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targets/cmsis/TARGET_STM/TARGET_NUCLEO_F091RC/stm32f0xx_hal_can.c@340:28d1f895c6fe, 2014-10-09 (annotated)
- Committer:
- mbed_official
- Date:
- Thu Oct 09 08:15:07 2014 +0100
- Revision:
- 340:28d1f895c6fe
Synchronized with git revision b5a4c8e80393336b2656fb29ab46d405d3068602
Full URL: https://github.com/mbedmicro/mbed/commit/b5a4c8e80393336b2656fb29ab46d405d3068602/
HAL: nrf51822 - Few fixes for PWM and Serial
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbed_official | 340:28d1f895c6fe | 1 | /** |
mbed_official | 340:28d1f895c6fe | 2 | ****************************************************************************** |
mbed_official | 340:28d1f895c6fe | 3 | * @file stm32f0xx_hal_can.c |
mbed_official | 340:28d1f895c6fe | 4 | * @author MCD Application Team |
mbed_official | 340:28d1f895c6fe | 5 | * @version V1.1.0 |
mbed_official | 340:28d1f895c6fe | 6 | * @date 03-Oct-2014 |
mbed_official | 340:28d1f895c6fe | 7 | * @brief CAN HAL module driver. |
mbed_official | 340:28d1f895c6fe | 8 | * This file provides firmware functions to manage the following |
mbed_official | 340:28d1f895c6fe | 9 | * functionalities of the Controller Area Network (CAN) peripheral: |
mbed_official | 340:28d1f895c6fe | 10 | * + Initialization and de-initialization functions |
mbed_official | 340:28d1f895c6fe | 11 | * + IO operation functions |
mbed_official | 340:28d1f895c6fe | 12 | * + Peripheral Control functions |
mbed_official | 340:28d1f895c6fe | 13 | * + Peripheral State and Error functions |
mbed_official | 340:28d1f895c6fe | 14 | * |
mbed_official | 340:28d1f895c6fe | 15 | @verbatim |
mbed_official | 340:28d1f895c6fe | 16 | ============================================================================== |
mbed_official | 340:28d1f895c6fe | 17 | ##### How to use this driver ##### |
mbed_official | 340:28d1f895c6fe | 18 | ============================================================================== |
mbed_official | 340:28d1f895c6fe | 19 | [..] |
mbed_official | 340:28d1f895c6fe | 20 | (#) Enable the CAN controller interface clock using __CAN_CLK_ENABLE(); |
mbed_official | 340:28d1f895c6fe | 21 | |
mbed_official | 340:28d1f895c6fe | 22 | (#) CAN pins configuration |
mbed_official | 340:28d1f895c6fe | 23 | (++) Enable the clock for the CAN GPIOs using the following function: |
mbed_official | 340:28d1f895c6fe | 24 | __GPIOx_CLK_ENABLE(); |
mbed_official | 340:28d1f895c6fe | 25 | (++) Connect and configure the involved CAN pins to AF9 using the |
mbed_official | 340:28d1f895c6fe | 26 | following function HAL_GPIO_Init(); |
mbed_official | 340:28d1f895c6fe | 27 | |
mbed_official | 340:28d1f895c6fe | 28 | (#) Initialise and configure the CAN using HAL_CAN_Init() function. |
mbed_official | 340:28d1f895c6fe | 29 | |
mbed_official | 340:28d1f895c6fe | 30 | (#) Transmit the desired CAN frame using HAL_CAN_Transmit() function. |
mbed_official | 340:28d1f895c6fe | 31 | |
mbed_official | 340:28d1f895c6fe | 32 | (#) Receive a CAN frame using HAL_CAN_Receive() function. |
mbed_official | 340:28d1f895c6fe | 33 | |
mbed_official | 340:28d1f895c6fe | 34 | *** Polling mode IO operation *** |
mbed_official | 340:28d1f895c6fe | 35 | ================================= |
mbed_official | 340:28d1f895c6fe | 36 | [..] |
mbed_official | 340:28d1f895c6fe | 37 | (+) Start the CAN peripheral transmission and wait the end of this operation |
mbed_official | 340:28d1f895c6fe | 38 | using HAL_CAN_Transmit(), at this stage user can specify the value of timeout |
mbed_official | 340:28d1f895c6fe | 39 | according to his end application |
mbed_official | 340:28d1f895c6fe | 40 | (+) Start the CAN peripheral reception and wait the end of this operation |
mbed_official | 340:28d1f895c6fe | 41 | using HAL_CAN_Receive(), at this stage user can specify the value of timeout |
mbed_official | 340:28d1f895c6fe | 42 | according to his end application |
mbed_official | 340:28d1f895c6fe | 43 | |
mbed_official | 340:28d1f895c6fe | 44 | *** Interrupt mode IO operation *** |
mbed_official | 340:28d1f895c6fe | 45 | =================================== |
mbed_official | 340:28d1f895c6fe | 46 | [..] |
mbed_official | 340:28d1f895c6fe | 47 | (+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT() |
mbed_official | 340:28d1f895c6fe | 48 | (+) Start the CAN peripheral reception using HAL_CAN_Receive_IT() |
mbed_official | 340:28d1f895c6fe | 49 | (+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine |
mbed_official | 340:28d1f895c6fe | 50 | (+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can |
mbed_official | 340:28d1f895c6fe | 51 | add his own code by customization of function pointer HAL_CAN_TxCpltCallback |
mbed_official | 340:28d1f895c6fe | 52 | (+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can |
mbed_official | 340:28d1f895c6fe | 53 | add his own code by customization of function pointer HAL_CAN_ErrorCallback |
mbed_official | 340:28d1f895c6fe | 54 | |
mbed_official | 340:28d1f895c6fe | 55 | *** CAN HAL driver macros list *** |
mbed_official | 340:28d1f895c6fe | 56 | ============================================= |
mbed_official | 340:28d1f895c6fe | 57 | [..] |
mbed_official | 340:28d1f895c6fe | 58 | Below the list of most used macros in CAN HAL driver. |
mbed_official | 340:28d1f895c6fe | 59 | |
mbed_official | 340:28d1f895c6fe | 60 | (+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts |
mbed_official | 340:28d1f895c6fe | 61 | (+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts |
mbed_official | 340:28d1f895c6fe | 62 | (+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled |
mbed_official | 340:28d1f895c6fe | 63 | (+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags |
mbed_official | 340:28d1f895c6fe | 64 | (+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status |
mbed_official | 340:28d1f895c6fe | 65 | |
mbed_official | 340:28d1f895c6fe | 66 | [..] |
mbed_official | 340:28d1f895c6fe | 67 | (@) You can refer to the CAN HAL driver header file for more useful macros |
mbed_official | 340:28d1f895c6fe | 68 | |
mbed_official | 340:28d1f895c6fe | 69 | @endverbatim |
mbed_official | 340:28d1f895c6fe | 70 | |
mbed_official | 340:28d1f895c6fe | 71 | ****************************************************************************** |
mbed_official | 340:28d1f895c6fe | 72 | * @attention |
mbed_official | 340:28d1f895c6fe | 73 | * |
mbed_official | 340:28d1f895c6fe | 74 | * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> |
mbed_official | 340:28d1f895c6fe | 75 | * |
mbed_official | 340:28d1f895c6fe | 76 | * Redistribution and use in source and binary forms, with or without modification, |
mbed_official | 340:28d1f895c6fe | 77 | * are permitted provided that the following conditions are met: |
mbed_official | 340:28d1f895c6fe | 78 | * 1. Redistributions of source code must retain the above copyright notice, |
mbed_official | 340:28d1f895c6fe | 79 | * this list of conditions and the following disclaimer. |
mbed_official | 340:28d1f895c6fe | 80 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
mbed_official | 340:28d1f895c6fe | 81 | * this list of conditions and the following disclaimer in the documentation |
mbed_official | 340:28d1f895c6fe | 82 | * and/or other materials provided with the distribution. |
mbed_official | 340:28d1f895c6fe | 83 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
mbed_official | 340:28d1f895c6fe | 84 | * may be used to endorse or promote products derived from this software |
mbed_official | 340:28d1f895c6fe | 85 | * without specific prior written permission. |
mbed_official | 340:28d1f895c6fe | 86 | * |
mbed_official | 340:28d1f895c6fe | 87 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
mbed_official | 340:28d1f895c6fe | 88 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
mbed_official | 340:28d1f895c6fe | 89 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
mbed_official | 340:28d1f895c6fe | 90 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
mbed_official | 340:28d1f895c6fe | 91 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
mbed_official | 340:28d1f895c6fe | 92 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
mbed_official | 340:28d1f895c6fe | 93 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
mbed_official | 340:28d1f895c6fe | 94 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
mbed_official | 340:28d1f895c6fe | 95 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
mbed_official | 340:28d1f895c6fe | 96 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
mbed_official | 340:28d1f895c6fe | 97 | * |
mbed_official | 340:28d1f895c6fe | 98 | ****************************************************************************** |
mbed_official | 340:28d1f895c6fe | 99 | */ |
mbed_official | 340:28d1f895c6fe | 100 | |
mbed_official | 340:28d1f895c6fe | 101 | /* Includes ------------------------------------------------------------------*/ |
mbed_official | 340:28d1f895c6fe | 102 | #include "stm32f0xx_hal.h" |
mbed_official | 340:28d1f895c6fe | 103 | |
mbed_official | 340:28d1f895c6fe | 104 | /** @addtogroup STM32F0xx_HAL_Driver |
mbed_official | 340:28d1f895c6fe | 105 | * @{ |
mbed_official | 340:28d1f895c6fe | 106 | */ |
mbed_official | 340:28d1f895c6fe | 107 | |
mbed_official | 340:28d1f895c6fe | 108 | /** @defgroup CAN CAN HAL Module Driver |
mbed_official | 340:28d1f895c6fe | 109 | * @brief CAN driver modules |
mbed_official | 340:28d1f895c6fe | 110 | * @{ |
mbed_official | 340:28d1f895c6fe | 111 | */ |
mbed_official | 340:28d1f895c6fe | 112 | |
mbed_official | 340:28d1f895c6fe | 113 | #ifdef HAL_CAN_MODULE_ENABLED |
mbed_official | 340:28d1f895c6fe | 114 | |
mbed_official | 340:28d1f895c6fe | 115 | #if defined(STM32F072xB) || defined(STM32F042x6) || defined(STM32F048xx) || defined(STM32F091xC) || defined(STM32F098xx) |
mbed_official | 340:28d1f895c6fe | 116 | |
mbed_official | 340:28d1f895c6fe | 117 | /* Private typedef -----------------------------------------------------------*/ |
mbed_official | 340:28d1f895c6fe | 118 | /* Private define ------------------------------------------------------------*/ |
mbed_official | 340:28d1f895c6fe | 119 | /** @defgroup CAN_Private_Constants CAN Private Constants |
mbed_official | 340:28d1f895c6fe | 120 | * @{ |
mbed_official | 340:28d1f895c6fe | 121 | */ |
mbed_official | 340:28d1f895c6fe | 122 | #define HAL_CAN_DEFAULT_TIMEOUT 10 |
mbed_official | 340:28d1f895c6fe | 123 | /** |
mbed_official | 340:28d1f895c6fe | 124 | * @} |
mbed_official | 340:28d1f895c6fe | 125 | */ |
mbed_official | 340:28d1f895c6fe | 126 | /* Private macro -------------------------------------------------------------*/ |
mbed_official | 340:28d1f895c6fe | 127 | /* Private variables ---------------------------------------------------------*/ |
mbed_official | 340:28d1f895c6fe | 128 | /* Private function prototypes -----------------------------------------------*/ |
mbed_official | 340:28d1f895c6fe | 129 | /** @defgroup CAN_Private_Functions CAN Private Functions |
mbed_official | 340:28d1f895c6fe | 130 | * @{ |
mbed_official | 340:28d1f895c6fe | 131 | */ |
mbed_official | 340:28d1f895c6fe | 132 | static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber); |
mbed_official | 340:28d1f895c6fe | 133 | static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan); |
mbed_official | 340:28d1f895c6fe | 134 | /** |
mbed_official | 340:28d1f895c6fe | 135 | * @} |
mbed_official | 340:28d1f895c6fe | 136 | */ |
mbed_official | 340:28d1f895c6fe | 137 | |
mbed_official | 340:28d1f895c6fe | 138 | /* Exported functions ---------------------------------------------------------*/ |
mbed_official | 340:28d1f895c6fe | 139 | |
mbed_official | 340:28d1f895c6fe | 140 | /** @defgroup CAN_Exported_Functions CAN Exported Functions |
mbed_official | 340:28d1f895c6fe | 141 | * @{ |
mbed_official | 340:28d1f895c6fe | 142 | */ |
mbed_official | 340:28d1f895c6fe | 143 | |
mbed_official | 340:28d1f895c6fe | 144 | /** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions |
mbed_official | 340:28d1f895c6fe | 145 | * @brief Initialization and Configuration functions |
mbed_official | 340:28d1f895c6fe | 146 | * |
mbed_official | 340:28d1f895c6fe | 147 | @verbatim |
mbed_official | 340:28d1f895c6fe | 148 | ============================================================================== |
mbed_official | 340:28d1f895c6fe | 149 | ##### Initialization and de-initialization functions ##### |
mbed_official | 340:28d1f895c6fe | 150 | ============================================================================== |
mbed_official | 340:28d1f895c6fe | 151 | [..] This section provides functions allowing to: |
mbed_official | 340:28d1f895c6fe | 152 | (+) Initialize and configure the CAN. |
mbed_official | 340:28d1f895c6fe | 153 | (+) De-initialize the CAN. |
mbed_official | 340:28d1f895c6fe | 154 | |
mbed_official | 340:28d1f895c6fe | 155 | @endverbatim |
mbed_official | 340:28d1f895c6fe | 156 | * @{ |
mbed_official | 340:28d1f895c6fe | 157 | */ |
mbed_official | 340:28d1f895c6fe | 158 | |
mbed_official | 340:28d1f895c6fe | 159 | /** |
mbed_official | 340:28d1f895c6fe | 160 | * @brief Initializes the CAN peripheral according to the specified |
mbed_official | 340:28d1f895c6fe | 161 | * parameters in the CAN_InitStruct. |
mbed_official | 340:28d1f895c6fe | 162 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 163 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 164 | * @retval HAL status |
mbed_official | 340:28d1f895c6fe | 165 | */ |
mbed_official | 340:28d1f895c6fe | 166 | HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan) |
mbed_official | 340:28d1f895c6fe | 167 | { |
mbed_official | 340:28d1f895c6fe | 168 | uint32_t status = CAN_INITSTATUS_FAILED; /* Default init status */ |
mbed_official | 340:28d1f895c6fe | 169 | uint32_t tickstart = 0; |
mbed_official | 340:28d1f895c6fe | 170 | |
mbed_official | 340:28d1f895c6fe | 171 | /* Check CAN handle */ |
mbed_official | 340:28d1f895c6fe | 172 | if(hcan == HAL_NULL) |
mbed_official | 340:28d1f895c6fe | 173 | { |
mbed_official | 340:28d1f895c6fe | 174 | return HAL_ERROR; |
mbed_official | 340:28d1f895c6fe | 175 | } |
mbed_official | 340:28d1f895c6fe | 176 | |
mbed_official | 340:28d1f895c6fe | 177 | /* Check the parameters */ |
mbed_official | 340:28d1f895c6fe | 178 | assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance)); |
mbed_official | 340:28d1f895c6fe | 179 | assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM)); |
mbed_official | 340:28d1f895c6fe | 180 | assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM)); |
mbed_official | 340:28d1f895c6fe | 181 | assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM)); |
mbed_official | 340:28d1f895c6fe | 182 | assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART)); |
mbed_official | 340:28d1f895c6fe | 183 | assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM)); |
mbed_official | 340:28d1f895c6fe | 184 | assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP)); |
mbed_official | 340:28d1f895c6fe | 185 | assert_param(IS_CAN_MODE(hcan->Init.Mode)); |
mbed_official | 340:28d1f895c6fe | 186 | assert_param(IS_CAN_SJW(hcan->Init.SJW)); |
mbed_official | 340:28d1f895c6fe | 187 | assert_param(IS_CAN_BS1(hcan->Init.BS1)); |
mbed_official | 340:28d1f895c6fe | 188 | assert_param(IS_CAN_BS2(hcan->Init.BS2)); |
mbed_official | 340:28d1f895c6fe | 189 | assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler)); |
mbed_official | 340:28d1f895c6fe | 190 | |
mbed_official | 340:28d1f895c6fe | 191 | if(hcan->State == HAL_CAN_STATE_RESET) |
mbed_official | 340:28d1f895c6fe | 192 | { |
mbed_official | 340:28d1f895c6fe | 193 | /* Init the low level hardware */ |
mbed_official | 340:28d1f895c6fe | 194 | HAL_CAN_MspInit(hcan); |
mbed_official | 340:28d1f895c6fe | 195 | } |
mbed_official | 340:28d1f895c6fe | 196 | |
mbed_official | 340:28d1f895c6fe | 197 | /* Initialize the CAN state*/ |
mbed_official | 340:28d1f895c6fe | 198 | hcan->State = HAL_CAN_STATE_BUSY; |
mbed_official | 340:28d1f895c6fe | 199 | |
mbed_official | 340:28d1f895c6fe | 200 | /* Exit from sleep mode */ |
mbed_official | 340:28d1f895c6fe | 201 | hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP); |
mbed_official | 340:28d1f895c6fe | 202 | |
mbed_official | 340:28d1f895c6fe | 203 | /* Request initialisation */ |
mbed_official | 340:28d1f895c6fe | 204 | hcan->Instance->MCR |= CAN_MCR_INRQ ; |
mbed_official | 340:28d1f895c6fe | 205 | |
mbed_official | 340:28d1f895c6fe | 206 | /* Get tickstart */ |
mbed_official | 340:28d1f895c6fe | 207 | tickstart = HAL_GetTick(); |
mbed_official | 340:28d1f895c6fe | 208 | |
mbed_official | 340:28d1f895c6fe | 209 | /* Wait the acknowledge */ |
mbed_official | 340:28d1f895c6fe | 210 | while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) |
mbed_official | 340:28d1f895c6fe | 211 | { |
mbed_official | 340:28d1f895c6fe | 212 | if((HAL_GetTick() - tickstart) > HAL_CAN_DEFAULT_TIMEOUT) |
mbed_official | 340:28d1f895c6fe | 213 | { |
mbed_official | 340:28d1f895c6fe | 214 | hcan->State= HAL_CAN_STATE_TIMEOUT; |
mbed_official | 340:28d1f895c6fe | 215 | return HAL_TIMEOUT; |
mbed_official | 340:28d1f895c6fe | 216 | } |
mbed_official | 340:28d1f895c6fe | 217 | } |
mbed_official | 340:28d1f895c6fe | 218 | |
mbed_official | 340:28d1f895c6fe | 219 | /* Check acknowledge */ |
mbed_official | 340:28d1f895c6fe | 220 | if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) |
mbed_official | 340:28d1f895c6fe | 221 | { |
mbed_official | 340:28d1f895c6fe | 222 | /* Set the time triggered communication mode */ |
mbed_official | 340:28d1f895c6fe | 223 | if (hcan->Init.TTCM == ENABLE) |
mbed_official | 340:28d1f895c6fe | 224 | { |
mbed_official | 340:28d1f895c6fe | 225 | hcan->Instance->MCR |= CAN_MCR_TTCM; |
mbed_official | 340:28d1f895c6fe | 226 | } |
mbed_official | 340:28d1f895c6fe | 227 | else |
mbed_official | 340:28d1f895c6fe | 228 | { |
mbed_official | 340:28d1f895c6fe | 229 | hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM; |
mbed_official | 340:28d1f895c6fe | 230 | } |
mbed_official | 340:28d1f895c6fe | 231 | |
mbed_official | 340:28d1f895c6fe | 232 | /* Set the automatic bus-off management */ |
mbed_official | 340:28d1f895c6fe | 233 | if (hcan->Init.ABOM == ENABLE) |
mbed_official | 340:28d1f895c6fe | 234 | { |
mbed_official | 340:28d1f895c6fe | 235 | hcan->Instance->MCR |= CAN_MCR_ABOM; |
mbed_official | 340:28d1f895c6fe | 236 | } |
mbed_official | 340:28d1f895c6fe | 237 | else |
mbed_official | 340:28d1f895c6fe | 238 | { |
mbed_official | 340:28d1f895c6fe | 239 | hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM; |
mbed_official | 340:28d1f895c6fe | 240 | } |
mbed_official | 340:28d1f895c6fe | 241 | |
mbed_official | 340:28d1f895c6fe | 242 | /* Set the automatic wake-up mode */ |
mbed_official | 340:28d1f895c6fe | 243 | if (hcan->Init.AWUM == ENABLE) |
mbed_official | 340:28d1f895c6fe | 244 | { |
mbed_official | 340:28d1f895c6fe | 245 | hcan->Instance->MCR |= CAN_MCR_AWUM; |
mbed_official | 340:28d1f895c6fe | 246 | } |
mbed_official | 340:28d1f895c6fe | 247 | else |
mbed_official | 340:28d1f895c6fe | 248 | { |
mbed_official | 340:28d1f895c6fe | 249 | hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM; |
mbed_official | 340:28d1f895c6fe | 250 | } |
mbed_official | 340:28d1f895c6fe | 251 | |
mbed_official | 340:28d1f895c6fe | 252 | /* Set the no automatic retransmission */ |
mbed_official | 340:28d1f895c6fe | 253 | if (hcan->Init.NART == ENABLE) |
mbed_official | 340:28d1f895c6fe | 254 | { |
mbed_official | 340:28d1f895c6fe | 255 | hcan->Instance->MCR |= CAN_MCR_NART; |
mbed_official | 340:28d1f895c6fe | 256 | } |
mbed_official | 340:28d1f895c6fe | 257 | else |
mbed_official | 340:28d1f895c6fe | 258 | { |
mbed_official | 340:28d1f895c6fe | 259 | hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART; |
mbed_official | 340:28d1f895c6fe | 260 | } |
mbed_official | 340:28d1f895c6fe | 261 | |
mbed_official | 340:28d1f895c6fe | 262 | /* Set the receive FIFO locked mode */ |
mbed_official | 340:28d1f895c6fe | 263 | if (hcan->Init.RFLM == ENABLE) |
mbed_official | 340:28d1f895c6fe | 264 | { |
mbed_official | 340:28d1f895c6fe | 265 | hcan->Instance->MCR |= CAN_MCR_RFLM; |
mbed_official | 340:28d1f895c6fe | 266 | } |
mbed_official | 340:28d1f895c6fe | 267 | else |
mbed_official | 340:28d1f895c6fe | 268 | { |
mbed_official | 340:28d1f895c6fe | 269 | hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM; |
mbed_official | 340:28d1f895c6fe | 270 | } |
mbed_official | 340:28d1f895c6fe | 271 | |
mbed_official | 340:28d1f895c6fe | 272 | /* Set the transmit FIFO priority */ |
mbed_official | 340:28d1f895c6fe | 273 | if (hcan->Init.TXFP == ENABLE) |
mbed_official | 340:28d1f895c6fe | 274 | { |
mbed_official | 340:28d1f895c6fe | 275 | hcan->Instance->MCR |= CAN_MCR_TXFP; |
mbed_official | 340:28d1f895c6fe | 276 | } |
mbed_official | 340:28d1f895c6fe | 277 | else |
mbed_official | 340:28d1f895c6fe | 278 | { |
mbed_official | 340:28d1f895c6fe | 279 | hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP; |
mbed_official | 340:28d1f895c6fe | 280 | } |
mbed_official | 340:28d1f895c6fe | 281 | |
mbed_official | 340:28d1f895c6fe | 282 | /* Set the bit timing register */ |
mbed_official | 340:28d1f895c6fe | 283 | hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \ |
mbed_official | 340:28d1f895c6fe | 284 | ((uint32_t)hcan->Init.SJW) | \ |
mbed_official | 340:28d1f895c6fe | 285 | ((uint32_t)hcan->Init.BS1) | \ |
mbed_official | 340:28d1f895c6fe | 286 | ((uint32_t)hcan->Init.BS2) | \ |
mbed_official | 340:28d1f895c6fe | 287 | ((uint32_t)hcan->Init.Prescaler - 1); |
mbed_official | 340:28d1f895c6fe | 288 | |
mbed_official | 340:28d1f895c6fe | 289 | /* Request leave initialisation */ |
mbed_official | 340:28d1f895c6fe | 290 | hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ; |
mbed_official | 340:28d1f895c6fe | 291 | |
mbed_official | 340:28d1f895c6fe | 292 | /* Get timeout */ |
mbed_official | 340:28d1f895c6fe | 293 | tickstart = HAL_GetTick(); |
mbed_official | 340:28d1f895c6fe | 294 | |
mbed_official | 340:28d1f895c6fe | 295 | /* Wait the acknowledge */ |
mbed_official | 340:28d1f895c6fe | 296 | while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) |
mbed_official | 340:28d1f895c6fe | 297 | { |
mbed_official | 340:28d1f895c6fe | 298 | if((HAL_GetTick() - tickstart) > HAL_CAN_DEFAULT_TIMEOUT) |
mbed_official | 340:28d1f895c6fe | 299 | { |
mbed_official | 340:28d1f895c6fe | 300 | hcan->State= HAL_CAN_STATE_TIMEOUT; |
mbed_official | 340:28d1f895c6fe | 301 | return HAL_TIMEOUT; |
mbed_official | 340:28d1f895c6fe | 302 | } |
mbed_official | 340:28d1f895c6fe | 303 | } |
mbed_official | 340:28d1f895c6fe | 304 | |
mbed_official | 340:28d1f895c6fe | 305 | /* Check acknowledged */ |
mbed_official | 340:28d1f895c6fe | 306 | if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) |
mbed_official | 340:28d1f895c6fe | 307 | { |
mbed_official | 340:28d1f895c6fe | 308 | status = CAN_INITSTATUS_SUCCESS; |
mbed_official | 340:28d1f895c6fe | 309 | } |
mbed_official | 340:28d1f895c6fe | 310 | } |
mbed_official | 340:28d1f895c6fe | 311 | |
mbed_official | 340:28d1f895c6fe | 312 | if(status == CAN_INITSTATUS_SUCCESS) |
mbed_official | 340:28d1f895c6fe | 313 | { |
mbed_official | 340:28d1f895c6fe | 314 | /* Set CAN error code to none */ |
mbed_official | 340:28d1f895c6fe | 315 | hcan->ErrorCode = HAL_CAN_ERROR_NONE; |
mbed_official | 340:28d1f895c6fe | 316 | |
mbed_official | 340:28d1f895c6fe | 317 | /* Initialize the CAN state */ |
mbed_official | 340:28d1f895c6fe | 318 | hcan->State = HAL_CAN_STATE_READY; |
mbed_official | 340:28d1f895c6fe | 319 | |
mbed_official | 340:28d1f895c6fe | 320 | /* Return function status */ |
mbed_official | 340:28d1f895c6fe | 321 | return HAL_OK; |
mbed_official | 340:28d1f895c6fe | 322 | } |
mbed_official | 340:28d1f895c6fe | 323 | else |
mbed_official | 340:28d1f895c6fe | 324 | { |
mbed_official | 340:28d1f895c6fe | 325 | /* Initialize the CAN state */ |
mbed_official | 340:28d1f895c6fe | 326 | hcan->State = HAL_CAN_STATE_ERROR; |
mbed_official | 340:28d1f895c6fe | 327 | |
mbed_official | 340:28d1f895c6fe | 328 | /* Return function status */ |
mbed_official | 340:28d1f895c6fe | 329 | return HAL_ERROR; |
mbed_official | 340:28d1f895c6fe | 330 | } |
mbed_official | 340:28d1f895c6fe | 331 | } |
mbed_official | 340:28d1f895c6fe | 332 | |
mbed_official | 340:28d1f895c6fe | 333 | /** |
mbed_official | 340:28d1f895c6fe | 334 | * @brief Configures the CAN reception filter according to the specified |
mbed_official | 340:28d1f895c6fe | 335 | * parameters in the CAN_FilterInitStruct. |
mbed_official | 340:28d1f895c6fe | 336 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 337 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 338 | * @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that |
mbed_official | 340:28d1f895c6fe | 339 | * contains the filter configuration information. |
mbed_official | 340:28d1f895c6fe | 340 | * @retval None |
mbed_official | 340:28d1f895c6fe | 341 | */ |
mbed_official | 340:28d1f895c6fe | 342 | HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig) |
mbed_official | 340:28d1f895c6fe | 343 | { |
mbed_official | 340:28d1f895c6fe | 344 | uint32_t filternbrbitpos = 0; |
mbed_official | 340:28d1f895c6fe | 345 | |
mbed_official | 340:28d1f895c6fe | 346 | /* Check the parameters */ |
mbed_official | 340:28d1f895c6fe | 347 | assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber)); |
mbed_official | 340:28d1f895c6fe | 348 | assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode)); |
mbed_official | 340:28d1f895c6fe | 349 | assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale)); |
mbed_official | 340:28d1f895c6fe | 350 | assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment)); |
mbed_official | 340:28d1f895c6fe | 351 | assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation)); |
mbed_official | 340:28d1f895c6fe | 352 | assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber)); |
mbed_official | 340:28d1f895c6fe | 353 | |
mbed_official | 340:28d1f895c6fe | 354 | filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber; |
mbed_official | 340:28d1f895c6fe | 355 | |
mbed_official | 340:28d1f895c6fe | 356 | /* Initialisation mode for the filter */ |
mbed_official | 340:28d1f895c6fe | 357 | hcan->Instance->FMR |= (uint32_t)CAN_FMR_FINIT; |
mbed_official | 340:28d1f895c6fe | 358 | |
mbed_official | 340:28d1f895c6fe | 359 | /* Filter Deactivation */ |
mbed_official | 340:28d1f895c6fe | 360 | hcan->Instance->FA1R &= ~(uint32_t)filternbrbitpos; |
mbed_official | 340:28d1f895c6fe | 361 | |
mbed_official | 340:28d1f895c6fe | 362 | /* Filter Scale */ |
mbed_official | 340:28d1f895c6fe | 363 | if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT) |
mbed_official | 340:28d1f895c6fe | 364 | { |
mbed_official | 340:28d1f895c6fe | 365 | /* 16-bit scale for the filter */ |
mbed_official | 340:28d1f895c6fe | 366 | hcan->Instance->FS1R &= ~(uint32_t)filternbrbitpos; |
mbed_official | 340:28d1f895c6fe | 367 | |
mbed_official | 340:28d1f895c6fe | 368 | /* First 16-bit identifier and First 16-bit mask */ |
mbed_official | 340:28d1f895c6fe | 369 | /* Or First 16-bit identifier and Second 16-bit identifier */ |
mbed_official | 340:28d1f895c6fe | 370 | hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 = |
mbed_official | 340:28d1f895c6fe | 371 | ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) | |
mbed_official | 340:28d1f895c6fe | 372 | (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow); |
mbed_official | 340:28d1f895c6fe | 373 | |
mbed_official | 340:28d1f895c6fe | 374 | /* Second 16-bit identifier and Second 16-bit mask */ |
mbed_official | 340:28d1f895c6fe | 375 | /* Or Third 16-bit identifier and Fourth 16-bit identifier */ |
mbed_official | 340:28d1f895c6fe | 376 | hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 = |
mbed_official | 340:28d1f895c6fe | 377 | ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) | |
mbed_official | 340:28d1f895c6fe | 378 | (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh); |
mbed_official | 340:28d1f895c6fe | 379 | } |
mbed_official | 340:28d1f895c6fe | 380 | |
mbed_official | 340:28d1f895c6fe | 381 | if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT) |
mbed_official | 340:28d1f895c6fe | 382 | { |
mbed_official | 340:28d1f895c6fe | 383 | /* 32-bit scale for the filter */ |
mbed_official | 340:28d1f895c6fe | 384 | hcan->Instance->FS1R |= filternbrbitpos; |
mbed_official | 340:28d1f895c6fe | 385 | /* 32-bit identifier or First 32-bit identifier */ |
mbed_official | 340:28d1f895c6fe | 386 | hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 = |
mbed_official | 340:28d1f895c6fe | 387 | ((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) | |
mbed_official | 340:28d1f895c6fe | 388 | (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow); |
mbed_official | 340:28d1f895c6fe | 389 | /* 32-bit mask or Second 32-bit identifier */ |
mbed_official | 340:28d1f895c6fe | 390 | hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 = |
mbed_official | 340:28d1f895c6fe | 391 | ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) | |
mbed_official | 340:28d1f895c6fe | 392 | (0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow); |
mbed_official | 340:28d1f895c6fe | 393 | } |
mbed_official | 340:28d1f895c6fe | 394 | |
mbed_official | 340:28d1f895c6fe | 395 | /* Filter Mode */ |
mbed_official | 340:28d1f895c6fe | 396 | if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK) |
mbed_official | 340:28d1f895c6fe | 397 | { |
mbed_official | 340:28d1f895c6fe | 398 | /*Id/Mask mode for the filter*/ |
mbed_official | 340:28d1f895c6fe | 399 | hcan->Instance->FM1R &= ~(uint32_t)filternbrbitpos; |
mbed_official | 340:28d1f895c6fe | 400 | } |
mbed_official | 340:28d1f895c6fe | 401 | else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */ |
mbed_official | 340:28d1f895c6fe | 402 | { |
mbed_official | 340:28d1f895c6fe | 403 | /*Identifier list mode for the filter*/ |
mbed_official | 340:28d1f895c6fe | 404 | hcan->Instance->FM1R |= (uint32_t)filternbrbitpos; |
mbed_official | 340:28d1f895c6fe | 405 | } |
mbed_official | 340:28d1f895c6fe | 406 | |
mbed_official | 340:28d1f895c6fe | 407 | /* Filter FIFO assignment */ |
mbed_official | 340:28d1f895c6fe | 408 | if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0) |
mbed_official | 340:28d1f895c6fe | 409 | { |
mbed_official | 340:28d1f895c6fe | 410 | /* FIFO 0 assignation for the filter */ |
mbed_official | 340:28d1f895c6fe | 411 | hcan->Instance->FFA1R &= ~(uint32_t)filternbrbitpos; |
mbed_official | 340:28d1f895c6fe | 412 | } |
mbed_official | 340:28d1f895c6fe | 413 | |
mbed_official | 340:28d1f895c6fe | 414 | if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1) |
mbed_official | 340:28d1f895c6fe | 415 | { |
mbed_official | 340:28d1f895c6fe | 416 | /* FIFO 1 assignation for the filter */ |
mbed_official | 340:28d1f895c6fe | 417 | hcan->Instance->FFA1R |= (uint32_t)filternbrbitpos; |
mbed_official | 340:28d1f895c6fe | 418 | } |
mbed_official | 340:28d1f895c6fe | 419 | |
mbed_official | 340:28d1f895c6fe | 420 | /* Filter activation */ |
mbed_official | 340:28d1f895c6fe | 421 | if (sFilterConfig->FilterActivation == ENABLE) |
mbed_official | 340:28d1f895c6fe | 422 | { |
mbed_official | 340:28d1f895c6fe | 423 | hcan->Instance->FA1R |= filternbrbitpos; |
mbed_official | 340:28d1f895c6fe | 424 | } |
mbed_official | 340:28d1f895c6fe | 425 | |
mbed_official | 340:28d1f895c6fe | 426 | /* Leave the initialisation mode for the filter */ |
mbed_official | 340:28d1f895c6fe | 427 | hcan->Instance->FMR &= ~((uint32_t)CAN_FMR_FINIT); |
mbed_official | 340:28d1f895c6fe | 428 | |
mbed_official | 340:28d1f895c6fe | 429 | /* Return function status */ |
mbed_official | 340:28d1f895c6fe | 430 | return HAL_OK; |
mbed_official | 340:28d1f895c6fe | 431 | } |
mbed_official | 340:28d1f895c6fe | 432 | |
mbed_official | 340:28d1f895c6fe | 433 | /** |
mbed_official | 340:28d1f895c6fe | 434 | * @brief Deinitializes the CANx peripheral registers to their default reset values. |
mbed_official | 340:28d1f895c6fe | 435 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 436 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 437 | * @retval HAL status |
mbed_official | 340:28d1f895c6fe | 438 | */ |
mbed_official | 340:28d1f895c6fe | 439 | HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan) |
mbed_official | 340:28d1f895c6fe | 440 | { |
mbed_official | 340:28d1f895c6fe | 441 | /* Check CAN handle */ |
mbed_official | 340:28d1f895c6fe | 442 | if(hcan == HAL_NULL) |
mbed_official | 340:28d1f895c6fe | 443 | { |
mbed_official | 340:28d1f895c6fe | 444 | return HAL_ERROR; |
mbed_official | 340:28d1f895c6fe | 445 | } |
mbed_official | 340:28d1f895c6fe | 446 | |
mbed_official | 340:28d1f895c6fe | 447 | /* Check the parameters */ |
mbed_official | 340:28d1f895c6fe | 448 | assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance)); |
mbed_official | 340:28d1f895c6fe | 449 | |
mbed_official | 340:28d1f895c6fe | 450 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 451 | hcan->State = HAL_CAN_STATE_BUSY; |
mbed_official | 340:28d1f895c6fe | 452 | |
mbed_official | 340:28d1f895c6fe | 453 | /* DeInit the low level hardware */ |
mbed_official | 340:28d1f895c6fe | 454 | HAL_CAN_MspDeInit(hcan); |
mbed_official | 340:28d1f895c6fe | 455 | |
mbed_official | 340:28d1f895c6fe | 456 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 457 | hcan->State = HAL_CAN_STATE_RESET; |
mbed_official | 340:28d1f895c6fe | 458 | |
mbed_official | 340:28d1f895c6fe | 459 | /* Release Lock */ |
mbed_official | 340:28d1f895c6fe | 460 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 461 | |
mbed_official | 340:28d1f895c6fe | 462 | /* Return function status */ |
mbed_official | 340:28d1f895c6fe | 463 | return HAL_OK; |
mbed_official | 340:28d1f895c6fe | 464 | } |
mbed_official | 340:28d1f895c6fe | 465 | |
mbed_official | 340:28d1f895c6fe | 466 | /** |
mbed_official | 340:28d1f895c6fe | 467 | * @brief Initializes the CAN MSP. |
mbed_official | 340:28d1f895c6fe | 468 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 469 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 470 | * @retval None |
mbed_official | 340:28d1f895c6fe | 471 | */ |
mbed_official | 340:28d1f895c6fe | 472 | __weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan) |
mbed_official | 340:28d1f895c6fe | 473 | { |
mbed_official | 340:28d1f895c6fe | 474 | /* NOTE : This function Should not be modified, when the callback is needed, |
mbed_official | 340:28d1f895c6fe | 475 | the HAL_CAN_MspInit could be implemented in the user file |
mbed_official | 340:28d1f895c6fe | 476 | */ |
mbed_official | 340:28d1f895c6fe | 477 | } |
mbed_official | 340:28d1f895c6fe | 478 | |
mbed_official | 340:28d1f895c6fe | 479 | /** |
mbed_official | 340:28d1f895c6fe | 480 | * @brief DeInitializes the CAN MSP. |
mbed_official | 340:28d1f895c6fe | 481 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 482 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 483 | * @retval None |
mbed_official | 340:28d1f895c6fe | 484 | */ |
mbed_official | 340:28d1f895c6fe | 485 | __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan) |
mbed_official | 340:28d1f895c6fe | 486 | { |
mbed_official | 340:28d1f895c6fe | 487 | /* NOTE : This function Should not be modified, when the callback is needed, |
mbed_official | 340:28d1f895c6fe | 488 | the HAL_CAN_MspDeInit could be implemented in the user file |
mbed_official | 340:28d1f895c6fe | 489 | */ |
mbed_official | 340:28d1f895c6fe | 490 | } |
mbed_official | 340:28d1f895c6fe | 491 | |
mbed_official | 340:28d1f895c6fe | 492 | /** |
mbed_official | 340:28d1f895c6fe | 493 | * @} |
mbed_official | 340:28d1f895c6fe | 494 | */ |
mbed_official | 340:28d1f895c6fe | 495 | |
mbed_official | 340:28d1f895c6fe | 496 | /** @defgroup CAN_Exported_Functions_Group2 I/O operation functions |
mbed_official | 340:28d1f895c6fe | 497 | * @brief I/O operation functions |
mbed_official | 340:28d1f895c6fe | 498 | * |
mbed_official | 340:28d1f895c6fe | 499 | @verbatim |
mbed_official | 340:28d1f895c6fe | 500 | ============================================================================== |
mbed_official | 340:28d1f895c6fe | 501 | ##### IO operation functions ##### |
mbed_official | 340:28d1f895c6fe | 502 | ============================================================================== |
mbed_official | 340:28d1f895c6fe | 503 | [..] This section provides functions allowing to: |
mbed_official | 340:28d1f895c6fe | 504 | (+) Transmit a CAN frame message. |
mbed_official | 340:28d1f895c6fe | 505 | (+) Receive a CAN frame message. |
mbed_official | 340:28d1f895c6fe | 506 | (+) Enter CAN peripheral in sleep mode. |
mbed_official | 340:28d1f895c6fe | 507 | (+) Wake up the CAN peripheral from sleep mode. |
mbed_official | 340:28d1f895c6fe | 508 | |
mbed_official | 340:28d1f895c6fe | 509 | @endverbatim |
mbed_official | 340:28d1f895c6fe | 510 | * @{ |
mbed_official | 340:28d1f895c6fe | 511 | */ |
mbed_official | 340:28d1f895c6fe | 512 | |
mbed_official | 340:28d1f895c6fe | 513 | /** |
mbed_official | 340:28d1f895c6fe | 514 | * @brief Initiates and transmits a CAN frame message. |
mbed_official | 340:28d1f895c6fe | 515 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 516 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 517 | * @param Timeout: Timeout duration. |
mbed_official | 340:28d1f895c6fe | 518 | * @retval HAL status |
mbed_official | 340:28d1f895c6fe | 519 | */ |
mbed_official | 340:28d1f895c6fe | 520 | HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout) |
mbed_official | 340:28d1f895c6fe | 521 | { |
mbed_official | 340:28d1f895c6fe | 522 | uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX; |
mbed_official | 340:28d1f895c6fe | 523 | uint32_t tickstart = 0; |
mbed_official | 340:28d1f895c6fe | 524 | |
mbed_official | 340:28d1f895c6fe | 525 | /* Check the parameters */ |
mbed_official | 340:28d1f895c6fe | 526 | assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE)); |
mbed_official | 340:28d1f895c6fe | 527 | assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR)); |
mbed_official | 340:28d1f895c6fe | 528 | assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC)); |
mbed_official | 340:28d1f895c6fe | 529 | |
mbed_official | 340:28d1f895c6fe | 530 | /* Process locked */ |
mbed_official | 340:28d1f895c6fe | 531 | __HAL_LOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 532 | |
mbed_official | 340:28d1f895c6fe | 533 | if(hcan->State == HAL_CAN_STATE_BUSY_RX) |
mbed_official | 340:28d1f895c6fe | 534 | { |
mbed_official | 340:28d1f895c6fe | 535 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 536 | hcan->State = HAL_CAN_STATE_BUSY_TX_RX; |
mbed_official | 340:28d1f895c6fe | 537 | } |
mbed_official | 340:28d1f895c6fe | 538 | else |
mbed_official | 340:28d1f895c6fe | 539 | { |
mbed_official | 340:28d1f895c6fe | 540 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 541 | hcan->State = HAL_CAN_STATE_BUSY_TX; |
mbed_official | 340:28d1f895c6fe | 542 | } |
mbed_official | 340:28d1f895c6fe | 543 | |
mbed_official | 340:28d1f895c6fe | 544 | /* Select one empty transmit mailbox */ |
mbed_official | 340:28d1f895c6fe | 545 | if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) |
mbed_official | 340:28d1f895c6fe | 546 | { |
mbed_official | 340:28d1f895c6fe | 547 | transmitmailbox = 0; |
mbed_official | 340:28d1f895c6fe | 548 | } |
mbed_official | 340:28d1f895c6fe | 549 | else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) |
mbed_official | 340:28d1f895c6fe | 550 | { |
mbed_official | 340:28d1f895c6fe | 551 | transmitmailbox = 1; |
mbed_official | 340:28d1f895c6fe | 552 | } |
mbed_official | 340:28d1f895c6fe | 553 | else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) |
mbed_official | 340:28d1f895c6fe | 554 | { |
mbed_official | 340:28d1f895c6fe | 555 | transmitmailbox = 2; |
mbed_official | 340:28d1f895c6fe | 556 | } |
mbed_official | 340:28d1f895c6fe | 557 | |
mbed_official | 340:28d1f895c6fe | 558 | if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX) |
mbed_official | 340:28d1f895c6fe | 559 | { |
mbed_official | 340:28d1f895c6fe | 560 | /* Set up the Id */ |
mbed_official | 340:28d1f895c6fe | 561 | hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; |
mbed_official | 340:28d1f895c6fe | 562 | if (hcan->pTxMsg->IDE == CAN_ID_STD) |
mbed_official | 340:28d1f895c6fe | 563 | { |
mbed_official | 340:28d1f895c6fe | 564 | assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId)); |
mbed_official | 340:28d1f895c6fe | 565 | hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \ |
mbed_official | 340:28d1f895c6fe | 566 | hcan->pTxMsg->RTR); |
mbed_official | 340:28d1f895c6fe | 567 | } |
mbed_official | 340:28d1f895c6fe | 568 | else |
mbed_official | 340:28d1f895c6fe | 569 | { |
mbed_official | 340:28d1f895c6fe | 570 | assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId)); |
mbed_official | 340:28d1f895c6fe | 571 | hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \ |
mbed_official | 340:28d1f895c6fe | 572 | hcan->pTxMsg->IDE | \ |
mbed_official | 340:28d1f895c6fe | 573 | hcan->pTxMsg->RTR); |
mbed_official | 340:28d1f895c6fe | 574 | } |
mbed_official | 340:28d1f895c6fe | 575 | |
mbed_official | 340:28d1f895c6fe | 576 | /* Set up the DLC */ |
mbed_official | 340:28d1f895c6fe | 577 | hcan->pTxMsg->DLC &= (uint8_t)0x0000000F; |
mbed_official | 340:28d1f895c6fe | 578 | hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0; |
mbed_official | 340:28d1f895c6fe | 579 | hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC; |
mbed_official | 340:28d1f895c6fe | 580 | |
mbed_official | 340:28d1f895c6fe | 581 | /* Set up the data field */ |
mbed_official | 340:28d1f895c6fe | 582 | hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) | |
mbed_official | 340:28d1f895c6fe | 583 | ((uint32_t)hcan->pTxMsg->Data[2] << 16) | |
mbed_official | 340:28d1f895c6fe | 584 | ((uint32_t)hcan->pTxMsg->Data[1] << 8) | |
mbed_official | 340:28d1f895c6fe | 585 | ((uint32_t)hcan->pTxMsg->Data[0])); |
mbed_official | 340:28d1f895c6fe | 586 | hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) | |
mbed_official | 340:28d1f895c6fe | 587 | ((uint32_t)hcan->pTxMsg->Data[6] << 16) | |
mbed_official | 340:28d1f895c6fe | 588 | ((uint32_t)hcan->pTxMsg->Data[5] << 8) | |
mbed_official | 340:28d1f895c6fe | 589 | ((uint32_t)hcan->pTxMsg->Data[4])); |
mbed_official | 340:28d1f895c6fe | 590 | /* Request transmission */ |
mbed_official | 340:28d1f895c6fe | 591 | hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; |
mbed_official | 340:28d1f895c6fe | 592 | |
mbed_official | 340:28d1f895c6fe | 593 | /* Get timeout */ |
mbed_official | 340:28d1f895c6fe | 594 | tickstart = HAL_GetTick(); |
mbed_official | 340:28d1f895c6fe | 595 | |
mbed_official | 340:28d1f895c6fe | 596 | /* Check End of transmission flag */ |
mbed_official | 340:28d1f895c6fe | 597 | while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox))) |
mbed_official | 340:28d1f895c6fe | 598 | { |
mbed_official | 340:28d1f895c6fe | 599 | /* Check for the Timeout */ |
mbed_official | 340:28d1f895c6fe | 600 | if(Timeout != HAL_MAX_DELAY) |
mbed_official | 340:28d1f895c6fe | 601 | { |
mbed_official | 340:28d1f895c6fe | 602 | if((Timeout == 0) || ((HAL_GetTick() - tickstart) > Timeout)) |
mbed_official | 340:28d1f895c6fe | 603 | { |
mbed_official | 340:28d1f895c6fe | 604 | hcan->State = HAL_CAN_STATE_TIMEOUT; |
mbed_official | 340:28d1f895c6fe | 605 | /* Process unlocked */ |
mbed_official | 340:28d1f895c6fe | 606 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 607 | return HAL_TIMEOUT; |
mbed_official | 340:28d1f895c6fe | 608 | } |
mbed_official | 340:28d1f895c6fe | 609 | } |
mbed_official | 340:28d1f895c6fe | 610 | } |
mbed_official | 340:28d1f895c6fe | 611 | if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) |
mbed_official | 340:28d1f895c6fe | 612 | { |
mbed_official | 340:28d1f895c6fe | 613 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 614 | hcan->State = HAL_CAN_STATE_BUSY_RX; |
mbed_official | 340:28d1f895c6fe | 615 | } |
mbed_official | 340:28d1f895c6fe | 616 | else |
mbed_official | 340:28d1f895c6fe | 617 | { |
mbed_official | 340:28d1f895c6fe | 618 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 619 | hcan->State = HAL_CAN_STATE_READY; |
mbed_official | 340:28d1f895c6fe | 620 | } |
mbed_official | 340:28d1f895c6fe | 621 | |
mbed_official | 340:28d1f895c6fe | 622 | /* Process unlocked */ |
mbed_official | 340:28d1f895c6fe | 623 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 624 | |
mbed_official | 340:28d1f895c6fe | 625 | /* Return function status */ |
mbed_official | 340:28d1f895c6fe | 626 | return HAL_OK; |
mbed_official | 340:28d1f895c6fe | 627 | } |
mbed_official | 340:28d1f895c6fe | 628 | else |
mbed_official | 340:28d1f895c6fe | 629 | { |
mbed_official | 340:28d1f895c6fe | 630 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 631 | hcan->State = HAL_CAN_STATE_ERROR; |
mbed_official | 340:28d1f895c6fe | 632 | |
mbed_official | 340:28d1f895c6fe | 633 | /* Process unlocked */ |
mbed_official | 340:28d1f895c6fe | 634 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 635 | |
mbed_official | 340:28d1f895c6fe | 636 | /* Return function status */ |
mbed_official | 340:28d1f895c6fe | 637 | return HAL_ERROR; |
mbed_official | 340:28d1f895c6fe | 638 | } |
mbed_official | 340:28d1f895c6fe | 639 | } |
mbed_official | 340:28d1f895c6fe | 640 | |
mbed_official | 340:28d1f895c6fe | 641 | /** |
mbed_official | 340:28d1f895c6fe | 642 | * @brief Initiates and transmits a CAN frame message. |
mbed_official | 340:28d1f895c6fe | 643 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 644 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 645 | * @retval HAL status |
mbed_official | 340:28d1f895c6fe | 646 | */ |
mbed_official | 340:28d1f895c6fe | 647 | HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan) |
mbed_official | 340:28d1f895c6fe | 648 | { |
mbed_official | 340:28d1f895c6fe | 649 | uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX; |
mbed_official | 340:28d1f895c6fe | 650 | |
mbed_official | 340:28d1f895c6fe | 651 | /* Check the parameters */ |
mbed_official | 340:28d1f895c6fe | 652 | assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE)); |
mbed_official | 340:28d1f895c6fe | 653 | assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR)); |
mbed_official | 340:28d1f895c6fe | 654 | assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC)); |
mbed_official | 340:28d1f895c6fe | 655 | |
mbed_official | 340:28d1f895c6fe | 656 | if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_RX)) |
mbed_official | 340:28d1f895c6fe | 657 | { |
mbed_official | 340:28d1f895c6fe | 658 | /* Process Locked */ |
mbed_official | 340:28d1f895c6fe | 659 | __HAL_LOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 660 | |
mbed_official | 340:28d1f895c6fe | 661 | /* Select one empty transmit mailbox */ |
mbed_official | 340:28d1f895c6fe | 662 | if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) |
mbed_official | 340:28d1f895c6fe | 663 | { |
mbed_official | 340:28d1f895c6fe | 664 | transmitmailbox = 0; |
mbed_official | 340:28d1f895c6fe | 665 | } |
mbed_official | 340:28d1f895c6fe | 666 | else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) |
mbed_official | 340:28d1f895c6fe | 667 | { |
mbed_official | 340:28d1f895c6fe | 668 | transmitmailbox = 1; |
mbed_official | 340:28d1f895c6fe | 669 | } |
mbed_official | 340:28d1f895c6fe | 670 | else if((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) |
mbed_official | 340:28d1f895c6fe | 671 | { |
mbed_official | 340:28d1f895c6fe | 672 | transmitmailbox = 2; |
mbed_official | 340:28d1f895c6fe | 673 | } |
mbed_official | 340:28d1f895c6fe | 674 | |
mbed_official | 340:28d1f895c6fe | 675 | if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX) |
mbed_official | 340:28d1f895c6fe | 676 | { |
mbed_official | 340:28d1f895c6fe | 677 | /* Set up the Id */ |
mbed_official | 340:28d1f895c6fe | 678 | hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; |
mbed_official | 340:28d1f895c6fe | 679 | if(hcan->pTxMsg->IDE == CAN_ID_STD) |
mbed_official | 340:28d1f895c6fe | 680 | { |
mbed_official | 340:28d1f895c6fe | 681 | assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId)); |
mbed_official | 340:28d1f895c6fe | 682 | hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \ |
mbed_official | 340:28d1f895c6fe | 683 | hcan->pTxMsg->RTR); |
mbed_official | 340:28d1f895c6fe | 684 | } |
mbed_official | 340:28d1f895c6fe | 685 | else |
mbed_official | 340:28d1f895c6fe | 686 | { |
mbed_official | 340:28d1f895c6fe | 687 | assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId)); |
mbed_official | 340:28d1f895c6fe | 688 | hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \ |
mbed_official | 340:28d1f895c6fe | 689 | hcan->pTxMsg->IDE | \ |
mbed_official | 340:28d1f895c6fe | 690 | hcan->pTxMsg->RTR); |
mbed_official | 340:28d1f895c6fe | 691 | } |
mbed_official | 340:28d1f895c6fe | 692 | |
mbed_official | 340:28d1f895c6fe | 693 | /* Set up the DLC */ |
mbed_official | 340:28d1f895c6fe | 694 | hcan->pTxMsg->DLC &= (uint8_t)0x0000000F; |
mbed_official | 340:28d1f895c6fe | 695 | hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0; |
mbed_official | 340:28d1f895c6fe | 696 | hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC; |
mbed_official | 340:28d1f895c6fe | 697 | |
mbed_official | 340:28d1f895c6fe | 698 | /* Set up the data field */ |
mbed_official | 340:28d1f895c6fe | 699 | hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) | |
mbed_official | 340:28d1f895c6fe | 700 | ((uint32_t)hcan->pTxMsg->Data[2] << 16) | |
mbed_official | 340:28d1f895c6fe | 701 | ((uint32_t)hcan->pTxMsg->Data[1] << 8) | |
mbed_official | 340:28d1f895c6fe | 702 | ((uint32_t)hcan->pTxMsg->Data[0])); |
mbed_official | 340:28d1f895c6fe | 703 | hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) | |
mbed_official | 340:28d1f895c6fe | 704 | ((uint32_t)hcan->pTxMsg->Data[6] << 16) | |
mbed_official | 340:28d1f895c6fe | 705 | ((uint32_t)hcan->pTxMsg->Data[5] << 8) | |
mbed_official | 340:28d1f895c6fe | 706 | ((uint32_t)hcan->pTxMsg->Data[4])); |
mbed_official | 340:28d1f895c6fe | 707 | |
mbed_official | 340:28d1f895c6fe | 708 | if(hcan->State == HAL_CAN_STATE_BUSY_RX) |
mbed_official | 340:28d1f895c6fe | 709 | { |
mbed_official | 340:28d1f895c6fe | 710 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 711 | hcan->State = HAL_CAN_STATE_BUSY_TX_RX; |
mbed_official | 340:28d1f895c6fe | 712 | } |
mbed_official | 340:28d1f895c6fe | 713 | else |
mbed_official | 340:28d1f895c6fe | 714 | { |
mbed_official | 340:28d1f895c6fe | 715 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 716 | hcan->State = HAL_CAN_STATE_BUSY_TX; |
mbed_official | 340:28d1f895c6fe | 717 | } |
mbed_official | 340:28d1f895c6fe | 718 | |
mbed_official | 340:28d1f895c6fe | 719 | /* Set CAN error code to none */ |
mbed_official | 340:28d1f895c6fe | 720 | hcan->ErrorCode = HAL_CAN_ERROR_NONE; |
mbed_official | 340:28d1f895c6fe | 721 | |
mbed_official | 340:28d1f895c6fe | 722 | /* Process Unlocked */ |
mbed_official | 340:28d1f895c6fe | 723 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 724 | |
mbed_official | 340:28d1f895c6fe | 725 | /* Enable Error warning Interrupt */ |
mbed_official | 340:28d1f895c6fe | 726 | __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG); |
mbed_official | 340:28d1f895c6fe | 727 | |
mbed_official | 340:28d1f895c6fe | 728 | /* Enable Error passive Interrupt */ |
mbed_official | 340:28d1f895c6fe | 729 | __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV); |
mbed_official | 340:28d1f895c6fe | 730 | |
mbed_official | 340:28d1f895c6fe | 731 | /* Enable Bus-off Interrupt */ |
mbed_official | 340:28d1f895c6fe | 732 | __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF); |
mbed_official | 340:28d1f895c6fe | 733 | |
mbed_official | 340:28d1f895c6fe | 734 | /* Enable Last error code Interrupt */ |
mbed_official | 340:28d1f895c6fe | 735 | __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC); |
mbed_official | 340:28d1f895c6fe | 736 | |
mbed_official | 340:28d1f895c6fe | 737 | /* Enable Error Interrupt */ |
mbed_official | 340:28d1f895c6fe | 738 | __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR); |
mbed_official | 340:28d1f895c6fe | 739 | |
mbed_official | 340:28d1f895c6fe | 740 | /* Enable Transmit mailbox empty Interrupt */ |
mbed_official | 340:28d1f895c6fe | 741 | __HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME); |
mbed_official | 340:28d1f895c6fe | 742 | |
mbed_official | 340:28d1f895c6fe | 743 | /* Request transmission */ |
mbed_official | 340:28d1f895c6fe | 744 | hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; |
mbed_official | 340:28d1f895c6fe | 745 | } |
mbed_official | 340:28d1f895c6fe | 746 | } |
mbed_official | 340:28d1f895c6fe | 747 | else |
mbed_official | 340:28d1f895c6fe | 748 | { |
mbed_official | 340:28d1f895c6fe | 749 | return HAL_BUSY; |
mbed_official | 340:28d1f895c6fe | 750 | } |
mbed_official | 340:28d1f895c6fe | 751 | |
mbed_official | 340:28d1f895c6fe | 752 | return HAL_OK; |
mbed_official | 340:28d1f895c6fe | 753 | } |
mbed_official | 340:28d1f895c6fe | 754 | |
mbed_official | 340:28d1f895c6fe | 755 | /** |
mbed_official | 340:28d1f895c6fe | 756 | * @brief Receives a correct CAN frame. |
mbed_official | 340:28d1f895c6fe | 757 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 758 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 759 | * @param FIFONumber: FIFO number. |
mbed_official | 340:28d1f895c6fe | 760 | * @param Timeout: Timeout duration. |
mbed_official | 340:28d1f895c6fe | 761 | * @retval HAL status |
mbed_official | 340:28d1f895c6fe | 762 | * @retval None |
mbed_official | 340:28d1f895c6fe | 763 | */ |
mbed_official | 340:28d1f895c6fe | 764 | HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout) |
mbed_official | 340:28d1f895c6fe | 765 | { |
mbed_official | 340:28d1f895c6fe | 766 | uint32_t tickstart = 0; |
mbed_official | 340:28d1f895c6fe | 767 | |
mbed_official | 340:28d1f895c6fe | 768 | /* Check the parameters */ |
mbed_official | 340:28d1f895c6fe | 769 | assert_param(IS_CAN_FIFO(FIFONumber)); |
mbed_official | 340:28d1f895c6fe | 770 | |
mbed_official | 340:28d1f895c6fe | 771 | /* Process locked */ |
mbed_official | 340:28d1f895c6fe | 772 | __HAL_LOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 773 | |
mbed_official | 340:28d1f895c6fe | 774 | if(hcan->State == HAL_CAN_STATE_BUSY_TX) |
mbed_official | 340:28d1f895c6fe | 775 | { |
mbed_official | 340:28d1f895c6fe | 776 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 777 | hcan->State = HAL_CAN_STATE_BUSY_TX_RX; |
mbed_official | 340:28d1f895c6fe | 778 | } |
mbed_official | 340:28d1f895c6fe | 779 | else |
mbed_official | 340:28d1f895c6fe | 780 | { |
mbed_official | 340:28d1f895c6fe | 781 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 782 | hcan->State = HAL_CAN_STATE_BUSY_RX; |
mbed_official | 340:28d1f895c6fe | 783 | } |
mbed_official | 340:28d1f895c6fe | 784 | |
mbed_official | 340:28d1f895c6fe | 785 | /* Get timeout */ |
mbed_official | 340:28d1f895c6fe | 786 | tickstart = HAL_GetTick(); |
mbed_official | 340:28d1f895c6fe | 787 | |
mbed_official | 340:28d1f895c6fe | 788 | /* Check pending message */ |
mbed_official | 340:28d1f895c6fe | 789 | while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0) |
mbed_official | 340:28d1f895c6fe | 790 | { |
mbed_official | 340:28d1f895c6fe | 791 | /* Check for the Timeout */ |
mbed_official | 340:28d1f895c6fe | 792 | if(Timeout != HAL_MAX_DELAY) |
mbed_official | 340:28d1f895c6fe | 793 | { |
mbed_official | 340:28d1f895c6fe | 794 | if((Timeout == 0) || ((HAL_GetTick() - tickstart) > Timeout)) |
mbed_official | 340:28d1f895c6fe | 795 | { |
mbed_official | 340:28d1f895c6fe | 796 | hcan->State = HAL_CAN_STATE_TIMEOUT; |
mbed_official | 340:28d1f895c6fe | 797 | /* Process unlocked */ |
mbed_official | 340:28d1f895c6fe | 798 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 799 | return HAL_TIMEOUT; |
mbed_official | 340:28d1f895c6fe | 800 | } |
mbed_official | 340:28d1f895c6fe | 801 | } |
mbed_official | 340:28d1f895c6fe | 802 | } |
mbed_official | 340:28d1f895c6fe | 803 | |
mbed_official | 340:28d1f895c6fe | 804 | /* Get the Id */ |
mbed_official | 340:28d1f895c6fe | 805 | hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR; |
mbed_official | 340:28d1f895c6fe | 806 | if (hcan->pRxMsg->IDE == CAN_ID_STD) |
mbed_official | 340:28d1f895c6fe | 807 | { |
mbed_official | 340:28d1f895c6fe | 808 | hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21); |
mbed_official | 340:28d1f895c6fe | 809 | } |
mbed_official | 340:28d1f895c6fe | 810 | else |
mbed_official | 340:28d1f895c6fe | 811 | { |
mbed_official | 340:28d1f895c6fe | 812 | hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3); |
mbed_official | 340:28d1f895c6fe | 813 | } |
mbed_official | 340:28d1f895c6fe | 814 | |
mbed_official | 340:28d1f895c6fe | 815 | hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR; |
mbed_official | 340:28d1f895c6fe | 816 | /* Get the DLC */ |
mbed_official | 340:28d1f895c6fe | 817 | hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR; |
mbed_official | 340:28d1f895c6fe | 818 | /* Get the FMI */ |
mbed_official | 340:28d1f895c6fe | 819 | hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8); |
mbed_official | 340:28d1f895c6fe | 820 | /* Get the data field */ |
mbed_official | 340:28d1f895c6fe | 821 | hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR; |
mbed_official | 340:28d1f895c6fe | 822 | hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8); |
mbed_official | 340:28d1f895c6fe | 823 | hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16); |
mbed_official | 340:28d1f895c6fe | 824 | hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24); |
mbed_official | 340:28d1f895c6fe | 825 | hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR; |
mbed_official | 340:28d1f895c6fe | 826 | hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8); |
mbed_official | 340:28d1f895c6fe | 827 | hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16); |
mbed_official | 340:28d1f895c6fe | 828 | hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24); |
mbed_official | 340:28d1f895c6fe | 829 | |
mbed_official | 340:28d1f895c6fe | 830 | /* Release the FIFO */ |
mbed_official | 340:28d1f895c6fe | 831 | if(FIFONumber == CAN_FIFO0) |
mbed_official | 340:28d1f895c6fe | 832 | { |
mbed_official | 340:28d1f895c6fe | 833 | /* Release FIFO0 */ |
mbed_official | 340:28d1f895c6fe | 834 | __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0); |
mbed_official | 340:28d1f895c6fe | 835 | } |
mbed_official | 340:28d1f895c6fe | 836 | else /* FIFONumber == CAN_FIFO1 */ |
mbed_official | 340:28d1f895c6fe | 837 | { |
mbed_official | 340:28d1f895c6fe | 838 | /* Release FIFO1 */ |
mbed_official | 340:28d1f895c6fe | 839 | __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1); |
mbed_official | 340:28d1f895c6fe | 840 | } |
mbed_official | 340:28d1f895c6fe | 841 | |
mbed_official | 340:28d1f895c6fe | 842 | if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) |
mbed_official | 340:28d1f895c6fe | 843 | { |
mbed_official | 340:28d1f895c6fe | 844 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 845 | hcan->State = HAL_CAN_STATE_BUSY_TX; |
mbed_official | 340:28d1f895c6fe | 846 | } |
mbed_official | 340:28d1f895c6fe | 847 | else |
mbed_official | 340:28d1f895c6fe | 848 | { |
mbed_official | 340:28d1f895c6fe | 849 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 850 | hcan->State = HAL_CAN_STATE_READY; |
mbed_official | 340:28d1f895c6fe | 851 | } |
mbed_official | 340:28d1f895c6fe | 852 | |
mbed_official | 340:28d1f895c6fe | 853 | /* Process unlocked */ |
mbed_official | 340:28d1f895c6fe | 854 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 855 | |
mbed_official | 340:28d1f895c6fe | 856 | /* Return function status */ |
mbed_official | 340:28d1f895c6fe | 857 | return HAL_OK; |
mbed_official | 340:28d1f895c6fe | 858 | } |
mbed_official | 340:28d1f895c6fe | 859 | |
mbed_official | 340:28d1f895c6fe | 860 | /** |
mbed_official | 340:28d1f895c6fe | 861 | * @brief Receives a correct CAN frame. |
mbed_official | 340:28d1f895c6fe | 862 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 863 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 864 | * @param FIFONumber: FIFO number. |
mbed_official | 340:28d1f895c6fe | 865 | * @retval HAL status |
mbed_official | 340:28d1f895c6fe | 866 | * @retval None |
mbed_official | 340:28d1f895c6fe | 867 | */ |
mbed_official | 340:28d1f895c6fe | 868 | HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber) |
mbed_official | 340:28d1f895c6fe | 869 | { |
mbed_official | 340:28d1f895c6fe | 870 | /* Check the parameters */ |
mbed_official | 340:28d1f895c6fe | 871 | assert_param(IS_CAN_FIFO(FIFONumber)); |
mbed_official | 340:28d1f895c6fe | 872 | |
mbed_official | 340:28d1f895c6fe | 873 | if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_TX)) |
mbed_official | 340:28d1f895c6fe | 874 | { |
mbed_official | 340:28d1f895c6fe | 875 | /* Process locked */ |
mbed_official | 340:28d1f895c6fe | 876 | __HAL_LOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 877 | |
mbed_official | 340:28d1f895c6fe | 878 | if(hcan->State == HAL_CAN_STATE_BUSY_TX) |
mbed_official | 340:28d1f895c6fe | 879 | { |
mbed_official | 340:28d1f895c6fe | 880 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 881 | hcan->State = HAL_CAN_STATE_BUSY_TX_RX; |
mbed_official | 340:28d1f895c6fe | 882 | } |
mbed_official | 340:28d1f895c6fe | 883 | else |
mbed_official | 340:28d1f895c6fe | 884 | { |
mbed_official | 340:28d1f895c6fe | 885 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 886 | hcan->State = HAL_CAN_STATE_BUSY_RX; |
mbed_official | 340:28d1f895c6fe | 887 | } |
mbed_official | 340:28d1f895c6fe | 888 | |
mbed_official | 340:28d1f895c6fe | 889 | /* Set CAN error code to none */ |
mbed_official | 340:28d1f895c6fe | 890 | hcan->ErrorCode = HAL_CAN_ERROR_NONE; |
mbed_official | 340:28d1f895c6fe | 891 | |
mbed_official | 340:28d1f895c6fe | 892 | /* Enable Error warning Interrupt */ |
mbed_official | 340:28d1f895c6fe | 893 | __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG); |
mbed_official | 340:28d1f895c6fe | 894 | |
mbed_official | 340:28d1f895c6fe | 895 | /* Enable Error passive Interrupt */ |
mbed_official | 340:28d1f895c6fe | 896 | __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV); |
mbed_official | 340:28d1f895c6fe | 897 | |
mbed_official | 340:28d1f895c6fe | 898 | /* Enable Bus-off Interrupt */ |
mbed_official | 340:28d1f895c6fe | 899 | __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF); |
mbed_official | 340:28d1f895c6fe | 900 | |
mbed_official | 340:28d1f895c6fe | 901 | /* Enable Last error code Interrupt */ |
mbed_official | 340:28d1f895c6fe | 902 | __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC); |
mbed_official | 340:28d1f895c6fe | 903 | |
mbed_official | 340:28d1f895c6fe | 904 | /* Enable Error Interrupt */ |
mbed_official | 340:28d1f895c6fe | 905 | __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR); |
mbed_official | 340:28d1f895c6fe | 906 | |
mbed_official | 340:28d1f895c6fe | 907 | /* Process unlocked */ |
mbed_official | 340:28d1f895c6fe | 908 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 909 | |
mbed_official | 340:28d1f895c6fe | 910 | if(FIFONumber == CAN_FIFO0) |
mbed_official | 340:28d1f895c6fe | 911 | { |
mbed_official | 340:28d1f895c6fe | 912 | /* Enable FIFO 0 message pending Interrupt */ |
mbed_official | 340:28d1f895c6fe | 913 | __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0); |
mbed_official | 340:28d1f895c6fe | 914 | } |
mbed_official | 340:28d1f895c6fe | 915 | else |
mbed_official | 340:28d1f895c6fe | 916 | { |
mbed_official | 340:28d1f895c6fe | 917 | /* Enable FIFO 1 message pending Interrupt */ |
mbed_official | 340:28d1f895c6fe | 918 | __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1); |
mbed_official | 340:28d1f895c6fe | 919 | } |
mbed_official | 340:28d1f895c6fe | 920 | |
mbed_official | 340:28d1f895c6fe | 921 | } |
mbed_official | 340:28d1f895c6fe | 922 | else |
mbed_official | 340:28d1f895c6fe | 923 | { |
mbed_official | 340:28d1f895c6fe | 924 | return HAL_BUSY; |
mbed_official | 340:28d1f895c6fe | 925 | } |
mbed_official | 340:28d1f895c6fe | 926 | |
mbed_official | 340:28d1f895c6fe | 927 | /* Return function status */ |
mbed_official | 340:28d1f895c6fe | 928 | return HAL_OK; |
mbed_official | 340:28d1f895c6fe | 929 | } |
mbed_official | 340:28d1f895c6fe | 930 | |
mbed_official | 340:28d1f895c6fe | 931 | /** |
mbed_official | 340:28d1f895c6fe | 932 | * @brief Enters the Sleep (low power) mode. |
mbed_official | 340:28d1f895c6fe | 933 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 934 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 935 | * @retval HAL status. |
mbed_official | 340:28d1f895c6fe | 936 | */ |
mbed_official | 340:28d1f895c6fe | 937 | HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan) |
mbed_official | 340:28d1f895c6fe | 938 | { |
mbed_official | 340:28d1f895c6fe | 939 | uint32_t tickstart = 0; |
mbed_official | 340:28d1f895c6fe | 940 | |
mbed_official | 340:28d1f895c6fe | 941 | /* Process locked */ |
mbed_official | 340:28d1f895c6fe | 942 | __HAL_LOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 943 | |
mbed_official | 340:28d1f895c6fe | 944 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 945 | hcan->State = HAL_CAN_STATE_BUSY; |
mbed_official | 340:28d1f895c6fe | 946 | |
mbed_official | 340:28d1f895c6fe | 947 | /* Request Sleep mode */ |
mbed_official | 340:28d1f895c6fe | 948 | hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP); |
mbed_official | 340:28d1f895c6fe | 949 | |
mbed_official | 340:28d1f895c6fe | 950 | /* Sleep mode status */ |
mbed_official | 340:28d1f895c6fe | 951 | if ((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK) |
mbed_official | 340:28d1f895c6fe | 952 | { |
mbed_official | 340:28d1f895c6fe | 953 | /* Process unlocked */ |
mbed_official | 340:28d1f895c6fe | 954 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 955 | |
mbed_official | 340:28d1f895c6fe | 956 | /* Return function status */ |
mbed_official | 340:28d1f895c6fe | 957 | return HAL_ERROR; |
mbed_official | 340:28d1f895c6fe | 958 | } |
mbed_official | 340:28d1f895c6fe | 959 | |
mbed_official | 340:28d1f895c6fe | 960 | /* Get timeout */ |
mbed_official | 340:28d1f895c6fe | 961 | tickstart = HAL_GetTick(); |
mbed_official | 340:28d1f895c6fe | 962 | |
mbed_official | 340:28d1f895c6fe | 963 | /* Wait the acknowledge */ |
mbed_official | 340:28d1f895c6fe | 964 | while((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK) |
mbed_official | 340:28d1f895c6fe | 965 | { |
mbed_official | 340:28d1f895c6fe | 966 | if((HAL_GetTick() - tickstart) > HAL_CAN_DEFAULT_TIMEOUT) |
mbed_official | 340:28d1f895c6fe | 967 | { |
mbed_official | 340:28d1f895c6fe | 968 | hcan->State = HAL_CAN_STATE_TIMEOUT; |
mbed_official | 340:28d1f895c6fe | 969 | /* Process unlocked */ |
mbed_official | 340:28d1f895c6fe | 970 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 971 | return HAL_TIMEOUT; |
mbed_official | 340:28d1f895c6fe | 972 | } |
mbed_official | 340:28d1f895c6fe | 973 | } |
mbed_official | 340:28d1f895c6fe | 974 | |
mbed_official | 340:28d1f895c6fe | 975 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 976 | hcan->State = HAL_CAN_STATE_READY; |
mbed_official | 340:28d1f895c6fe | 977 | |
mbed_official | 340:28d1f895c6fe | 978 | /* Process unlocked */ |
mbed_official | 340:28d1f895c6fe | 979 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 980 | |
mbed_official | 340:28d1f895c6fe | 981 | /* Return function status */ |
mbed_official | 340:28d1f895c6fe | 982 | return HAL_OK; |
mbed_official | 340:28d1f895c6fe | 983 | } |
mbed_official | 340:28d1f895c6fe | 984 | |
mbed_official | 340:28d1f895c6fe | 985 | /** |
mbed_official | 340:28d1f895c6fe | 986 | * @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral |
mbed_official | 340:28d1f895c6fe | 987 | * is in the normal mode. |
mbed_official | 340:28d1f895c6fe | 988 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 989 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 990 | * @retval HAL status. |
mbed_official | 340:28d1f895c6fe | 991 | */ |
mbed_official | 340:28d1f895c6fe | 992 | HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan) |
mbed_official | 340:28d1f895c6fe | 993 | { |
mbed_official | 340:28d1f895c6fe | 994 | uint32_t tickstart = 0; |
mbed_official | 340:28d1f895c6fe | 995 | |
mbed_official | 340:28d1f895c6fe | 996 | /* Process locked */ |
mbed_official | 340:28d1f895c6fe | 997 | __HAL_LOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 998 | |
mbed_official | 340:28d1f895c6fe | 999 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 1000 | hcan->State = HAL_CAN_STATE_BUSY; |
mbed_official | 340:28d1f895c6fe | 1001 | |
mbed_official | 340:28d1f895c6fe | 1002 | /* Wake up request */ |
mbed_official | 340:28d1f895c6fe | 1003 | hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP; |
mbed_official | 340:28d1f895c6fe | 1004 | |
mbed_official | 340:28d1f895c6fe | 1005 | /* Get timeout */ |
mbed_official | 340:28d1f895c6fe | 1006 | tickstart = HAL_GetTick(); |
mbed_official | 340:28d1f895c6fe | 1007 | |
mbed_official | 340:28d1f895c6fe | 1008 | /* Sleep mode status */ |
mbed_official | 340:28d1f895c6fe | 1009 | while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK) |
mbed_official | 340:28d1f895c6fe | 1010 | { |
mbed_official | 340:28d1f895c6fe | 1011 | if((HAL_GetTick() - tickstart) > HAL_CAN_DEFAULT_TIMEOUT) |
mbed_official | 340:28d1f895c6fe | 1012 | { |
mbed_official | 340:28d1f895c6fe | 1013 | hcan->State= HAL_CAN_STATE_TIMEOUT; |
mbed_official | 340:28d1f895c6fe | 1014 | /* Process unlocked */ |
mbed_official | 340:28d1f895c6fe | 1015 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 1016 | return HAL_TIMEOUT; |
mbed_official | 340:28d1f895c6fe | 1017 | } |
mbed_official | 340:28d1f895c6fe | 1018 | } |
mbed_official | 340:28d1f895c6fe | 1019 | if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK) |
mbed_official | 340:28d1f895c6fe | 1020 | { |
mbed_official | 340:28d1f895c6fe | 1021 | /* Process unlocked */ |
mbed_official | 340:28d1f895c6fe | 1022 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 1023 | |
mbed_official | 340:28d1f895c6fe | 1024 | /* Return function status */ |
mbed_official | 340:28d1f895c6fe | 1025 | return HAL_ERROR; |
mbed_official | 340:28d1f895c6fe | 1026 | } |
mbed_official | 340:28d1f895c6fe | 1027 | |
mbed_official | 340:28d1f895c6fe | 1028 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 1029 | hcan->State = HAL_CAN_STATE_READY; |
mbed_official | 340:28d1f895c6fe | 1030 | |
mbed_official | 340:28d1f895c6fe | 1031 | /* Process unlocked */ |
mbed_official | 340:28d1f895c6fe | 1032 | __HAL_UNLOCK(hcan); |
mbed_official | 340:28d1f895c6fe | 1033 | |
mbed_official | 340:28d1f895c6fe | 1034 | /* Return function status */ |
mbed_official | 340:28d1f895c6fe | 1035 | return HAL_OK; |
mbed_official | 340:28d1f895c6fe | 1036 | } |
mbed_official | 340:28d1f895c6fe | 1037 | |
mbed_official | 340:28d1f895c6fe | 1038 | /** |
mbed_official | 340:28d1f895c6fe | 1039 | * @brief Handles CAN interrupt request |
mbed_official | 340:28d1f895c6fe | 1040 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 1041 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 1042 | * @retval None |
mbed_official | 340:28d1f895c6fe | 1043 | */ |
mbed_official | 340:28d1f895c6fe | 1044 | void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan) |
mbed_official | 340:28d1f895c6fe | 1045 | { |
mbed_official | 340:28d1f895c6fe | 1046 | /* Check End of transmission flag */ |
mbed_official | 340:28d1f895c6fe | 1047 | if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME)) |
mbed_official | 340:28d1f895c6fe | 1048 | { |
mbed_official | 340:28d1f895c6fe | 1049 | if((__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0)) || |
mbed_official | 340:28d1f895c6fe | 1050 | (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1)) || |
mbed_official | 340:28d1f895c6fe | 1051 | (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2))) |
mbed_official | 340:28d1f895c6fe | 1052 | { |
mbed_official | 340:28d1f895c6fe | 1053 | /* Call transmit function */ |
mbed_official | 340:28d1f895c6fe | 1054 | CAN_Transmit_IT(hcan); |
mbed_official | 340:28d1f895c6fe | 1055 | } |
mbed_official | 340:28d1f895c6fe | 1056 | } |
mbed_official | 340:28d1f895c6fe | 1057 | |
mbed_official | 340:28d1f895c6fe | 1058 | /* Check End of reception flag for FIFO0 */ |
mbed_official | 340:28d1f895c6fe | 1059 | if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0)) && |
mbed_official | 340:28d1f895c6fe | 1060 | (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0) != 0)) |
mbed_official | 340:28d1f895c6fe | 1061 | { |
mbed_official | 340:28d1f895c6fe | 1062 | /* Call receive function */ |
mbed_official | 340:28d1f895c6fe | 1063 | CAN_Receive_IT(hcan, CAN_FIFO0); |
mbed_official | 340:28d1f895c6fe | 1064 | } |
mbed_official | 340:28d1f895c6fe | 1065 | |
mbed_official | 340:28d1f895c6fe | 1066 | /* Check End of reception flag for FIFO1 */ |
mbed_official | 340:28d1f895c6fe | 1067 | if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1)) && |
mbed_official | 340:28d1f895c6fe | 1068 | (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1) != 0)) |
mbed_official | 340:28d1f895c6fe | 1069 | { |
mbed_official | 340:28d1f895c6fe | 1070 | /* Call receive function */ |
mbed_official | 340:28d1f895c6fe | 1071 | CAN_Receive_IT(hcan, CAN_FIFO1); |
mbed_official | 340:28d1f895c6fe | 1072 | } |
mbed_official | 340:28d1f895c6fe | 1073 | |
mbed_official | 340:28d1f895c6fe | 1074 | /* Check Error Warning Flag */ |
mbed_official | 340:28d1f895c6fe | 1075 | if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG)) && |
mbed_official | 340:28d1f895c6fe | 1076 | (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG)) && |
mbed_official | 340:28d1f895c6fe | 1077 | (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR))) |
mbed_official | 340:28d1f895c6fe | 1078 | { |
mbed_official | 340:28d1f895c6fe | 1079 | /* Set CAN error code to EWG error */ |
mbed_official | 340:28d1f895c6fe | 1080 | hcan->ErrorCode |= HAL_CAN_ERROR_EWG; |
mbed_official | 340:28d1f895c6fe | 1081 | /* No need for clear of Error Warning Flag as read-only */ |
mbed_official | 340:28d1f895c6fe | 1082 | } |
mbed_official | 340:28d1f895c6fe | 1083 | |
mbed_official | 340:28d1f895c6fe | 1084 | /* Check Error Passive Flag */ |
mbed_official | 340:28d1f895c6fe | 1085 | if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV)) && |
mbed_official | 340:28d1f895c6fe | 1086 | (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV)) && |
mbed_official | 340:28d1f895c6fe | 1087 | (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR))) |
mbed_official | 340:28d1f895c6fe | 1088 | { |
mbed_official | 340:28d1f895c6fe | 1089 | /* Set CAN error code to EPV error */ |
mbed_official | 340:28d1f895c6fe | 1090 | hcan->ErrorCode |= HAL_CAN_ERROR_EPV; |
mbed_official | 340:28d1f895c6fe | 1091 | /* No need for clear of Error Passive Flag as read-only */ |
mbed_official | 340:28d1f895c6fe | 1092 | } |
mbed_official | 340:28d1f895c6fe | 1093 | |
mbed_official | 340:28d1f895c6fe | 1094 | /* Check Bus-Off Flag */ |
mbed_official | 340:28d1f895c6fe | 1095 | if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF)) && |
mbed_official | 340:28d1f895c6fe | 1096 | (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF)) && |
mbed_official | 340:28d1f895c6fe | 1097 | (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR))) |
mbed_official | 340:28d1f895c6fe | 1098 | { |
mbed_official | 340:28d1f895c6fe | 1099 | /* Set CAN error code to BOF error */ |
mbed_official | 340:28d1f895c6fe | 1100 | hcan->ErrorCode |= HAL_CAN_ERROR_BOF; |
mbed_official | 340:28d1f895c6fe | 1101 | /* No need for clear of Bus-Off Flag as read-only */ |
mbed_official | 340:28d1f895c6fe | 1102 | } |
mbed_official | 340:28d1f895c6fe | 1103 | |
mbed_official | 340:28d1f895c6fe | 1104 | /* Check Last error code Flag */ |
mbed_official | 340:28d1f895c6fe | 1105 | if((!HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC)) && |
mbed_official | 340:28d1f895c6fe | 1106 | (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC)) && |
mbed_official | 340:28d1f895c6fe | 1107 | (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR))) |
mbed_official | 340:28d1f895c6fe | 1108 | { |
mbed_official | 340:28d1f895c6fe | 1109 | switch(hcan->Instance->ESR & CAN_ESR_LEC) |
mbed_official | 340:28d1f895c6fe | 1110 | { |
mbed_official | 340:28d1f895c6fe | 1111 | case(CAN_ESR_LEC_0): |
mbed_official | 340:28d1f895c6fe | 1112 | /* Set CAN error code to STF error */ |
mbed_official | 340:28d1f895c6fe | 1113 | hcan->ErrorCode |= HAL_CAN_ERROR_STF; |
mbed_official | 340:28d1f895c6fe | 1114 | break; |
mbed_official | 340:28d1f895c6fe | 1115 | case(CAN_ESR_LEC_1): |
mbed_official | 340:28d1f895c6fe | 1116 | /* Set CAN error code to FOR error */ |
mbed_official | 340:28d1f895c6fe | 1117 | hcan->ErrorCode |= HAL_CAN_ERROR_FOR; |
mbed_official | 340:28d1f895c6fe | 1118 | break; |
mbed_official | 340:28d1f895c6fe | 1119 | case(CAN_ESR_LEC_1 | CAN_ESR_LEC_0): |
mbed_official | 340:28d1f895c6fe | 1120 | /* Set CAN error code to ACK error */ |
mbed_official | 340:28d1f895c6fe | 1121 | hcan->ErrorCode |= HAL_CAN_ERROR_ACK; |
mbed_official | 340:28d1f895c6fe | 1122 | break; |
mbed_official | 340:28d1f895c6fe | 1123 | case(CAN_ESR_LEC_2): |
mbed_official | 340:28d1f895c6fe | 1124 | /* Set CAN error code to BR error */ |
mbed_official | 340:28d1f895c6fe | 1125 | hcan->ErrorCode |= HAL_CAN_ERROR_BR; |
mbed_official | 340:28d1f895c6fe | 1126 | break; |
mbed_official | 340:28d1f895c6fe | 1127 | case(CAN_ESR_LEC_2 | CAN_ESR_LEC_0): |
mbed_official | 340:28d1f895c6fe | 1128 | /* Set CAN error code to BD error */ |
mbed_official | 340:28d1f895c6fe | 1129 | hcan->ErrorCode |= HAL_CAN_ERROR_BD; |
mbed_official | 340:28d1f895c6fe | 1130 | break; |
mbed_official | 340:28d1f895c6fe | 1131 | case(CAN_ESR_LEC_2 | CAN_ESR_LEC_1): |
mbed_official | 340:28d1f895c6fe | 1132 | /* Set CAN error code to CRC error */ |
mbed_official | 340:28d1f895c6fe | 1133 | hcan->ErrorCode |= HAL_CAN_ERROR_CRC; |
mbed_official | 340:28d1f895c6fe | 1134 | break; |
mbed_official | 340:28d1f895c6fe | 1135 | default: |
mbed_official | 340:28d1f895c6fe | 1136 | break; |
mbed_official | 340:28d1f895c6fe | 1137 | } |
mbed_official | 340:28d1f895c6fe | 1138 | |
mbed_official | 340:28d1f895c6fe | 1139 | /* Clear Last error code Flag */ |
mbed_official | 340:28d1f895c6fe | 1140 | hcan->Instance->ESR &= ~(CAN_ESR_LEC); |
mbed_official | 340:28d1f895c6fe | 1141 | } |
mbed_official | 340:28d1f895c6fe | 1142 | |
mbed_official | 340:28d1f895c6fe | 1143 | /* Call the Error call Back in case of Errors */ |
mbed_official | 340:28d1f895c6fe | 1144 | if(hcan->ErrorCode != HAL_CAN_ERROR_NONE) |
mbed_official | 340:28d1f895c6fe | 1145 | { |
mbed_official | 340:28d1f895c6fe | 1146 | /* Set the CAN state ready to be able to start again the process */ |
mbed_official | 340:28d1f895c6fe | 1147 | hcan->State = HAL_CAN_STATE_READY; |
mbed_official | 340:28d1f895c6fe | 1148 | /* Call Error callback function */ |
mbed_official | 340:28d1f895c6fe | 1149 | HAL_CAN_ErrorCallback(hcan); |
mbed_official | 340:28d1f895c6fe | 1150 | } |
mbed_official | 340:28d1f895c6fe | 1151 | } |
mbed_official | 340:28d1f895c6fe | 1152 | |
mbed_official | 340:28d1f895c6fe | 1153 | /** |
mbed_official | 340:28d1f895c6fe | 1154 | * @brief Transmission complete callback in non blocking mode |
mbed_official | 340:28d1f895c6fe | 1155 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 1156 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 1157 | * @retval None |
mbed_official | 340:28d1f895c6fe | 1158 | */ |
mbed_official | 340:28d1f895c6fe | 1159 | __weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan) |
mbed_official | 340:28d1f895c6fe | 1160 | { |
mbed_official | 340:28d1f895c6fe | 1161 | /* NOTE : This function Should not be modified, when the callback is needed, |
mbed_official | 340:28d1f895c6fe | 1162 | the HAL_CAN_TxCpltCallback could be implemented in the user file |
mbed_official | 340:28d1f895c6fe | 1163 | */ |
mbed_official | 340:28d1f895c6fe | 1164 | } |
mbed_official | 340:28d1f895c6fe | 1165 | |
mbed_official | 340:28d1f895c6fe | 1166 | /** |
mbed_official | 340:28d1f895c6fe | 1167 | * @brief Transmission complete callback in non blocking mode |
mbed_official | 340:28d1f895c6fe | 1168 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 1169 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 1170 | * @retval None |
mbed_official | 340:28d1f895c6fe | 1171 | */ |
mbed_official | 340:28d1f895c6fe | 1172 | __weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan) |
mbed_official | 340:28d1f895c6fe | 1173 | { |
mbed_official | 340:28d1f895c6fe | 1174 | /* NOTE : This function Should not be modified, when the callback is needed, |
mbed_official | 340:28d1f895c6fe | 1175 | the HAL_CAN_RxCpltCallback could be implemented in the user file |
mbed_official | 340:28d1f895c6fe | 1176 | */ |
mbed_official | 340:28d1f895c6fe | 1177 | } |
mbed_official | 340:28d1f895c6fe | 1178 | |
mbed_official | 340:28d1f895c6fe | 1179 | /** |
mbed_official | 340:28d1f895c6fe | 1180 | * @brief Error CAN callback. |
mbed_official | 340:28d1f895c6fe | 1181 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 1182 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 1183 | * @retval None |
mbed_official | 340:28d1f895c6fe | 1184 | */ |
mbed_official | 340:28d1f895c6fe | 1185 | __weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) |
mbed_official | 340:28d1f895c6fe | 1186 | { |
mbed_official | 340:28d1f895c6fe | 1187 | /* NOTE : This function Should not be modified, when the callback is needed, |
mbed_official | 340:28d1f895c6fe | 1188 | the HAL_CAN_ErrorCallback could be implemented in the user file |
mbed_official | 340:28d1f895c6fe | 1189 | */ |
mbed_official | 340:28d1f895c6fe | 1190 | } |
mbed_official | 340:28d1f895c6fe | 1191 | |
mbed_official | 340:28d1f895c6fe | 1192 | /** |
mbed_official | 340:28d1f895c6fe | 1193 | * @} |
mbed_official | 340:28d1f895c6fe | 1194 | */ |
mbed_official | 340:28d1f895c6fe | 1195 | |
mbed_official | 340:28d1f895c6fe | 1196 | /** @defgroup CAN_Exported_Functions_Group3 Peripheral State and Error functions |
mbed_official | 340:28d1f895c6fe | 1197 | * @brief CAN Peripheral State functions |
mbed_official | 340:28d1f895c6fe | 1198 | * |
mbed_official | 340:28d1f895c6fe | 1199 | @verbatim |
mbed_official | 340:28d1f895c6fe | 1200 | ============================================================================== |
mbed_official | 340:28d1f895c6fe | 1201 | ##### Peripheral State and Error functions ##### |
mbed_official | 340:28d1f895c6fe | 1202 | ============================================================================== |
mbed_official | 340:28d1f895c6fe | 1203 | [..] |
mbed_official | 340:28d1f895c6fe | 1204 | This subsection provides functions allowing to : |
mbed_official | 340:28d1f895c6fe | 1205 | (+) Check the CAN state. |
mbed_official | 340:28d1f895c6fe | 1206 | (+) Check CAN Errors detected during interrupt process |
mbed_official | 340:28d1f895c6fe | 1207 | |
mbed_official | 340:28d1f895c6fe | 1208 | @endverbatim |
mbed_official | 340:28d1f895c6fe | 1209 | * @{ |
mbed_official | 340:28d1f895c6fe | 1210 | */ |
mbed_official | 340:28d1f895c6fe | 1211 | |
mbed_official | 340:28d1f895c6fe | 1212 | /** |
mbed_official | 340:28d1f895c6fe | 1213 | * @brief return the CAN state |
mbed_official | 340:28d1f895c6fe | 1214 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 1215 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 1216 | * @retval HAL state |
mbed_official | 340:28d1f895c6fe | 1217 | */ |
mbed_official | 340:28d1f895c6fe | 1218 | HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan) |
mbed_official | 340:28d1f895c6fe | 1219 | { |
mbed_official | 340:28d1f895c6fe | 1220 | /* Return CAN state */ |
mbed_official | 340:28d1f895c6fe | 1221 | return hcan->State; |
mbed_official | 340:28d1f895c6fe | 1222 | } |
mbed_official | 340:28d1f895c6fe | 1223 | |
mbed_official | 340:28d1f895c6fe | 1224 | /** |
mbed_official | 340:28d1f895c6fe | 1225 | * @brief Return the CAN error code |
mbed_official | 340:28d1f895c6fe | 1226 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 1227 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 1228 | * @retval CAN Error Code |
mbed_official | 340:28d1f895c6fe | 1229 | */ |
mbed_official | 340:28d1f895c6fe | 1230 | uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan) |
mbed_official | 340:28d1f895c6fe | 1231 | { |
mbed_official | 340:28d1f895c6fe | 1232 | return hcan->ErrorCode; |
mbed_official | 340:28d1f895c6fe | 1233 | } |
mbed_official | 340:28d1f895c6fe | 1234 | |
mbed_official | 340:28d1f895c6fe | 1235 | /** |
mbed_official | 340:28d1f895c6fe | 1236 | * @} |
mbed_official | 340:28d1f895c6fe | 1237 | */ |
mbed_official | 340:28d1f895c6fe | 1238 | |
mbed_official | 340:28d1f895c6fe | 1239 | /** |
mbed_official | 340:28d1f895c6fe | 1240 | * @} |
mbed_official | 340:28d1f895c6fe | 1241 | */ |
mbed_official | 340:28d1f895c6fe | 1242 | |
mbed_official | 340:28d1f895c6fe | 1243 | /** @addtogroup CAN_Private_Functions CAN Private Functions |
mbed_official | 340:28d1f895c6fe | 1244 | * @brief CAN Frame message Rx/Tx functions |
mbed_official | 340:28d1f895c6fe | 1245 | * |
mbed_official | 340:28d1f895c6fe | 1246 | * @{ |
mbed_official | 340:28d1f895c6fe | 1247 | */ |
mbed_official | 340:28d1f895c6fe | 1248 | |
mbed_official | 340:28d1f895c6fe | 1249 | /** |
mbed_official | 340:28d1f895c6fe | 1250 | * @brief Initiates and transmits a CAN frame message. |
mbed_official | 340:28d1f895c6fe | 1251 | * @param hcan: pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 1252 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 1253 | * @retval HAL status |
mbed_official | 340:28d1f895c6fe | 1254 | */ |
mbed_official | 340:28d1f895c6fe | 1255 | static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan) |
mbed_official | 340:28d1f895c6fe | 1256 | { |
mbed_official | 340:28d1f895c6fe | 1257 | /* Disable Transmit mailbox empty Interrupt */ |
mbed_official | 340:28d1f895c6fe | 1258 | __HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME); |
mbed_official | 340:28d1f895c6fe | 1259 | |
mbed_official | 340:28d1f895c6fe | 1260 | if(hcan->State == HAL_CAN_STATE_BUSY_TX) |
mbed_official | 340:28d1f895c6fe | 1261 | { |
mbed_official | 340:28d1f895c6fe | 1262 | /* Disable Error warning Interrupt */ |
mbed_official | 340:28d1f895c6fe | 1263 | __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG); |
mbed_official | 340:28d1f895c6fe | 1264 | |
mbed_official | 340:28d1f895c6fe | 1265 | /* Disable Error passive Interrupt */ |
mbed_official | 340:28d1f895c6fe | 1266 | __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV); |
mbed_official | 340:28d1f895c6fe | 1267 | |
mbed_official | 340:28d1f895c6fe | 1268 | /* Disable Bus-off Interrupt */ |
mbed_official | 340:28d1f895c6fe | 1269 | __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF); |
mbed_official | 340:28d1f895c6fe | 1270 | |
mbed_official | 340:28d1f895c6fe | 1271 | /* Disable Last error code Interrupt */ |
mbed_official | 340:28d1f895c6fe | 1272 | __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC); |
mbed_official | 340:28d1f895c6fe | 1273 | |
mbed_official | 340:28d1f895c6fe | 1274 | /* Disable Error Interrupt */ |
mbed_official | 340:28d1f895c6fe | 1275 | __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR); |
mbed_official | 340:28d1f895c6fe | 1276 | } |
mbed_official | 340:28d1f895c6fe | 1277 | |
mbed_official | 340:28d1f895c6fe | 1278 | if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) |
mbed_official | 340:28d1f895c6fe | 1279 | { |
mbed_official | 340:28d1f895c6fe | 1280 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 1281 | hcan->State = HAL_CAN_STATE_BUSY_RX; |
mbed_official | 340:28d1f895c6fe | 1282 | } |
mbed_official | 340:28d1f895c6fe | 1283 | else |
mbed_official | 340:28d1f895c6fe | 1284 | { |
mbed_official | 340:28d1f895c6fe | 1285 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 1286 | hcan->State = HAL_CAN_STATE_READY; |
mbed_official | 340:28d1f895c6fe | 1287 | } |
mbed_official | 340:28d1f895c6fe | 1288 | |
mbed_official | 340:28d1f895c6fe | 1289 | /* Transmission complete callback */ |
mbed_official | 340:28d1f895c6fe | 1290 | HAL_CAN_TxCpltCallback(hcan); |
mbed_official | 340:28d1f895c6fe | 1291 | |
mbed_official | 340:28d1f895c6fe | 1292 | return HAL_OK; |
mbed_official | 340:28d1f895c6fe | 1293 | } |
mbed_official | 340:28d1f895c6fe | 1294 | |
mbed_official | 340:28d1f895c6fe | 1295 | /** |
mbed_official | 340:28d1f895c6fe | 1296 | * @brief Receives a correct CAN frame. |
mbed_official | 340:28d1f895c6fe | 1297 | * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains |
mbed_official | 340:28d1f895c6fe | 1298 | * the configuration information for the specified CAN. |
mbed_official | 340:28d1f895c6fe | 1299 | * @param FIFONumber: Specify the FIFO number |
mbed_official | 340:28d1f895c6fe | 1300 | * @retval HAL status |
mbed_official | 340:28d1f895c6fe | 1301 | * @retval None |
mbed_official | 340:28d1f895c6fe | 1302 | */ |
mbed_official | 340:28d1f895c6fe | 1303 | static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber) |
mbed_official | 340:28d1f895c6fe | 1304 | { |
mbed_official | 340:28d1f895c6fe | 1305 | /* Get the Id */ |
mbed_official | 340:28d1f895c6fe | 1306 | hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR; |
mbed_official | 340:28d1f895c6fe | 1307 | if (hcan->pRxMsg->IDE == CAN_ID_STD) |
mbed_official | 340:28d1f895c6fe | 1308 | { |
mbed_official | 340:28d1f895c6fe | 1309 | hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21); |
mbed_official | 340:28d1f895c6fe | 1310 | } |
mbed_official | 340:28d1f895c6fe | 1311 | else |
mbed_official | 340:28d1f895c6fe | 1312 | { |
mbed_official | 340:28d1f895c6fe | 1313 | hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3); |
mbed_official | 340:28d1f895c6fe | 1314 | } |
mbed_official | 340:28d1f895c6fe | 1315 | |
mbed_official | 340:28d1f895c6fe | 1316 | hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR; |
mbed_official | 340:28d1f895c6fe | 1317 | /* Get the DLC */ |
mbed_official | 340:28d1f895c6fe | 1318 | hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR; |
mbed_official | 340:28d1f895c6fe | 1319 | /* Get the FMI */ |
mbed_official | 340:28d1f895c6fe | 1320 | hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8); |
mbed_official | 340:28d1f895c6fe | 1321 | /* Get the data field */ |
mbed_official | 340:28d1f895c6fe | 1322 | hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR; |
mbed_official | 340:28d1f895c6fe | 1323 | hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8); |
mbed_official | 340:28d1f895c6fe | 1324 | hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16); |
mbed_official | 340:28d1f895c6fe | 1325 | hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24); |
mbed_official | 340:28d1f895c6fe | 1326 | hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR; |
mbed_official | 340:28d1f895c6fe | 1327 | hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8); |
mbed_official | 340:28d1f895c6fe | 1328 | hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16); |
mbed_official | 340:28d1f895c6fe | 1329 | hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24); |
mbed_official | 340:28d1f895c6fe | 1330 | /* Release the FIFO */ |
mbed_official | 340:28d1f895c6fe | 1331 | /* Release FIFO0 */ |
mbed_official | 340:28d1f895c6fe | 1332 | if (FIFONumber == CAN_FIFO0) |
mbed_official | 340:28d1f895c6fe | 1333 | { |
mbed_official | 340:28d1f895c6fe | 1334 | __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0); |
mbed_official | 340:28d1f895c6fe | 1335 | |
mbed_official | 340:28d1f895c6fe | 1336 | /* Disable FIFO 0 message pending Interrupt */ |
mbed_official | 340:28d1f895c6fe | 1337 | __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0); |
mbed_official | 340:28d1f895c6fe | 1338 | } |
mbed_official | 340:28d1f895c6fe | 1339 | /* Release FIFO1 */ |
mbed_official | 340:28d1f895c6fe | 1340 | else /* FIFONumber == CAN_FIFO1 */ |
mbed_official | 340:28d1f895c6fe | 1341 | { |
mbed_official | 340:28d1f895c6fe | 1342 | __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1); |
mbed_official | 340:28d1f895c6fe | 1343 | |
mbed_official | 340:28d1f895c6fe | 1344 | /* Disable FIFO 1 message pending Interrupt */ |
mbed_official | 340:28d1f895c6fe | 1345 | __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1); |
mbed_official | 340:28d1f895c6fe | 1346 | } |
mbed_official | 340:28d1f895c6fe | 1347 | |
mbed_official | 340:28d1f895c6fe | 1348 | if(hcan->State == HAL_CAN_STATE_BUSY_RX) |
mbed_official | 340:28d1f895c6fe | 1349 | { |
mbed_official | 340:28d1f895c6fe | 1350 | /* Disable Error warning Interrupt */ |
mbed_official | 340:28d1f895c6fe | 1351 | __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG); |
mbed_official | 340:28d1f895c6fe | 1352 | |
mbed_official | 340:28d1f895c6fe | 1353 | /* Disable Error passive Interrupt */ |
mbed_official | 340:28d1f895c6fe | 1354 | __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV); |
mbed_official | 340:28d1f895c6fe | 1355 | |
mbed_official | 340:28d1f895c6fe | 1356 | /* Disable Bus-off Interrupt */ |
mbed_official | 340:28d1f895c6fe | 1357 | __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF); |
mbed_official | 340:28d1f895c6fe | 1358 | |
mbed_official | 340:28d1f895c6fe | 1359 | /* Disable Last error code Interrupt */ |
mbed_official | 340:28d1f895c6fe | 1360 | __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC); |
mbed_official | 340:28d1f895c6fe | 1361 | |
mbed_official | 340:28d1f895c6fe | 1362 | /* Disable Error Interrupt */ |
mbed_official | 340:28d1f895c6fe | 1363 | __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR); |
mbed_official | 340:28d1f895c6fe | 1364 | } |
mbed_official | 340:28d1f895c6fe | 1365 | |
mbed_official | 340:28d1f895c6fe | 1366 | if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX) |
mbed_official | 340:28d1f895c6fe | 1367 | { |
mbed_official | 340:28d1f895c6fe | 1368 | /* Disable CAN state */ |
mbed_official | 340:28d1f895c6fe | 1369 | hcan->State = HAL_CAN_STATE_BUSY_TX; |
mbed_official | 340:28d1f895c6fe | 1370 | } |
mbed_official | 340:28d1f895c6fe | 1371 | else |
mbed_official | 340:28d1f895c6fe | 1372 | { |
mbed_official | 340:28d1f895c6fe | 1373 | /* Change CAN state */ |
mbed_official | 340:28d1f895c6fe | 1374 | hcan->State = HAL_CAN_STATE_READY; |
mbed_official | 340:28d1f895c6fe | 1375 | } |
mbed_official | 340:28d1f895c6fe | 1376 | |
mbed_official | 340:28d1f895c6fe | 1377 | /* Receive complete callback */ |
mbed_official | 340:28d1f895c6fe | 1378 | HAL_CAN_RxCpltCallback(hcan); |
mbed_official | 340:28d1f895c6fe | 1379 | |
mbed_official | 340:28d1f895c6fe | 1380 | /* Return function status */ |
mbed_official | 340:28d1f895c6fe | 1381 | return HAL_OK; |
mbed_official | 340:28d1f895c6fe | 1382 | } |
mbed_official | 340:28d1f895c6fe | 1383 | |
mbed_official | 340:28d1f895c6fe | 1384 | /** |
mbed_official | 340:28d1f895c6fe | 1385 | * @} |
mbed_official | 340:28d1f895c6fe | 1386 | */ |
mbed_official | 340:28d1f895c6fe | 1387 | |
mbed_official | 340:28d1f895c6fe | 1388 | #endif /* defined(STM32F072xB) || defined(STM32F042x6) || defined(STM32F048xx) || defined(STM32F091xC) || defined(STM32F098xx) */ |
mbed_official | 340:28d1f895c6fe | 1389 | |
mbed_official | 340:28d1f895c6fe | 1390 | #endif /* HAL_CAN_MODULE_ENABLED */ |
mbed_official | 340:28d1f895c6fe | 1391 | /** |
mbed_official | 340:28d1f895c6fe | 1392 | * @} |
mbed_official | 340:28d1f895c6fe | 1393 | */ |
mbed_official | 340:28d1f895c6fe | 1394 | |
mbed_official | 340:28d1f895c6fe | 1395 | /** |
mbed_official | 340:28d1f895c6fe | 1396 | * @} |
mbed_official | 340:28d1f895c6fe | 1397 | */ |
mbed_official | 340:28d1f895c6fe | 1398 | |
mbed_official | 340:28d1f895c6fe | 1399 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |