mbed official / mbed-src

mbed library sources

Dependents:   Encrypted my_mbed lklk CyaSSL_DTLS_Cellular ... more

Superseded

This library was superseded by mbed-dev - https://os.mbed.com/users/mbed_official/code/mbed-dev/.

Development branch of the mbed library sources. This library is kept in synch with the latest changes from the mbed SDK and it is not guaranteed to work.

If you are looking for a stable and tested release, please import one of the official mbed library releases:

Import librarymbed

The official Mbed 2 C/C++ SDK provides the software platform and libraries to build your applications.

Last commit 20 Feb 2019 by mbed official

targets/cmsis/TARGET_STM/TARGET_STM32F3/stm32f3xx_hal_can.c@581:39197bcd20f2, 2015-07-02 (annotated)

Committer:
mbed_official
Date:
Thu Jul 02 16:30:08 2015 +0100
Revision:
581:39197bcd20f2
Parent:
385:be64abf45658
Child:
632:7687fb9c4f91
Synchronized with git revision ae2d3cdffe70184eb8736d94f76c45c93f4b7724



Full URL: https://github.com/mbedmicro/mbed/commit/ae2d3cdffe70184eb8736d94f76c45c93f4b7724/



Make it possible to build the core mbed library with yotta

Who changed what in which revision?

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 375:3d36234a1087 5 * @version V1.1.0
mbed_official 375:3d36234a1087 6 * @date 12-Sept-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 375:3d36234a1087 110 /** @defgroup CAN CAN HAL module driver
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 375:3d36234a1087 117 #if defined(STM32F302xE) || defined(STM32F303xE) || defined(STM32F398xx) || \
mbed_official 375:3d36234a1087 118 defined(STM32F302xC) || defined(STM32F303xC) || defined(STM32F358xx) || \
mbed_official 375:3d36234a1087 119 defined(STM32F303x8) || defined(STM32F334x8) || defined(STM32F328xx) || \
mbed_official 375:3d36234a1087 120 defined(STM32F302x8) || \
mbed_official 375:3d36234a1087 121 defined(STM32F373xC) || defined(STM32F378xx)
mbed_official 237:f3da66175598 122
mbed_official 237:f3da66175598 123 /* Private typedef -----------------------------------------------------------*/
mbed_official 237:f3da66175598 124 /* Private define ------------------------------------------------------------*/
mbed_official 237:f3da66175598 125 /* Private macro -------------------------------------------------------------*/
mbed_official 237:f3da66175598 126 /* Private variables ---------------------------------------------------------*/
mbed_official 237:f3da66175598 127 /* Private function prototypes -----------------------------------------------*/
mbed_official 237:f3da66175598 128 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
mbed_official 237:f3da66175598 129 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
mbed_official 375:3d36234a1087 130 /* Exported functions ---------------------------------------------------------*/
mbed_official 237:f3da66175598 131
mbed_official 375:3d36234a1087 132 /** @defgroup CAN_Exported_Functions CAN Exported Functions
mbed_official 237:f3da66175598 133 * @{
mbed_official 237:f3da66175598 134 */
mbed_official 237:f3da66175598 135
mbed_official 375:3d36234a1087 136 /** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
mbed_official 237:f3da66175598 137 * @brief Initialization and Configuration functions
mbed_official 237:f3da66175598 138 *
mbed_official 237:f3da66175598 139 @verbatim
mbed_official 237:f3da66175598 140 ==============================================================================
mbed_official 237:f3da66175598 141 ##### Initialization and de-initialization functions #####
mbed_official 237:f3da66175598 142 ==============================================================================
mbed_official 237:f3da66175598 143 [..] This section provides functions allowing to:
mbed_official 237:f3da66175598 144 (+) Initialize and configure the CAN.
mbed_official 237:f3da66175598 145 (+) De-initialize the CAN.
mbed_official 237:f3da66175598 146
mbed_official 237:f3da66175598 147 @endverbatim
mbed_official 237:f3da66175598 148 * @{
mbed_official 237:f3da66175598 149 */
mbed_official 237:f3da66175598 150
mbed_official 237:f3da66175598 151 /**
mbed_official 237:f3da66175598 152 * @brief Initializes the CAN peripheral according to the specified
mbed_official 237:f3da66175598 153 * parameters in the CAN_InitStruct.
mbed_official 237:f3da66175598 154 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 155 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 156 * @retval HAL status
mbed_official 237:f3da66175598 157 */
mbed_official 237:f3da66175598 158 HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 159 {
mbed_official 237:f3da66175598 160 uint32_t status = CAN_INITSTATUS_FAILED; /* Default init status */
mbed_official 237:f3da66175598 161 uint32_t tickstart = 0;
mbed_official 237:f3da66175598 162
mbed_official 237:f3da66175598 163 /* Check CAN handle */
mbed_official 375:3d36234a1087 164 if(hcan == HAL_NULL)
mbed_official 237:f3da66175598 165 {
mbed_official 237:f3da66175598 166 return HAL_ERROR;
mbed_official 237:f3da66175598 167 }
mbed_official 237:f3da66175598 168
mbed_official 237:f3da66175598 169 /* Check the parameters */
mbed_official 237:f3da66175598 170 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
mbed_official 237:f3da66175598 171 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
mbed_official 237:f3da66175598 172 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
mbed_official 237:f3da66175598 173 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
mbed_official 237:f3da66175598 174 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
mbed_official 237:f3da66175598 175 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
mbed_official 237:f3da66175598 176 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
mbed_official 237:f3da66175598 177 assert_param(IS_CAN_MODE(hcan->Init.Mode));
mbed_official 237:f3da66175598 178 assert_param(IS_CAN_SJW(hcan->Init.SJW));
mbed_official 237:f3da66175598 179 assert_param(IS_CAN_BS1(hcan->Init.BS1));
mbed_official 237:f3da66175598 180 assert_param(IS_CAN_BS2(hcan->Init.BS2));
mbed_official 237:f3da66175598 181 assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
mbed_official 237:f3da66175598 182
mbed_official 237:f3da66175598 183 if(hcan->State == HAL_CAN_STATE_RESET)
mbed_official 237:f3da66175598 184 {
mbed_official 237:f3da66175598 185 /* Init the low level hardware */
mbed_official 237:f3da66175598 186 HAL_CAN_MspInit(hcan);
mbed_official 237:f3da66175598 187 }
mbed_official 237:f3da66175598 188
mbed_official 237:f3da66175598 189 /* Initialize the CAN state*/
mbed_official 237:f3da66175598 190 hcan->State = HAL_CAN_STATE_BUSY;
mbed_official 237:f3da66175598 191
mbed_official 237:f3da66175598 192 /* Exit from sleep mode */
mbed_official 237:f3da66175598 193 hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
mbed_official 237:f3da66175598 194
mbed_official 237:f3da66175598 195 /* Request initialisation */
mbed_official 237:f3da66175598 196 hcan->Instance->MCR |= CAN_MCR_INRQ ;
mbed_official 237:f3da66175598 197
mbed_official 237:f3da66175598 198 /* Get timeout */
mbed_official 237:f3da66175598 199 tickstart = HAL_GetTick();
mbed_official 237:f3da66175598 200
mbed_official 237:f3da66175598 201 /* Wait the acknowledge */
mbed_official 237:f3da66175598 202 while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
mbed_official 237:f3da66175598 203 {
mbed_official 237:f3da66175598 204 if((HAL_GetTick()-tickstart) > INAK_TIMEOUT)
mbed_official 237:f3da66175598 205 {
mbed_official 237:f3da66175598 206 hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official 237:f3da66175598 207 return HAL_TIMEOUT;
mbed_official 237:f3da66175598 208 }
mbed_official 237:f3da66175598 209 }
mbed_official 237:f3da66175598 210
mbed_official 237:f3da66175598 211 /* Check acknowledge */
mbed_official 237:f3da66175598 212 if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
mbed_official 237:f3da66175598 213 {
mbed_official 237:f3da66175598 214 /* Set the time triggered communication mode */
mbed_official 237:f3da66175598 215 if (hcan->Init.TTCM == ENABLE)
mbed_official 237:f3da66175598 216 {
mbed_official 237:f3da66175598 217 hcan->Instance->MCR |= CAN_MCR_TTCM;
mbed_official 237:f3da66175598 218 }
mbed_official 237:f3da66175598 219 else
mbed_official 237:f3da66175598 220 {
mbed_official 237:f3da66175598 221 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
mbed_official 237:f3da66175598 222 }
mbed_official 237:f3da66175598 223
mbed_official 237:f3da66175598 224 /* Set the automatic bus-off management */
mbed_official 237:f3da66175598 225 if (hcan->Init.ABOM == ENABLE)
mbed_official 237:f3da66175598 226 {
mbed_official 237:f3da66175598 227 hcan->Instance->MCR |= CAN_MCR_ABOM;
mbed_official 237:f3da66175598 228 }
mbed_official 237:f3da66175598 229 else
mbed_official 237:f3da66175598 230 {
mbed_official 237:f3da66175598 231 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
mbed_official 237:f3da66175598 232 }
mbed_official 237:f3da66175598 233
mbed_official 237:f3da66175598 234 /* Set the automatic wake-up mode */
mbed_official 237:f3da66175598 235 if (hcan->Init.AWUM == ENABLE)
mbed_official 237:f3da66175598 236 {
mbed_official 237:f3da66175598 237 hcan->Instance->MCR |= CAN_MCR_AWUM;
mbed_official 237:f3da66175598 238 }
mbed_official 237:f3da66175598 239 else
mbed_official 237:f3da66175598 240 {
mbed_official 237:f3da66175598 241 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
mbed_official 237:f3da66175598 242 }
mbed_official 237:f3da66175598 243
mbed_official 237:f3da66175598 244 /* Set the no automatic retransmission */
mbed_official 237:f3da66175598 245 if (hcan->Init.NART == ENABLE)
mbed_official 237:f3da66175598 246 {
mbed_official 237:f3da66175598 247 hcan->Instance->MCR |= CAN_MCR_NART;
mbed_official 237:f3da66175598 248 }
mbed_official 237:f3da66175598 249 else
mbed_official 237:f3da66175598 250 {
mbed_official 237:f3da66175598 251 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
mbed_official 237:f3da66175598 252 }
mbed_official 237:f3da66175598 253
mbed_official 237:f3da66175598 254 /* Set the receive FIFO locked mode */
mbed_official 237:f3da66175598 255 if (hcan->Init.RFLM == ENABLE)
mbed_official 237:f3da66175598 256 {
mbed_official 237:f3da66175598 257 hcan->Instance->MCR |= CAN_MCR_RFLM;
mbed_official 237:f3da66175598 258 }
mbed_official 237:f3da66175598 259 else
mbed_official 237:f3da66175598 260 {
mbed_official 237:f3da66175598 261 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
mbed_official 237:f3da66175598 262 }
mbed_official 237:f3da66175598 263
mbed_official 237:f3da66175598 264 /* Set the transmit FIFO priority */
mbed_official 237:f3da66175598 265 if (hcan->Init.TXFP == ENABLE)
mbed_official 237:f3da66175598 266 {
mbed_official 237:f3da66175598 267 hcan->Instance->MCR |= CAN_MCR_TXFP;
mbed_official 237:f3da66175598 268 }
mbed_official 237:f3da66175598 269 else
mbed_official 237:f3da66175598 270 {
mbed_official 237:f3da66175598 271 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
mbed_official 237:f3da66175598 272 }
mbed_official 237:f3da66175598 273
mbed_official 237:f3da66175598 274 /* Set the bit timing register */
mbed_official 237:f3da66175598 275 hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \
mbed_official 237:f3da66175598 276 ((uint32_t)hcan->Init.SJW) | \
mbed_official 237:f3da66175598 277 ((uint32_t)hcan->Init.BS1) | \
mbed_official 237:f3da66175598 278 ((uint32_t)hcan->Init.BS2) | \
mbed_official 237:f3da66175598 279 ((uint32_t)hcan->Init.Prescaler - 1);
mbed_official 237:f3da66175598 280
mbed_official 237:f3da66175598 281 /* Request leave initialisation */
mbed_official 237:f3da66175598 282 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
mbed_official 237:f3da66175598 283
mbed_official 237:f3da66175598 284 /* Get timeout */
mbed_official 237:f3da66175598 285 tickstart = HAL_GetTick();
mbed_official 237:f3da66175598 286
mbed_official 237:f3da66175598 287 /* Wait the acknowledge */
mbed_official 237:f3da66175598 288 while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
mbed_official 237:f3da66175598 289 {
mbed_official 237:f3da66175598 290 if((HAL_GetTick()-tickstart) > INAK_TIMEOUT)
mbed_official 237:f3da66175598 291 {
mbed_official 237:f3da66175598 292 hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official 237:f3da66175598 293 return HAL_TIMEOUT;
mbed_official 237:f3da66175598 294 }
mbed_official 237:f3da66175598 295 }
mbed_official 237:f3da66175598 296
mbed_official 237:f3da66175598 297 /* Check acknowledged */
mbed_official 237:f3da66175598 298 if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
mbed_official 237:f3da66175598 299 {
mbed_official 237:f3da66175598 300 status = CAN_INITSTATUS_SUCCESS;
mbed_official 237:f3da66175598 301 }
mbed_official 237:f3da66175598 302 }
mbed_official 237:f3da66175598 303
mbed_official 237:f3da66175598 304 if(status == CAN_INITSTATUS_SUCCESS)
mbed_official 237:f3da66175598 305 {
mbed_official 237:f3da66175598 306 /* Set CAN error code to none */
mbed_official 237:f3da66175598 307 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official 237:f3da66175598 308
mbed_official 237:f3da66175598 309 /* Initialize the CAN state */
mbed_official 237:f3da66175598 310 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 311
mbed_official 237:f3da66175598 312 /* Return function status */
mbed_official 237:f3da66175598 313 return HAL_OK;
mbed_official 237:f3da66175598 314 }
mbed_official 237:f3da66175598 315 else
mbed_official 237:f3da66175598 316 {
mbed_official 237:f3da66175598 317 /* Initialize the CAN state */
mbed_official 237:f3da66175598 318 hcan->State = HAL_CAN_STATE_ERROR;
mbed_official 237:f3da66175598 319
mbed_official 237:f3da66175598 320 /* Return function status */
mbed_official 237:f3da66175598 321 return HAL_ERROR;
mbed_official 237:f3da66175598 322 }
mbed_official 237:f3da66175598 323 }
mbed_official 237:f3da66175598 324
mbed_official 237:f3da66175598 325 /**
mbed_official 237:f3da66175598 326 * @brief Configures the CAN reception filter according to the specified
mbed_official 237:f3da66175598 327 * parameters in the CAN_FilterInitStruct.
mbed_official 237:f3da66175598 328 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 329 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 330 * @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
mbed_official 237:f3da66175598 331 * contains the filter configuration information.
mbed_official 237:f3da66175598 332 * @retval None
mbed_official 237:f3da66175598 333 */
mbed_official 237:f3da66175598 334 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
mbed_official 237:f3da66175598 335 {
mbed_official 237:f3da66175598 336 uint32_t filternbrbitpos = 0;
mbed_official 237:f3da66175598 337
mbed_official 237:f3da66175598 338 /* Check the parameters */
mbed_official 237:f3da66175598 339 assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
mbed_official 237:f3da66175598 340 assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
mbed_official 237:f3da66175598 341 assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
mbed_official 237:f3da66175598 342 assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
mbed_official 237:f3da66175598 343 assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
mbed_official 237:f3da66175598 344 assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
mbed_official 237:f3da66175598 345
mbed_official 237:f3da66175598 346 filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber;
mbed_official 237:f3da66175598 347
mbed_official 237:f3da66175598 348 /* Initialisation mode for the filter */
mbed_official 237:f3da66175598 349 hcan->Instance->FMR |= (uint32_t)CAN_FMR_FINIT;
mbed_official 237:f3da66175598 350
mbed_official 237:f3da66175598 351 /* Filter Deactivation */
mbed_official 237:f3da66175598 352 hcan->Instance->FA1R &= ~(uint32_t)filternbrbitpos;
mbed_official 237:f3da66175598 353
mbed_official 237:f3da66175598 354 /* Filter Scale */
mbed_official 237:f3da66175598 355 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
mbed_official 237:f3da66175598 356 {
mbed_official 237:f3da66175598 357 /* 16-bit scale for the filter */
mbed_official 237:f3da66175598 358 hcan->Instance->FS1R &= ~(uint32_t)filternbrbitpos;
mbed_official 237:f3da66175598 359
mbed_official 237:f3da66175598 360 /* First 16-bit identifier and First 16-bit mask */
mbed_official 237:f3da66175598 361 /* Or First 16-bit identifier and Second 16-bit identifier */
mbed_official 237:f3da66175598 362 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
mbed_official 237:f3da66175598 363 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) |
mbed_official 237:f3da66175598 364 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
mbed_official 237:f3da66175598 365
mbed_official 237:f3da66175598 366 /* Second 16-bit identifier and Second 16-bit mask */
mbed_official 237:f3da66175598 367 /* Or Third 16-bit identifier and Fourth 16-bit identifier */
mbed_official 237:f3da66175598 368 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
mbed_official 237:f3da66175598 369 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
mbed_official 237:f3da66175598 370 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh);
mbed_official 237:f3da66175598 371 }
mbed_official 237:f3da66175598 372
mbed_official 237:f3da66175598 373 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
mbed_official 237:f3da66175598 374 {
mbed_official 237:f3da66175598 375 /* 32-bit scale for the filter */
mbed_official 237:f3da66175598 376 hcan->Instance->FS1R |= filternbrbitpos;
mbed_official 237:f3da66175598 377 /* 32-bit identifier or First 32-bit identifier */
mbed_official 237:f3da66175598 378 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
mbed_official 237:f3da66175598 379 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) |
mbed_official 237:f3da66175598 380 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
mbed_official 237:f3da66175598 381 /* 32-bit mask or Second 32-bit identifier */
mbed_official 237:f3da66175598 382 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
mbed_official 237:f3da66175598 383 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
mbed_official 237:f3da66175598 384 (0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow);
mbed_official 237:f3da66175598 385 }
mbed_official 237:f3da66175598 386
mbed_official 237:f3da66175598 387 /* Filter Mode */
mbed_official 237:f3da66175598 388 if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
mbed_official 237:f3da66175598 389 {
mbed_official 237:f3da66175598 390 /*Id/Mask mode for the filter*/
mbed_official 237:f3da66175598 391 hcan->Instance->FM1R &= ~(uint32_t)filternbrbitpos;
mbed_official 237:f3da66175598 392 }
mbed_official 237:f3da66175598 393 else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
mbed_official 237:f3da66175598 394 {
mbed_official 237:f3da66175598 395 /*Identifier list mode for the filter*/
mbed_official 237:f3da66175598 396 hcan->Instance->FM1R |= (uint32_t)filternbrbitpos;
mbed_official 237:f3da66175598 397 }
mbed_official 237:f3da66175598 398
mbed_official 237:f3da66175598 399 /* Filter FIFO assignment */
mbed_official 237:f3da66175598 400 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
mbed_official 237:f3da66175598 401 {
mbed_official 237:f3da66175598 402 /* FIFO 0 assignation for the filter */
mbed_official 237:f3da66175598 403 hcan->Instance->FFA1R &= ~(uint32_t)filternbrbitpos;
mbed_official 237:f3da66175598 404 }
mbed_official 237:f3da66175598 405
mbed_official 237:f3da66175598 406 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
mbed_official 237:f3da66175598 407 {
mbed_official 237:f3da66175598 408 /* FIFO 1 assignation for the filter */
mbed_official 237:f3da66175598 409 hcan->Instance->FFA1R |= (uint32_t)filternbrbitpos;
mbed_official 237:f3da66175598 410 }
mbed_official 237:f3da66175598 411
mbed_official 237:f3da66175598 412 /* Filter activation */
mbed_official 237:f3da66175598 413 if (sFilterConfig->FilterActivation == ENABLE)
mbed_official 237:f3da66175598 414 {
mbed_official 237:f3da66175598 415 hcan->Instance->FA1R |= filternbrbitpos;
mbed_official 237:f3da66175598 416 }
mbed_official 237:f3da66175598 417
mbed_official 237:f3da66175598 418 /* Leave the initialisation mode for the filter */
mbed_official 237:f3da66175598 419 hcan->Instance->FMR &= ~((uint32_t)CAN_FMR_FINIT);
mbed_official 237:f3da66175598 420
mbed_official 237:f3da66175598 421 /* Return function status */
mbed_official 237:f3da66175598 422 return HAL_OK;
mbed_official 237:f3da66175598 423 }
mbed_official 237:f3da66175598 424
mbed_official 237:f3da66175598 425 /**
mbed_official 237:f3da66175598 426 * @brief Deinitializes the CANx peripheral registers to their default reset values.
mbed_official 237:f3da66175598 427 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 428 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 429 * @retval HAL status
mbed_official 237:f3da66175598 430 */
mbed_official 237:f3da66175598 431 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 432 {
mbed_official 237:f3da66175598 433 /* Check CAN handle */
mbed_official 375:3d36234a1087 434 if(hcan == HAL_NULL)
mbed_official 237:f3da66175598 435 {
mbed_official 237:f3da66175598 436 return HAL_ERROR;
mbed_official 237:f3da66175598 437 }
mbed_official 237:f3da66175598 438
mbed_official 237:f3da66175598 439 /* Check the parameters */
mbed_official 237:f3da66175598 440 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
mbed_official 237:f3da66175598 441
mbed_official 237:f3da66175598 442 /* Change CAN state */
mbed_official 237:f3da66175598 443 hcan->State = HAL_CAN_STATE_BUSY;
mbed_official 237:f3da66175598 444
mbed_official 237:f3da66175598 445 /* DeInit the low level hardware */
mbed_official 237:f3da66175598 446 HAL_CAN_MspDeInit(hcan);
mbed_official 237:f3da66175598 447
mbed_official 237:f3da66175598 448 /* Change CAN state */
mbed_official 237:f3da66175598 449 hcan->State = HAL_CAN_STATE_RESET;
mbed_official 237:f3da66175598 450
mbed_official 237:f3da66175598 451 /* Release Lock */
mbed_official 237:f3da66175598 452 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 453
mbed_official 237:f3da66175598 454 /* Return function status */
mbed_official 237:f3da66175598 455 return HAL_OK;
mbed_official 237:f3da66175598 456 }
mbed_official 237:f3da66175598 457
mbed_official 237:f3da66175598 458 /**
mbed_official 237:f3da66175598 459 * @brief Initializes the CAN MSP.
mbed_official 237:f3da66175598 460 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 461 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 462 * @retval None
mbed_official 237:f3da66175598 463 */
mbed_official 237:f3da66175598 464 __weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 465 {
mbed_official 237:f3da66175598 466 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 237:f3da66175598 467 the HAL_CAN_MspInit could be implemented in the user file
mbed_official 237:f3da66175598 468 */
mbed_official 237:f3da66175598 469 }
mbed_official 237:f3da66175598 470
mbed_official 237:f3da66175598 471 /**
mbed_official 237:f3da66175598 472 * @brief DeInitializes the CAN MSP.
mbed_official 237:f3da66175598 473 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 474 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 475 * @retval None
mbed_official 237:f3da66175598 476 */
mbed_official 237:f3da66175598 477 __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 478 {
mbed_official 237:f3da66175598 479 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 237:f3da66175598 480 the HAL_CAN_MspDeInit could be implemented in the user file
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
mbed_official 375:3d36234a1087 488 /** @defgroup CAN_Exported_Functions_Group2 Input and Output operation functions
mbed_official 237:f3da66175598 489 * @brief I/O operation functions
mbed_official 237:f3da66175598 490 *
mbed_official 237:f3da66175598 491 @verbatim
mbed_official 237:f3da66175598 492 ==============================================================================
mbed_official 237:f3da66175598 493 ##### IO operation functions #####
mbed_official 237:f3da66175598 494 ==============================================================================
mbed_official 237:f3da66175598 495 [..] This section provides functions allowing to:
mbed_official 237:f3da66175598 496 (+) Transmit a CAN frame message.
mbed_official 237:f3da66175598 497 (+) Receive a CAN frame message.
mbed_official 237:f3da66175598 498 (+) Enter CAN peripheral in sleep mode.
mbed_official 237:f3da66175598 499 (+) Wake up the CAN peripheral from sleep mode.
mbed_official 237:f3da66175598 500
mbed_official 237:f3da66175598 501 @endverbatim
mbed_official 237:f3da66175598 502 * @{
mbed_official 237:f3da66175598 503 */
mbed_official 237:f3da66175598 504
mbed_official 237:f3da66175598 505 /**
mbed_official 237:f3da66175598 506 * @brief Initiates and transmits a CAN frame message.
mbed_official 237:f3da66175598 507 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 508 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 509 * @param Timeout: Timeout duration.
mbed_official 237:f3da66175598 510 * @retval HAL status
mbed_official 237:f3da66175598 511 */
mbed_official 237:f3da66175598 512 HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
mbed_official 237:f3da66175598 513 {
mbed_official 237:f3da66175598 514 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
mbed_official 237:f3da66175598 515 uint32_t tickstart = 0;
mbed_official 237:f3da66175598 516
mbed_official 237:f3da66175598 517 /* Check the parameters */
mbed_official 237:f3da66175598 518 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
mbed_official 237:f3da66175598 519 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
mbed_official 237:f3da66175598 520 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
mbed_official 237:f3da66175598 521
mbed_official 237:f3da66175598 522 /* Process locked */
mbed_official 237:f3da66175598 523 __HAL_LOCK(hcan);
mbed_official 237:f3da66175598 524
mbed_official 237:f3da66175598 525 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official 237:f3da66175598 526 {
mbed_official 237:f3da66175598 527 /* Change CAN state */
mbed_official 237:f3da66175598 528 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official 237:f3da66175598 529 }
mbed_official 237:f3da66175598 530 else
mbed_official 237:f3da66175598 531 {
mbed_official 237:f3da66175598 532 /* Change CAN state */
mbed_official 237:f3da66175598 533 hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official 237:f3da66175598 534 }
mbed_official 237:f3da66175598 535
mbed_official 237:f3da66175598 536 /* Select one empty transmit mailbox */
mbed_official 237:f3da66175598 537 if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
mbed_official 237:f3da66175598 538 {
mbed_official 237:f3da66175598 539 transmitmailbox = 0;
mbed_official 237:f3da66175598 540 }
mbed_official 237:f3da66175598 541 else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
mbed_official 237:f3da66175598 542 {
mbed_official 237:f3da66175598 543 transmitmailbox = 1;
mbed_official 237:f3da66175598 544 }
mbed_official 237:f3da66175598 545 else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
mbed_official 237:f3da66175598 546 {
mbed_official 237:f3da66175598 547 transmitmailbox = 2;
mbed_official 237:f3da66175598 548 }
mbed_official 237:f3da66175598 549
mbed_official 237:f3da66175598 550 if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
mbed_official 237:f3da66175598 551 {
mbed_official 237:f3da66175598 552 /* Set up the Id */
mbed_official 237:f3da66175598 553 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
mbed_official 237:f3da66175598 554 if (hcan->pTxMsg->IDE == CAN_ID_STD)
mbed_official 237:f3da66175598 555 {
mbed_official 237:f3da66175598 556 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
mbed_official 237:f3da66175598 557 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
mbed_official 237:f3da66175598 558 hcan->pTxMsg->RTR);
mbed_official 237:f3da66175598 559 }
mbed_official 237:f3da66175598 560 else
mbed_official 237:f3da66175598 561 {
mbed_official 237:f3da66175598 562 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
mbed_official 237:f3da66175598 563 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
mbed_official 237:f3da66175598 564 hcan->pTxMsg->IDE | \
mbed_official 237:f3da66175598 565 hcan->pTxMsg->RTR);
mbed_official 237:f3da66175598 566 }
mbed_official 237:f3da66175598 567
mbed_official 237:f3da66175598 568 /* Set up the DLC */
mbed_official 237:f3da66175598 569 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
mbed_official 237:f3da66175598 570 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
mbed_official 237:f3da66175598 571 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
mbed_official 237:f3da66175598 572
mbed_official 237:f3da66175598 573 /* Set up the data field */
mbed_official 237:f3da66175598 574 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
mbed_official 237:f3da66175598 575 ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
mbed_official 237:f3da66175598 576 ((uint32_t)hcan->pTxMsg->Data[1] << 8) |
mbed_official 237:f3da66175598 577 ((uint32_t)hcan->pTxMsg->Data[0]));
mbed_official 237:f3da66175598 578 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
mbed_official 237:f3da66175598 579 ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
mbed_official 237:f3da66175598 580 ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
mbed_official 237:f3da66175598 581 ((uint32_t)hcan->pTxMsg->Data[4]));
mbed_official 237:f3da66175598 582 /* Request transmission */
mbed_official 237:f3da66175598 583 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
mbed_official 237:f3da66175598 584
mbed_official 237:f3da66175598 585 /* Get timeout */
mbed_official 237:f3da66175598 586 tickstart = HAL_GetTick();
mbed_official 237:f3da66175598 587
mbed_official 237:f3da66175598 588 /* Check End of transmission flag */
mbed_official 237:f3da66175598 589 while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
mbed_official 237:f3da66175598 590 {
mbed_official 237:f3da66175598 591 /* Check for the Timeout */
mbed_official 237:f3da66175598 592 if(Timeout != HAL_MAX_DELAY)
mbed_official 237:f3da66175598 593 {
mbed_official 237:f3da66175598 594 if((Timeout == 0) || ((HAL_GetTick()-tickstart) > Timeout))
mbed_official 237:f3da66175598 595 {
mbed_official 237:f3da66175598 596 hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official 237:f3da66175598 597 /* Process unlocked */
mbed_official 237:f3da66175598 598 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 599 return HAL_TIMEOUT;
mbed_official 237:f3da66175598 600 }
mbed_official 237:f3da66175598 601 }
mbed_official 237:f3da66175598 602 }
mbed_official 237:f3da66175598 603 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official 237:f3da66175598 604 {
mbed_official 237:f3da66175598 605 /* Change CAN state */
mbed_official 237:f3da66175598 606 hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official 237:f3da66175598 607 }
mbed_official 237:f3da66175598 608 else
mbed_official 237:f3da66175598 609 {
mbed_official 237:f3da66175598 610 /* Change CAN state */
mbed_official 237:f3da66175598 611 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 612 }
mbed_official 237:f3da66175598 613
mbed_official 237:f3da66175598 614 /* Process unlocked */
mbed_official 237:f3da66175598 615 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 616
mbed_official 237:f3da66175598 617 /* Return function status */
mbed_official 237:f3da66175598 618 return HAL_OK;
mbed_official 237:f3da66175598 619 }
mbed_official 237:f3da66175598 620 else
mbed_official 237:f3da66175598 621 {
mbed_official 237:f3da66175598 622 /* Change CAN state */
mbed_official 237:f3da66175598 623 hcan->State = HAL_CAN_STATE_ERROR;
mbed_official 237:f3da66175598 624
mbed_official 237:f3da66175598 625 /* Process unlocked */
mbed_official 237:f3da66175598 626 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 627
mbed_official 237:f3da66175598 628 /* Return function status */
mbed_official 237:f3da66175598 629 return HAL_ERROR;
mbed_official 237:f3da66175598 630 }
mbed_official 237:f3da66175598 631 }
mbed_official 237:f3da66175598 632
mbed_official 237:f3da66175598 633 /**
mbed_official 237:f3da66175598 634 * @brief Initiates and transmits a CAN frame message.
mbed_official 237:f3da66175598 635 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 636 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 637 * @retval HAL status
mbed_official 237:f3da66175598 638 */
mbed_official 237:f3da66175598 639 HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 640 {
mbed_official 237:f3da66175598 641 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
mbed_official 237:f3da66175598 642
mbed_official 237:f3da66175598 643 /* Check the parameters */
mbed_official 237:f3da66175598 644 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
mbed_official 237:f3da66175598 645 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
mbed_official 237:f3da66175598 646 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
mbed_official 237:f3da66175598 647
mbed_official 237:f3da66175598 648 if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_RX))
mbed_official 237:f3da66175598 649 {
mbed_official 237:f3da66175598 650 /* Process Locked */
mbed_official 237:f3da66175598 651 __HAL_LOCK(hcan);
mbed_official 237:f3da66175598 652
mbed_official 237:f3da66175598 653 /* Select one empty transmit mailbox */
mbed_official 237:f3da66175598 654 if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
mbed_official 237:f3da66175598 655 {
mbed_official 237:f3da66175598 656 transmitmailbox = 0;
mbed_official 237:f3da66175598 657 }
mbed_official 237:f3da66175598 658 else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
mbed_official 237:f3da66175598 659 {
mbed_official 237:f3da66175598 660 transmitmailbox = 1;
mbed_official 237:f3da66175598 661 }
mbed_official 237:f3da66175598 662 else if((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
mbed_official 237:f3da66175598 663 {
mbed_official 237:f3da66175598 664 transmitmailbox = 2;
mbed_official 237:f3da66175598 665 }
mbed_official 237:f3da66175598 666
mbed_official 237:f3da66175598 667 if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
mbed_official 237:f3da66175598 668 {
mbed_official 237:f3da66175598 669 /* Set up the Id */
mbed_official 237:f3da66175598 670 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
mbed_official 237:f3da66175598 671 if(hcan->pTxMsg->IDE == CAN_ID_STD)
mbed_official 237:f3da66175598 672 {
mbed_official 237:f3da66175598 673 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
mbed_official 237:f3da66175598 674 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
mbed_official 237:f3da66175598 675 hcan->pTxMsg->RTR);
mbed_official 237:f3da66175598 676 }
mbed_official 237:f3da66175598 677 else
mbed_official 237:f3da66175598 678 {
mbed_official 237:f3da66175598 679 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
mbed_official 237:f3da66175598 680 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
mbed_official 237:f3da66175598 681 hcan->pTxMsg->IDE | \
mbed_official 237:f3da66175598 682 hcan->pTxMsg->RTR);
mbed_official 237:f3da66175598 683 }
mbed_official 237:f3da66175598 684
mbed_official 237:f3da66175598 685 /* Set up the DLC */
mbed_official 237:f3da66175598 686 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
mbed_official 237:f3da66175598 687 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
mbed_official 237:f3da66175598 688 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
mbed_official 237:f3da66175598 689
mbed_official 237:f3da66175598 690 /* Set up the data field */
mbed_official 237:f3da66175598 691 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
mbed_official 237:f3da66175598 692 ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
mbed_official 237:f3da66175598 693 ((uint32_t)hcan->pTxMsg->Data[1] << 8) |
mbed_official 237:f3da66175598 694 ((uint32_t)hcan->pTxMsg->Data[0]));
mbed_official 237:f3da66175598 695 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
mbed_official 237:f3da66175598 696 ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
mbed_official 237:f3da66175598 697 ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
mbed_official 237:f3da66175598 698 ((uint32_t)hcan->pTxMsg->Data[4]));
mbed_official 237:f3da66175598 699
mbed_official 237:f3da66175598 700 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official 237:f3da66175598 701 {
mbed_official 237:f3da66175598 702 /* Change CAN state */
mbed_official 237:f3da66175598 703 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official 237:f3da66175598 704 }
mbed_official 237:f3da66175598 705 else
mbed_official 237:f3da66175598 706 {
mbed_official 237:f3da66175598 707 /* Change CAN state */
mbed_official 237:f3da66175598 708 hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official 237:f3da66175598 709 }
mbed_official 237:f3da66175598 710
mbed_official 237:f3da66175598 711 /* Set CAN error code to none */
mbed_official 237:f3da66175598 712 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official 237:f3da66175598 713
mbed_official 237:f3da66175598 714 /* Process Unlocked */
mbed_official 237:f3da66175598 715 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 716
mbed_official 237:f3da66175598 717 /* Enable Error warning Interrupt */
mbed_official 237:f3da66175598 718 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
mbed_official 237:f3da66175598 719
mbed_official 237:f3da66175598 720 /* Enable Error passive Interrupt */
mbed_official 237:f3da66175598 721 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
mbed_official 237:f3da66175598 722
mbed_official 237:f3da66175598 723 /* Enable Bus-off Interrupt */
mbed_official 237:f3da66175598 724 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
mbed_official 237:f3da66175598 725
mbed_official 237:f3da66175598 726 /* Enable Last error code Interrupt */
mbed_official 237:f3da66175598 727 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
mbed_official 237:f3da66175598 728
mbed_official 237:f3da66175598 729 /* Enable Error Interrupt */
mbed_official 237:f3da66175598 730 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
mbed_official 237:f3da66175598 731
mbed_official 237:f3da66175598 732 /* Enable Transmit mailbox empty Interrupt */
mbed_official 237:f3da66175598 733 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME);
mbed_official 237:f3da66175598 734
mbed_official 237:f3da66175598 735 /* Request transmission */
mbed_official 237:f3da66175598 736 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
mbed_official 237:f3da66175598 737 }
mbed_official 237:f3da66175598 738 }
mbed_official 237:f3da66175598 739 else
mbed_official 237:f3da66175598 740 {
mbed_official 237:f3da66175598 741 return HAL_BUSY;
mbed_official 237:f3da66175598 742 }
mbed_official 237:f3da66175598 743
mbed_official 237:f3da66175598 744 return HAL_OK;
mbed_official 237:f3da66175598 745 }
mbed_official 237:f3da66175598 746
mbed_official 237:f3da66175598 747 /**
mbed_official 237:f3da66175598 748 * @brief Receives a correct CAN frame.
mbed_official 237:f3da66175598 749 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 750 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 751 * @param FIFONumber: FIFO number.
mbed_official 237:f3da66175598 752 * @param Timeout: Timeout duration.
mbed_official 237:f3da66175598 753 * @retval HAL status
mbed_official 237:f3da66175598 754 * @retval None
mbed_official 237:f3da66175598 755 */
mbed_official 237:f3da66175598 756 HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
mbed_official 237:f3da66175598 757 {
mbed_official 237:f3da66175598 758 uint32_t tickstart = 0;
mbed_official 237:f3da66175598 759
mbed_official 237:f3da66175598 760 /* Check the parameters */
mbed_official 237:f3da66175598 761 assert_param(IS_CAN_FIFO(FIFONumber));
mbed_official 237:f3da66175598 762
mbed_official 237:f3da66175598 763 /* Process locked */
mbed_official 237:f3da66175598 764 __HAL_LOCK(hcan);
mbed_official 237:f3da66175598 765
mbed_official 237:f3da66175598 766 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official 237:f3da66175598 767 {
mbed_official 237:f3da66175598 768 /* Change CAN state */
mbed_official 237:f3da66175598 769 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official 237:f3da66175598 770 }
mbed_official 237:f3da66175598 771 else
mbed_official 237:f3da66175598 772 {
mbed_official 237:f3da66175598 773 /* Change CAN state */
mbed_official 237:f3da66175598 774 hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official 237:f3da66175598 775 }
mbed_official 237:f3da66175598 776
mbed_official 237:f3da66175598 777 /* Get timeout */
mbed_official 237:f3da66175598 778 tickstart = HAL_GetTick();
mbed_official 237:f3da66175598 779
mbed_official 237:f3da66175598 780 /* Check pending message */
mbed_official 237:f3da66175598 781 while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0)
mbed_official 237:f3da66175598 782 {
mbed_official 237:f3da66175598 783 /* Check for the Timeout */
mbed_official 237:f3da66175598 784 if(Timeout != HAL_MAX_DELAY)
mbed_official 237:f3da66175598 785 {
mbed_official 237:f3da66175598 786 if((Timeout == 0) || ((HAL_GetTick()-tickstart) > Timeout))
mbed_official 237:f3da66175598 787 {
mbed_official 237:f3da66175598 788 hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official 237:f3da66175598 789 /* Process unlocked */
mbed_official 237:f3da66175598 790 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 791 return HAL_TIMEOUT;
mbed_official 237:f3da66175598 792 }
mbed_official 237:f3da66175598 793 }
mbed_official 237:f3da66175598 794 }
mbed_official 237:f3da66175598 795
mbed_official 237:f3da66175598 796 /* Get the Id */
mbed_official 237:f3da66175598 797 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official 237:f3da66175598 798 if (hcan->pRxMsg->IDE == CAN_ID_STD)
mbed_official 237:f3da66175598 799 {
mbed_official 237:f3da66175598 800 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
mbed_official 237:f3da66175598 801 }
mbed_official 237:f3da66175598 802 else
mbed_official 237:f3da66175598 803 {
mbed_official 237:f3da66175598 804 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
mbed_official 237:f3da66175598 805 }
mbed_official 237:f3da66175598 806
mbed_official 237:f3da66175598 807 hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official 237:f3da66175598 808 /* Get the DLC */
mbed_official 237:f3da66175598 809 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
mbed_official 237:f3da66175598 810 /* Get the FMI */
mbed_official 237:f3da66175598 811 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
mbed_official 237:f3da66175598 812 /* Get the data field */
mbed_official 237:f3da66175598 813 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
mbed_official 237:f3da66175598 814 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
mbed_official 237:f3da66175598 815 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
mbed_official 237:f3da66175598 816 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
mbed_official 237:f3da66175598 817 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
mbed_official 237:f3da66175598 818 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
mbed_official 237:f3da66175598 819 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
mbed_official 237:f3da66175598 820 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
mbed_official 237:f3da66175598 821
mbed_official 237:f3da66175598 822 /* Release the FIFO */
mbed_official 237:f3da66175598 823 if(FIFONumber == CAN_FIFO0)
mbed_official 237:f3da66175598 824 {
mbed_official 237:f3da66175598 825 /* Release FIFO0 */
mbed_official 237:f3da66175598 826 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
mbed_official 237:f3da66175598 827 }
mbed_official 237:f3da66175598 828 else /* FIFONumber == CAN_FIFO1 */
mbed_official 237:f3da66175598 829 {
mbed_official 237:f3da66175598 830 /* Release FIFO1 */
mbed_official 237:f3da66175598 831 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
mbed_official 237:f3da66175598 832 }
mbed_official 237:f3da66175598 833
mbed_official 237:f3da66175598 834 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official 237:f3da66175598 835 {
mbed_official 237:f3da66175598 836 /* Change CAN state */
mbed_official 237:f3da66175598 837 hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official 237:f3da66175598 838 }
mbed_official 237:f3da66175598 839 else
mbed_official 237:f3da66175598 840 {
mbed_official 237:f3da66175598 841 /* Change CAN state */
mbed_official 237:f3da66175598 842 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 843 }
mbed_official 237:f3da66175598 844
mbed_official 237:f3da66175598 845 /* Process unlocked */
mbed_official 237:f3da66175598 846 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 847
mbed_official 237:f3da66175598 848 /* Return function status */
mbed_official 237:f3da66175598 849 return HAL_OK;
mbed_official 237:f3da66175598 850 }
mbed_official 237:f3da66175598 851
mbed_official 237:f3da66175598 852 /**
mbed_official 237:f3da66175598 853 * @brief Receives a correct CAN frame.
mbed_official 237:f3da66175598 854 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 855 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 856 * @param FIFONumber: FIFO number.
mbed_official 237:f3da66175598 857 * @retval HAL status
mbed_official 237:f3da66175598 858 * @retval None
mbed_official 237:f3da66175598 859 */
mbed_official 237:f3da66175598 860 HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
mbed_official 237:f3da66175598 861 {
mbed_official 237:f3da66175598 862 /* Check the parameters */
mbed_official 237:f3da66175598 863 assert_param(IS_CAN_FIFO(FIFONumber));
mbed_official 237:f3da66175598 864
mbed_official 237:f3da66175598 865 if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_TX))
mbed_official 237:f3da66175598 866 {
mbed_official 237:f3da66175598 867 /* Process locked */
mbed_official 237:f3da66175598 868 __HAL_LOCK(hcan);
mbed_official 237:f3da66175598 869
mbed_official 237:f3da66175598 870 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official 237:f3da66175598 871 {
mbed_official 237:f3da66175598 872 /* Change CAN state */
mbed_official 237:f3da66175598 873 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
mbed_official 237:f3da66175598 874 }
mbed_official 237:f3da66175598 875 else
mbed_official 237:f3da66175598 876 {
mbed_official 237:f3da66175598 877 /* Change CAN state */
mbed_official 237:f3da66175598 878 hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official 237:f3da66175598 879 }
mbed_official 237:f3da66175598 880
mbed_official 237:f3da66175598 881 /* Set CAN error code to none */
mbed_official 237:f3da66175598 882 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
mbed_official 237:f3da66175598 883
mbed_official 237:f3da66175598 884 /* Enable Error warning Interrupt */
mbed_official 237:f3da66175598 885 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
mbed_official 237:f3da66175598 886
mbed_official 237:f3da66175598 887 /* Enable Error passive Interrupt */
mbed_official 237:f3da66175598 888 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
mbed_official 237:f3da66175598 889
mbed_official 237:f3da66175598 890 /* Enable Bus-off Interrupt */
mbed_official 237:f3da66175598 891 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
mbed_official 237:f3da66175598 892
mbed_official 237:f3da66175598 893 /* Enable Last error code Interrupt */
mbed_official 237:f3da66175598 894 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
mbed_official 237:f3da66175598 895
mbed_official 237:f3da66175598 896 /* Enable Error Interrupt */
mbed_official 237:f3da66175598 897 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
mbed_official 237:f3da66175598 898
mbed_official 237:f3da66175598 899 /* Process unlocked */
mbed_official 237:f3da66175598 900 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 901
mbed_official 237:f3da66175598 902 if(FIFONumber == CAN_FIFO0)
mbed_official 237:f3da66175598 903 {
mbed_official 237:f3da66175598 904 /* Enable FIFO 0 message pending Interrupt */
mbed_official 237:f3da66175598 905 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);
mbed_official 237:f3da66175598 906 }
mbed_official 237:f3da66175598 907 else
mbed_official 237:f3da66175598 908 {
mbed_official 237:f3da66175598 909 /* Enable FIFO 1 message pending Interrupt */
mbed_official 237:f3da66175598 910 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);
mbed_official 237:f3da66175598 911 }
mbed_official 237:f3da66175598 912
mbed_official 237:f3da66175598 913 }
mbed_official 237:f3da66175598 914 else
mbed_official 237:f3da66175598 915 {
mbed_official 237:f3da66175598 916 return HAL_BUSY;
mbed_official 237:f3da66175598 917 }
mbed_official 237:f3da66175598 918
mbed_official 237:f3da66175598 919 /* Return function status */
mbed_official 237:f3da66175598 920 return HAL_OK;
mbed_official 237:f3da66175598 921 }
mbed_official 237:f3da66175598 922
mbed_official 237:f3da66175598 923 /**
mbed_official 237:f3da66175598 924 * @brief Enters the Sleep (low power) mode.
mbed_official 237:f3da66175598 925 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 926 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 927 * @retval HAL status.
mbed_official 237:f3da66175598 928 */
mbed_official 237:f3da66175598 929 HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 930 {
mbed_official 237:f3da66175598 931 uint32_t tickstart = 0;
mbed_official 237:f3da66175598 932
mbed_official 237:f3da66175598 933 /* Process locked */
mbed_official 237:f3da66175598 934 __HAL_LOCK(hcan);
mbed_official 237:f3da66175598 935
mbed_official 237:f3da66175598 936 /* Change CAN state */
mbed_official 237:f3da66175598 937 hcan->State = HAL_CAN_STATE_BUSY;
mbed_official 237:f3da66175598 938
mbed_official 237:f3da66175598 939 /* Request Sleep mode */
mbed_official 237:f3da66175598 940 hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
mbed_official 237:f3da66175598 941
mbed_official 237:f3da66175598 942 /* Sleep mode status */
mbed_official 237:f3da66175598 943 if ((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
mbed_official 237:f3da66175598 944 {
mbed_official 237:f3da66175598 945 /* Process unlocked */
mbed_official 237:f3da66175598 946 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 947
mbed_official 237:f3da66175598 948 /* Return function status */
mbed_official 237:f3da66175598 949 return HAL_ERROR;
mbed_official 237:f3da66175598 950 }
mbed_official 237:f3da66175598 951
mbed_official 237:f3da66175598 952 /* Get timeout */
mbed_official 237:f3da66175598 953 tickstart = HAL_GetTick();
mbed_official 237:f3da66175598 954
mbed_official 237:f3da66175598 955 /* Wait the acknowledge */
mbed_official 237:f3da66175598 956 while((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
mbed_official 237:f3da66175598 957 {
mbed_official 237:f3da66175598 958 if((HAL_GetTick()-tickstart) > 10)
mbed_official 237:f3da66175598 959 {
mbed_official 237:f3da66175598 960 hcan->State = HAL_CAN_STATE_TIMEOUT;
mbed_official 237:f3da66175598 961 /* Process unlocked */
mbed_official 237:f3da66175598 962 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 963 return HAL_TIMEOUT;
mbed_official 237:f3da66175598 964 }
mbed_official 237:f3da66175598 965 }
mbed_official 237:f3da66175598 966
mbed_official 237:f3da66175598 967 /* Change CAN state */
mbed_official 237:f3da66175598 968 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 969
mbed_official 237:f3da66175598 970 /* Process unlocked */
mbed_official 237:f3da66175598 971 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 972
mbed_official 237:f3da66175598 973 /* Return function status */
mbed_official 237:f3da66175598 974 return HAL_OK;
mbed_official 237:f3da66175598 975 }
mbed_official 237:f3da66175598 976
mbed_official 237:f3da66175598 977 /**
mbed_official 237:f3da66175598 978 * @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
mbed_official 237:f3da66175598 979 * is in the normal mode.
mbed_official 237:f3da66175598 980 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 981 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 982 * @retval HAL status.
mbed_official 237:f3da66175598 983 */
mbed_official 237:f3da66175598 984 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 985 {
mbed_official 237:f3da66175598 986 uint32_t tickstart = 0;
mbed_official 237:f3da66175598 987
mbed_official 237:f3da66175598 988 /* Process locked */
mbed_official 237:f3da66175598 989 __HAL_LOCK(hcan);
mbed_official 237:f3da66175598 990
mbed_official 237:f3da66175598 991 /* Change CAN state */
mbed_official 237:f3da66175598 992 hcan->State = HAL_CAN_STATE_BUSY;
mbed_official 237:f3da66175598 993
mbed_official 237:f3da66175598 994 /* Wake up request */
mbed_official 237:f3da66175598 995 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
mbed_official 237:f3da66175598 996
mbed_official 237:f3da66175598 997 /* Get timeout */
mbed_official 237:f3da66175598 998 tickstart = HAL_GetTick();
mbed_official 237:f3da66175598 999
mbed_official 237:f3da66175598 1000 /* Sleep mode status */
mbed_official 237:f3da66175598 1001 while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
mbed_official 237:f3da66175598 1002 {
mbed_official 237:f3da66175598 1003 if((HAL_GetTick()-tickstart) > 10)
mbed_official 237:f3da66175598 1004 {
mbed_official 237:f3da66175598 1005 hcan->State= HAL_CAN_STATE_TIMEOUT;
mbed_official 237:f3da66175598 1006 /* Process unlocked */
mbed_official 237:f3da66175598 1007 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 1008 return HAL_TIMEOUT;
mbed_official 237:f3da66175598 1009 }
mbed_official 237:f3da66175598 1010 }
mbed_official 237:f3da66175598 1011 if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
mbed_official 237:f3da66175598 1012 {
mbed_official 237:f3da66175598 1013 /* Process unlocked */
mbed_official 237:f3da66175598 1014 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 1015
mbed_official 237:f3da66175598 1016 /* Return function status */
mbed_official 237:f3da66175598 1017 return HAL_ERROR;
mbed_official 237:f3da66175598 1018 }
mbed_official 237:f3da66175598 1019
mbed_official 237:f3da66175598 1020 /* Change CAN state */
mbed_official 237:f3da66175598 1021 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 1022
mbed_official 237:f3da66175598 1023 /* Process unlocked */
mbed_official 237:f3da66175598 1024 __HAL_UNLOCK(hcan);
mbed_official 237:f3da66175598 1025
mbed_official 237:f3da66175598 1026 /* Return function status */
mbed_official 237:f3da66175598 1027 return HAL_OK;
mbed_official 237:f3da66175598 1028 }
mbed_official 237:f3da66175598 1029
mbed_official 237:f3da66175598 1030 /**
mbed_official 237:f3da66175598 1031 * @brief Handles CAN interrupt request
mbed_official 237:f3da66175598 1032 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1033 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1034 * @retval None
mbed_official 237:f3da66175598 1035 */
mbed_official 237:f3da66175598 1036 void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 1037 {
mbed_official 237:f3da66175598 1038 /* Check End of transmission flag */
mbed_official 237:f3da66175598 1039 if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
mbed_official 237:f3da66175598 1040 {
mbed_official 237:f3da66175598 1041 if((__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0)) ||
mbed_official 237:f3da66175598 1042 (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1)) ||
mbed_official 237:f3da66175598 1043 (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2)))
mbed_official 237:f3da66175598 1044 {
mbed_official 237:f3da66175598 1045 /* Call transmit function */
mbed_official 237:f3da66175598 1046 CAN_Transmit_IT(hcan);
mbed_official 237:f3da66175598 1047 }
mbed_official 237:f3da66175598 1048 }
mbed_official 237:f3da66175598 1049
mbed_official 237:f3da66175598 1050 /* Check End of reception flag for FIFO0 */
mbed_official 237:f3da66175598 1051 if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0)) &&
mbed_official 237:f3da66175598 1052 (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0) != 0))
mbed_official 237:f3da66175598 1053 {
mbed_official 237:f3da66175598 1054 /* Call receive function */
mbed_official 237:f3da66175598 1055 CAN_Receive_IT(hcan, CAN_FIFO0);
mbed_official 237:f3da66175598 1056 }
mbed_official 237:f3da66175598 1057
mbed_official 237:f3da66175598 1058 /* Check End of reception flag for FIFO1 */
mbed_official 237:f3da66175598 1059 if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1)) &&
mbed_official 237:f3da66175598 1060 (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1) != 0))
mbed_official 237:f3da66175598 1061 {
mbed_official 237:f3da66175598 1062 /* Call receive function */
mbed_official 237:f3da66175598 1063 CAN_Receive_IT(hcan, CAN_FIFO1);
mbed_official 237:f3da66175598 1064 }
mbed_official 237:f3da66175598 1065
mbed_official 237:f3da66175598 1066 /* Check Error Warning Flag */
mbed_official 237:f3da66175598 1067 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG)) &&
mbed_official 237:f3da66175598 1068 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG)) &&
mbed_official 237:f3da66175598 1069 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
mbed_official 237:f3da66175598 1070 {
mbed_official 237:f3da66175598 1071 /* Set CAN error code to EWG error */
mbed_official 237:f3da66175598 1072 hcan->ErrorCode |= HAL_CAN_ERROR_EWG;
mbed_official 237:f3da66175598 1073 /* No need for clear of Error Warning Flag as read-only */
mbed_official 237:f3da66175598 1074 }
mbed_official 237:f3da66175598 1075
mbed_official 237:f3da66175598 1076 /* Check Error Passive Flag */
mbed_official 237:f3da66175598 1077 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV)) &&
mbed_official 237:f3da66175598 1078 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV)) &&
mbed_official 237:f3da66175598 1079 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
mbed_official 237:f3da66175598 1080 {
mbed_official 237:f3da66175598 1081 /* Set CAN error code to EPV error */
mbed_official 237:f3da66175598 1082 hcan->ErrorCode |= HAL_CAN_ERROR_EPV;
mbed_official 237:f3da66175598 1083 /* No need for clear of Error Passive Flag as read-only */
mbed_official 237:f3da66175598 1084 }
mbed_official 237:f3da66175598 1085
mbed_official 237:f3da66175598 1086 /* Check Bus-Off Flag */
mbed_official 237:f3da66175598 1087 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF)) &&
mbed_official 237:f3da66175598 1088 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF)) &&
mbed_official 237:f3da66175598 1089 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
mbed_official 237:f3da66175598 1090 {
mbed_official 237:f3da66175598 1091 /* Set CAN error code to BOF error */
mbed_official 237:f3da66175598 1092 hcan->ErrorCode |= HAL_CAN_ERROR_BOF;
mbed_official 237:f3da66175598 1093 /* No need for clear of Bus-Off Flag as read-only */
mbed_official 237:f3da66175598 1094 }
mbed_official 237:f3da66175598 1095
mbed_official 237:f3da66175598 1096 /* Check Last error code Flag */
mbed_official 237:f3da66175598 1097 if((!HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC)) &&
mbed_official 237:f3da66175598 1098 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC)) &&
mbed_official 237:f3da66175598 1099 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
mbed_official 237:f3da66175598 1100 {
mbed_official 237:f3da66175598 1101 switch(hcan->Instance->ESR & CAN_ESR_LEC)
mbed_official 237:f3da66175598 1102 {
mbed_official 237:f3da66175598 1103 case(CAN_ESR_LEC_0):
mbed_official 237:f3da66175598 1104 /* Set CAN error code to STF error */
mbed_official 237:f3da66175598 1105 hcan->ErrorCode |= HAL_CAN_ERROR_STF;
mbed_official 237:f3da66175598 1106 break;
mbed_official 237:f3da66175598 1107 case(CAN_ESR_LEC_1):
mbed_official 237:f3da66175598 1108 /* Set CAN error code to FOR error */
mbed_official 237:f3da66175598 1109 hcan->ErrorCode |= HAL_CAN_ERROR_FOR;
mbed_official 237:f3da66175598 1110 break;
mbed_official 237:f3da66175598 1111 case(CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
mbed_official 237:f3da66175598 1112 /* Set CAN error code to ACK error */
mbed_official 237:f3da66175598 1113 hcan->ErrorCode |= HAL_CAN_ERROR_ACK;
mbed_official 237:f3da66175598 1114 break;
mbed_official 237:f3da66175598 1115 case(CAN_ESR_LEC_2):
mbed_official 237:f3da66175598 1116 /* Set CAN error code to BR error */
mbed_official 237:f3da66175598 1117 hcan->ErrorCode |= HAL_CAN_ERROR_BR;
mbed_official 237:f3da66175598 1118 break;
mbed_official 237:f3da66175598 1119 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
mbed_official 237:f3da66175598 1120 /* Set CAN error code to BD error */
mbed_official 237:f3da66175598 1121 hcan->ErrorCode |= HAL_CAN_ERROR_BD;
mbed_official 237:f3da66175598 1122 break;
mbed_official 237:f3da66175598 1123 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
mbed_official 237:f3da66175598 1124 /* Set CAN error code to CRC error */
mbed_official 237:f3da66175598 1125 hcan->ErrorCode |= HAL_CAN_ERROR_CRC;
mbed_official 237:f3da66175598 1126 break;
mbed_official 237:f3da66175598 1127 default:
mbed_official 237:f3da66175598 1128 break;
mbed_official 237:f3da66175598 1129 }
mbed_official 237:f3da66175598 1130
mbed_official 237:f3da66175598 1131 /* Clear Last error code Flag */
mbed_official 237:f3da66175598 1132 hcan->Instance->ESR &= ~(CAN_ESR_LEC);
mbed_official 237:f3da66175598 1133 }
mbed_official 237:f3da66175598 1134
mbed_official 237:f3da66175598 1135 /* Call the Error call Back in case of Errors */
mbed_official 237:f3da66175598 1136 if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
mbed_official 237:f3da66175598 1137 {
mbed_official 237:f3da66175598 1138 /* Set the CAN state ready to be able to start again the process */
mbed_official 237:f3da66175598 1139 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 1140 /* Call Error callback function */
mbed_official 237:f3da66175598 1141 HAL_CAN_ErrorCallback(hcan);
mbed_official 237:f3da66175598 1142 }
mbed_official 237:f3da66175598 1143 }
mbed_official 237:f3da66175598 1144
mbed_official 237:f3da66175598 1145 /**
mbed_official 237:f3da66175598 1146 * @brief Transmission complete callback in non blocking mode
mbed_official 237:f3da66175598 1147 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1148 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1149 * @retval None
mbed_official 237:f3da66175598 1150 */
mbed_official 237:f3da66175598 1151 __weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 1152 {
mbed_official 237:f3da66175598 1153 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 237:f3da66175598 1154 the HAL_CAN_TxCpltCallback could be implemented in the user file
mbed_official 237:f3da66175598 1155 */
mbed_official 237:f3da66175598 1156 }
mbed_official 237:f3da66175598 1157
mbed_official 237:f3da66175598 1158 /**
mbed_official 237:f3da66175598 1159 * @brief Transmission complete callback in non blocking mode
mbed_official 237:f3da66175598 1160 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1161 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1162 * @retval None
mbed_official 237:f3da66175598 1163 */
mbed_official 237:f3da66175598 1164 __weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 1165 {
mbed_official 237:f3da66175598 1166 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 237:f3da66175598 1167 the HAL_CAN_RxCpltCallback could be implemented in the user file
mbed_official 237:f3da66175598 1168 */
mbed_official 237:f3da66175598 1169 }
mbed_official 237:f3da66175598 1170
mbed_official 237:f3da66175598 1171 /**
mbed_official 237:f3da66175598 1172 * @brief Error CAN callback.
mbed_official 237:f3da66175598 1173 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1174 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1175 * @retval None
mbed_official 237:f3da66175598 1176 */
mbed_official 237:f3da66175598 1177 __weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
mbed_official 237:f3da66175598 1178 {
mbed_official 237:f3da66175598 1179 /* NOTE : This function Should not be modified, when the callback is needed,
mbed_official 237:f3da66175598 1180 the HAL_CAN_ErrorCallback could be implemented in the user file
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
mbed_official 375:3d36234a1087 1188 /** @defgroup CAN_Exported_Functions_Group3 Peripheral State and Error functions
mbed_official 237:f3da66175598 1189 * @brief CAN Peripheral State functions
mbed_official 237:f3da66175598 1190 *
mbed_official 237:f3da66175598 1191 @verbatim
mbed_official 237:f3da66175598 1192 ==============================================================================
mbed_official 237:f3da66175598 1193 ##### Peripheral State and Error functions #####
mbed_official 237:f3da66175598 1194 ==============================================================================
mbed_official 237:f3da66175598 1195 [..]
mbed_official 237:f3da66175598 1196 This subsection provides functions allowing to :
mbed_official 237:f3da66175598 1197 (+) Check the CAN state.
mbed_official 237:f3da66175598 1198 (+) Check CAN Errors detected during interrupt process
mbed_official 237:f3da66175598 1199
mbed_official 237:f3da66175598 1200 @endverbatim
mbed_official 237:f3da66175598 1201 * @{
mbed_official 237:f3da66175598 1202 */
mbed_official 237:f3da66175598 1203
mbed_official 237:f3da66175598 1204 /**
mbed_official 237:f3da66175598 1205 * @brief return the CAN state
mbed_official 237:f3da66175598 1206 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1207 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1208 * @retval HAL state
mbed_official 237:f3da66175598 1209 */
mbed_official 237:f3da66175598 1210 HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 1211 {
mbed_official 237:f3da66175598 1212 /* Return CAN state */
mbed_official 237:f3da66175598 1213 return hcan->State;
mbed_official 237:f3da66175598 1214 }
mbed_official 237:f3da66175598 1215
mbed_official 237:f3da66175598 1216 /**
mbed_official 237:f3da66175598 1217 * @brief Return the CAN error code
mbed_official 237:f3da66175598 1218 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1219 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1220 * @retval CAN Error Code
mbed_official 237:f3da66175598 1221 */
mbed_official 237:f3da66175598 1222 uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
mbed_official 237:f3da66175598 1223 {
mbed_official 237:f3da66175598 1224 return hcan->ErrorCode;
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 /**
mbed_official 375:3d36234a1087 1232 * @}
mbed_official 375:3d36234a1087 1233 */
mbed_official 375:3d36234a1087 1234
mbed_official 375:3d36234a1087 1235 /** @defgroup CAN_Private_Functions CAN Private Functions
mbed_official 375:3d36234a1087 1236 * @{
mbed_official 375:3d36234a1087 1237 */
mbed_official 375:3d36234a1087 1238 /**
mbed_official 237:f3da66175598 1239 * @brief Initiates and transmits a CAN frame message.
mbed_official 237:f3da66175598 1240 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1241 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1242 * @retval HAL status
mbed_official 237:f3da66175598 1243 */
mbed_official 237:f3da66175598 1244 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
mbed_official 237:f3da66175598 1245 {
mbed_official 237:f3da66175598 1246 /* Disable Transmit mailbox empty Interrupt */
mbed_official 237:f3da66175598 1247 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
mbed_official 237:f3da66175598 1248
mbed_official 237:f3da66175598 1249 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
mbed_official 237:f3da66175598 1250 {
mbed_official 237:f3da66175598 1251 /* Disable Error warning Interrupt */
mbed_official 237:f3da66175598 1252 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
mbed_official 237:f3da66175598 1253
mbed_official 237:f3da66175598 1254 /* Disable Error passive Interrupt */
mbed_official 237:f3da66175598 1255 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
mbed_official 237:f3da66175598 1256
mbed_official 237:f3da66175598 1257 /* Disable Bus-off Interrupt */
mbed_official 237:f3da66175598 1258 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
mbed_official 237:f3da66175598 1259
mbed_official 237:f3da66175598 1260 /* Disable Last error code Interrupt */
mbed_official 237:f3da66175598 1261 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
mbed_official 237:f3da66175598 1262
mbed_official 237:f3da66175598 1263 /* Disable Error Interrupt */
mbed_official 237:f3da66175598 1264 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
mbed_official 237:f3da66175598 1265 }
mbed_official 237:f3da66175598 1266
mbed_official 237:f3da66175598 1267 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official 237:f3da66175598 1268 {
mbed_official 237:f3da66175598 1269 /* Change CAN state */
mbed_official 237:f3da66175598 1270 hcan->State = HAL_CAN_STATE_BUSY_RX;
mbed_official 237:f3da66175598 1271 }
mbed_official 237:f3da66175598 1272 else
mbed_official 237:f3da66175598 1273 {
mbed_official 237:f3da66175598 1274 /* Change CAN state */
mbed_official 237:f3da66175598 1275 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 1276 }
mbed_official 237:f3da66175598 1277
mbed_official 237:f3da66175598 1278 /* Transmission complete callback */
mbed_official 237:f3da66175598 1279 HAL_CAN_TxCpltCallback(hcan);
mbed_official 237:f3da66175598 1280
mbed_official 237:f3da66175598 1281 return HAL_OK;
mbed_official 237:f3da66175598 1282 }
mbed_official 237:f3da66175598 1283
mbed_official 237:f3da66175598 1284 /**
mbed_official 237:f3da66175598 1285 * @brief Receives a correct CAN frame.
mbed_official 237:f3da66175598 1286 * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
mbed_official 237:f3da66175598 1287 * the configuration information for the specified CAN.
mbed_official 237:f3da66175598 1288 * @param FIFONumber: Specify the FIFO number
mbed_official 237:f3da66175598 1289 * @retval HAL status
mbed_official 237:f3da66175598 1290 * @retval None
mbed_official 237:f3da66175598 1291 */
mbed_official 237:f3da66175598 1292 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
mbed_official 237:f3da66175598 1293 {
mbed_official 237:f3da66175598 1294 /* Get the Id */
mbed_official 237:f3da66175598 1295 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official 237:f3da66175598 1296 if (hcan->pRxMsg->IDE == CAN_ID_STD)
mbed_official 237:f3da66175598 1297 {
mbed_official 237:f3da66175598 1298 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
mbed_official 237:f3da66175598 1299 }
mbed_official 237:f3da66175598 1300 else
mbed_official 237:f3da66175598 1301 {
mbed_official 237:f3da66175598 1302 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
mbed_official 237:f3da66175598 1303 }
mbed_official 237:f3da66175598 1304
mbed_official 237:f3da66175598 1305 hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
mbed_official 237:f3da66175598 1306 /* Get the DLC */
mbed_official 237:f3da66175598 1307 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
mbed_official 237:f3da66175598 1308 /* Get the FMI */
mbed_official 237:f3da66175598 1309 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
mbed_official 237:f3da66175598 1310 /* Get the data field */
mbed_official 237:f3da66175598 1311 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
mbed_official 237:f3da66175598 1312 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
mbed_official 237:f3da66175598 1313 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
mbed_official 237:f3da66175598 1314 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
mbed_official 237:f3da66175598 1315 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
mbed_official 237:f3da66175598 1316 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
mbed_official 237:f3da66175598 1317 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
mbed_official 237:f3da66175598 1318 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
mbed_official 237:f3da66175598 1319 /* Release the FIFO */
mbed_official 237:f3da66175598 1320 /* Release FIFO0 */
mbed_official 237:f3da66175598 1321 if (FIFONumber == CAN_FIFO0)
mbed_official 237:f3da66175598 1322 {
mbed_official 237:f3da66175598 1323 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
mbed_official 237:f3da66175598 1324
mbed_official 237:f3da66175598 1325 /* Disable FIFO 0 message pending Interrupt */
mbed_official 237:f3da66175598 1326 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
mbed_official 237:f3da66175598 1327 }
mbed_official 237:f3da66175598 1328 /* Release FIFO1 */
mbed_official 237:f3da66175598 1329 else /* FIFONumber == CAN_FIFO1 */
mbed_official 237:f3da66175598 1330 {
mbed_official 237:f3da66175598 1331 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
mbed_official 237:f3da66175598 1332
mbed_official 237:f3da66175598 1333 /* Disable FIFO 1 message pending Interrupt */
mbed_official 237:f3da66175598 1334 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
mbed_official 237:f3da66175598 1335 }
mbed_official 237:f3da66175598 1336
mbed_official 237:f3da66175598 1337 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
mbed_official 237:f3da66175598 1338 {
mbed_official 237:f3da66175598 1339 /* Disable Error warning Interrupt */
mbed_official 237:f3da66175598 1340 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
mbed_official 237:f3da66175598 1341
mbed_official 237:f3da66175598 1342 /* Disable Error passive Interrupt */
mbed_official 237:f3da66175598 1343 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
mbed_official 237:f3da66175598 1344
mbed_official 237:f3da66175598 1345 /* Disable Bus-off Interrupt */
mbed_official 237:f3da66175598 1346 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
mbed_official 237:f3da66175598 1347
mbed_official 237:f3da66175598 1348 /* Disable Last error code Interrupt */
mbed_official 237:f3da66175598 1349 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
mbed_official 237:f3da66175598 1350
mbed_official 237:f3da66175598 1351 /* Disable Error Interrupt */
mbed_official 237:f3da66175598 1352 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
mbed_official 237:f3da66175598 1353 }
mbed_official 237:f3da66175598 1354
mbed_official 237:f3da66175598 1355 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
mbed_official 237:f3da66175598 1356 {
mbed_official 237:f3da66175598 1357 /* Disable CAN state */
mbed_official 237:f3da66175598 1358 hcan->State = HAL_CAN_STATE_BUSY_TX;
mbed_official 237:f3da66175598 1359 }
mbed_official 237:f3da66175598 1360 else
mbed_official 237:f3da66175598 1361 {
mbed_official 237:f3da66175598 1362 /* Change CAN state */
mbed_official 237:f3da66175598 1363 hcan->State = HAL_CAN_STATE_READY;
mbed_official 237:f3da66175598 1364 }
mbed_official 237:f3da66175598 1365
mbed_official 237:f3da66175598 1366 /* Receive complete callback */
mbed_official 237:f3da66175598 1367 HAL_CAN_RxCpltCallback(hcan);
mbed_official 237:f3da66175598 1368
mbed_official 237:f3da66175598 1369 /* Return function status */
mbed_official 237:f3da66175598 1370 return HAL_OK;
mbed_official 375:3d36234a1087 1371 }
mbed_official 237:f3da66175598 1372 /**
mbed_official 375:3d36234a1087 1373 * @}
mbed_official 375:3d36234a1087 1374 */
mbed_official 375:3d36234a1087 1375 #endif /* STM32F302xE || STM32F303xE || STM32F398xx || */
mbed_official 375:3d36234a1087 1376 /* STM32F302xC || STM32F303xC || STM32F358xx || */
mbed_official 375:3d36234a1087 1377 /* STM32F303x8 || STM32F334x8 || STM32F328xx || */
mbed_official 375:3d36234a1087 1378 /* STM32F302x8 || */
mbed_official 375:3d36234a1087 1379 /* STM32F373xC || STM32F378xx */
mbed_official 237:f3da66175598 1380
mbed_official 237:f3da66175598 1381 #endif /* HAL_CAN_MODULE_ENABLED */
mbed_official 237:f3da66175598 1382 /**
mbed_official 237:f3da66175598 1383 * @}
mbed_official 237:f3da66175598 1384 */
mbed_official 237:f3da66175598 1385
mbed_official 237:f3da66175598 1386 /**
mbed_official 237:f3da66175598 1387 * @}
mbed_official 237:f3da66175598 1388 */
mbed_official 237:f3da66175598 1389
mbed_official 237:f3da66175598 1390 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/