ */
+}
+
+/**
+ * @}
+ */
+
+/** @defgroup CAN_Exported_Functions_Group6 Peripheral State and Error functions
+ * @brief CAN Peripheral State functions
+ *
+@verbatim
+ ==============================================================================
+ ##### Peripheral State and Error functions #####
+ ==============================================================================
+ [..]
+ This subsection provides functions allowing to :
+ (+) HAL_CAN_GetState() : Return the CAN state.
+ (+) HAL_CAN_GetError() : Return the CAN error codes if any.
+ (+) HAL_CAN_ResetError(): Reset the CAN error codes if any.
+
+@endverbatim
+ * @{
+ */
+
+/**
+ * @brief Return the CAN state.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval HAL state
+ */
+HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef *hcan)
+{
+ HAL_CAN_StateTypeDef state = hcan->State;
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Check sleep mode acknowledge flag */
+ if ((hcan->Instance->MSR & CAN_MSR_SLAK) != RESET)
+ {
+ /* Sleep mode is active */
+ state = HAL_CAN_STATE_SLEEP_ACTIVE;
+ }
+ /* Check sleep mode request flag */
+ else if ((hcan->Instance->MCR & CAN_MCR_SLEEP) != RESET)
+ {
+ /* Sleep mode request is pending */
+ state = HAL_CAN_STATE_SLEEP_PENDING;
+ }
+ }
+
+ /* Return CAN state */
+ return state;
+}
+
+/**
+ * @brief Return the CAN error code.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval CAN Error Code
+ */
+uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
+{
+ /* Return CAN error code */
+ return hcan->ErrorCode;
+}
+
+/**
+ * @brief Reset the CAN error code.
+ * @param hcan pointer to a CAN_HandleTypeDef structure that contains
+ * the configuration information for the specified CAN.
+ * @retval HAL status
+ */
+HAL_StatusTypeDef HAL_CAN_ResetError(CAN_HandleTypeDef *hcan)
+{
+ HAL_StatusTypeDef status = HAL_OK;
+
+ if ((hcan->State == HAL_CAN_STATE_READY) ||
+ (hcan->State == HAL_CAN_STATE_LISTENING))
+ {
+ /* Reset CAN error code */
+ hcan->ErrorCode = 0U;
+ }
+ else
+ {
+ /* Update error code */
+ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED;
+
+ status = HAL_ERROR;
+ }
+
+ /* Return the status */
+ return status;
+}
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#endif /* HAL_CAN_MODULE_ENABLED */
+
+/**
+ * @}
+ */
+
+#endif /* CAN1 */
+
+/**
+ * @}
+ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/