en 129 / mbed-dev

fix LPC812 PWM

Dependents:   IR_LED_Send

Fork of mbed-dev by mbed official

targets/cmsis/TARGET_STM/TARGET_STM32F0/stm32f0xx_hal_can.c@129:2e517c56bcfb, 2016-05-16 (annotated)

Committer:
nameless129
Date:
Mon May 16 16:50:30 2016 +0000
Revision:
129:2e517c56bcfb
Parent:
0:9b334a45a8ff 
PWM Fix:Duty 0%??H???????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bogdanm 0:9b334a45a8ff 1 /**
bogdanm 0:9b334a45a8ff 2 ******************************************************************************
bogdanm 0:9b334a45a8ff 3 * @file stm32f0xx_hal_can.c
bogdanm 0:9b334a45a8ff 4 * @author MCD Application Team
bogdanm 0:9b334a45a8ff 5 * @version V1.3.0
bogdanm 0:9b334a45a8ff 6 * @date 26-June-2015
bogdanm 0:9b334a45a8ff 7 * @brief CAN HAL module driver.
bogdanm 0:9b334a45a8ff 8 * This file provides firmware functions to manage the following
bogdanm 0:9b334a45a8ff 9 * functionalities of the Controller Area Network (CAN) peripheral:
bogdanm 0:9b334a45a8ff 10 * + Initialization and de-initialization functions
bogdanm 0:9b334a45a8ff 11 * + IO operation functions
bogdanm 0:9b334a45a8ff 12 * + Peripheral Control functions
bogdanm 0:9b334a45a8ff 13 * + Peripheral State and Error functions
bogdanm 0:9b334a45a8ff 14 *
bogdanm 0:9b334a45a8ff 15 @verbatim
bogdanm 0:9b334a45a8ff 16 ==============================================================================
bogdanm 0:9b334a45a8ff 17 ##### How to use this driver #####
bogdanm 0:9b334a45a8ff 18 ==============================================================================
bogdanm 0:9b334a45a8ff 19 [..]
bogdanm 0:9b334a45a8ff 20 (#) Enable the CAN controller interface clock using __HAL_RCC_CAN1_CLK_ENABLE();
bogdanm 0:9b334a45a8ff 21
bogdanm 0:9b334a45a8ff 22 (#) CAN pins configuration
bogdanm 0:9b334a45a8ff 23 (++) Enable the clock for the CAN GPIOs using the following function:
bogdanm 0:9b334a45a8ff 24 __HAL_RCC_GPIOx_CLK_ENABLE();
bogdanm 0:9b334a45a8ff 25 (++) Connect and configure the involved CAN pins to AF9 using the
bogdanm 0:9b334a45a8ff 26 following function HAL_GPIO_Init();
bogdanm 0:9b334a45a8ff 27
bogdanm 0:9b334a45a8ff 28 (#) Initialise and configure the CAN using HAL_CAN_Init() function.
bogdanm 0:9b334a45a8ff 29
bogdanm 0:9b334a45a8ff 30 (#) Transmit the desired CAN frame using HAL_CAN_Transmit() function.
bogdanm 0:9b334a45a8ff 31
bogdanm 0:9b334a45a8ff 32 (#) Receive a CAN frame using HAL_CAN_Receive() function.
bogdanm 0:9b334a45a8ff 33
bogdanm 0:9b334a45a8ff 34 *** Polling mode IO operation ***
bogdanm 0:9b334a45a8ff 35 =================================
bogdanm 0:9b334a45a8ff 36 [..]
bogdanm 0:9b334a45a8ff 37 (+) Start the CAN peripheral transmission and wait the end of this operation
bogdanm 0:9b334a45a8ff 38 using HAL_CAN_Transmit(), at this stage user can specify the value of timeout
bogdanm 0:9b334a45a8ff 39 according to his end application
bogdanm 0:9b334a45a8ff 40 (+) Start the CAN peripheral reception and wait the end of this operation
bogdanm 0:9b334a45a8ff 41 using HAL_CAN_Receive(), at this stage user can specify the value of timeout
bogdanm 0:9b334a45a8ff 42 according to his end application
bogdanm 0:9b334a45a8ff 43
bogdanm 0:9b334a45a8ff 44 *** Interrupt mode IO operation ***
bogdanm 0:9b334a45a8ff 45 ===================================
bogdanm 0:9b334a45a8ff 46 [..]
bogdanm 0:9b334a45a8ff 47 (+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT()
bogdanm 0:9b334a45a8ff 48 (+) Start the CAN peripheral reception using HAL_CAN_Receive_IT()
bogdanm 0:9b334a45a8ff 49 (+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine
bogdanm 0:9b334a45a8ff 50 (+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can
bogdanm 0:9b334a45a8ff 51 add his own code by customization of function pointer HAL_CAN_TxCpltCallback
bogdanm 0:9b334a45a8ff 52 (+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can
bogdanm 0:9b334a45a8ff 53 add his own code by customization of function pointer HAL_CAN_ErrorCallback
bogdanm 0:9b334a45a8ff 54
bogdanm 0:9b334a45a8ff 55 *** CAN HAL driver macros list ***
bogdanm 0:9b334a45a8ff 56 =============================================
bogdanm 0:9b334a45a8ff 57 [..]
bogdanm 0:9b334a45a8ff 58 Below the list of most used macros in CAN HAL driver.
bogdanm 0:9b334a45a8ff 59
bogdanm 0:9b334a45a8ff 60 (+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts
bogdanm 0:9b334a45a8ff 61 (+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts
bogdanm 0:9b334a45a8ff 62 (+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled
bogdanm 0:9b334a45a8ff 63 (+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags
bogdanm 0:9b334a45a8ff 64 (+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status
bogdanm 0:9b334a45a8ff 65
bogdanm 0:9b334a45a8ff 66 [..]
bogdanm 0:9b334a45a8ff 67 (@) You can refer to the CAN HAL driver header file for more useful macros
bogdanm 0:9b334a45a8ff 68
bogdanm 0:9b334a45a8ff 69 @endverbatim
bogdanm 0:9b334a45a8ff 70
bogdanm 0:9b334a45a8ff 71 ******************************************************************************
bogdanm 0:9b334a45a8ff 72 * @attention
bogdanm 0:9b334a45a8ff 73 *
bogdanm 0:9b334a45a8ff 74 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
bogdanm 0:9b334a45a8ff 75 *
bogdanm 0:9b334a45a8ff 76 * Redistribution and use in source and binary forms, with or without modification,
bogdanm 0:9b334a45a8ff 77 * are permitted provided that the following conditions are met:
bogdanm 0:9b334a45a8ff 78 * 1. Redistributions of source code must retain the above copyright notice,
bogdanm 0:9b334a45a8ff 79 * this list of conditions and the following disclaimer.
bogdanm 0:9b334a45a8ff 80 * 2. Redistributions in binary form must reproduce the above copyright notice,
bogdanm 0:9b334a45a8ff 81 * this list of conditions and the following disclaimer in the documentation
bogdanm 0:9b334a45a8ff 82 * and/or other materials provided with the distribution.
bogdanm 0:9b334a45a8ff 83 * 3. Neither the name of STMicroelectronics nor the names of its contributors
bogdanm 0:9b334a45a8ff 84 * may be used to endorse or promote products derived from this software
bogdanm 0:9b334a45a8ff 85 * without specific prior written permission.
bogdanm 0:9b334a45a8ff 86 *
bogdanm 0:9b334a45a8ff 87 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
bogdanm 0:9b334a45a8ff 88 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
bogdanm 0:9b334a45a8ff 89 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
bogdanm 0:9b334a45a8ff 90 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
bogdanm 0:9b334a45a8ff 91 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
bogdanm 0:9b334a45a8ff 92 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
bogdanm 0:9b334a45a8ff 93 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
bogdanm 0:9b334a45a8ff 94 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
bogdanm 0:9b334a45a8ff 95 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
bogdanm 0:9b334a45a8ff 96 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
bogdanm 0:9b334a45a8ff 97 *
bogdanm 0:9b334a45a8ff 98 ******************************************************************************
bogdanm 0:9b334a45a8ff 99 */
bogdanm 0:9b334a45a8ff 100
bogdanm 0:9b334a45a8ff 101 /* Includes ------------------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 102 #include "stm32f0xx_hal.h"
bogdanm 0:9b334a45a8ff 103
bogdanm 0:9b334a45a8ff 104 #ifdef HAL_CAN_MODULE_ENABLED
bogdanm 0:9b334a45a8ff 105
bogdanm 0:9b334a45a8ff 106 #if defined(STM32F072xB) || defined(STM32F042x6) || defined(STM32F048xx) || defined(STM32F091xC) || defined(STM32F098xx)
bogdanm 0:9b334a45a8ff 107
bogdanm 0:9b334a45a8ff 108 /** @addtogroup STM32F0xx_HAL_Driver
bogdanm 0:9b334a45a8ff 109 * @{
bogdanm 0:9b334a45a8ff 110 */
bogdanm 0:9b334a45a8ff 111
bogdanm 0:9b334a45a8ff 112 /** @defgroup CAN CAN
bogdanm 0:9b334a45a8ff 113 * @brief CAN driver modules
bogdanm 0:9b334a45a8ff 114 * @{
bogdanm 0:9b334a45a8ff 115 */
bogdanm 0:9b334a45a8ff 116
bogdanm 0:9b334a45a8ff 117 /* Private typedef -----------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 118 /* Private define ------------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 119 /** @defgroup CAN_Private_Constants CAN Private Constants
bogdanm 0:9b334a45a8ff 120 * @{
bogdanm 0:9b334a45a8ff 121 */
bogdanm 0:9b334a45a8ff 122 #define CAN_TIMEOUT_VALUE 10
bogdanm 0:9b334a45a8ff 123 /**
bogdanm 0:9b334a45a8ff 124 * @}
bogdanm 0:9b334a45a8ff 125 */
bogdanm 0:9b334a45a8ff 126 /* Private macro -------------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 127 /* Private variables ---------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 128 /* Private function prototypes -----------------------------------------------*/
bogdanm 0:9b334a45a8ff 129 /** @defgroup CAN_Private_Functions CAN Private Functions
bogdanm 0:9b334a45a8ff 130 * @{
bogdanm 0:9b334a45a8ff 131 */
bogdanm 0:9b334a45a8ff 132 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
bogdanm 0:9b334a45a8ff 133 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
bogdanm 0:9b334a45a8ff 134 /**
bogdanm 0:9b334a45a8ff 135 * @}
bogdanm 0:9b334a45a8ff 136 */
bogdanm 0:9b334a45a8ff 137
bogdanm 0:9b334a45a8ff 138 /* Exported functions ---------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 139
bogdanm 0:9b334a45a8ff 140 /** @defgroup CAN_Exported_Functions CAN Exported Functions
bogdanm 0:9b334a45a8ff 141 * @{
bogdanm 0:9b334a45a8ff 142 */
bogdanm 0:9b334a45a8ff 143
bogdanm 0:9b334a45a8ff 144 /** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
bogdanm 0:9b334a45a8ff 145 * @brief Initialization and Configuration functions
bogdanm 0:9b334a45a8ff 146 *
bogdanm 0:9b334a45a8ff 147 @verbatim
bogdanm 0:9b334a45a8ff 148 ==============================================================================
bogdanm 0:9b334a45a8ff 149 ##### Initialization and de-initialization functions #####
bogdanm 0:9b334a45a8ff 150 ==============================================================================
bogdanm 0:9b334a45a8ff 151 [..] This section provides functions allowing to:
bogdanm 0:9b334a45a8ff 152 (+) Initialize and configure the CAN.
bogdanm 0:9b334a45a8ff 153 (+) De-initialize the CAN.
bogdanm 0:9b334a45a8ff 154
bogdanm 0:9b334a45a8ff 155 @endverbatim
bogdanm 0:9b334a45a8ff 156 * @{
bogdanm 0:9b334a45a8ff 157 */
bogdanm 0:9b334a45a8ff 158
bogdanm 0:9b334a45a8ff 159 /**
bogdanm 0:9b334a45a8ff 160 * @brief Initializes the CAN peripheral according to the specified
bogdanm 0:9b334a45a8ff 161 * parameters in the CAN_InitStruct.
bogdanm 0:9b334a45a8ff 162 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 163 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 164 * @retval HAL status
bogdanm 0:9b334a45a8ff 165 */
bogdanm 0:9b334a45a8ff 166 HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 167 {
bogdanm 0:9b334a45a8ff 168 uint32_t status = CAN_INITSTATUS_FAILED; /* Default init status */
bogdanm 0:9b334a45a8ff 169 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 170
bogdanm 0:9b334a45a8ff 171 /* Check CAN handle */
bogdanm 0:9b334a45a8ff 172 if(hcan == NULL)
bogdanm 0:9b334a45a8ff 173 {
bogdanm 0:9b334a45a8ff 174 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 175 }
bogdanm 0:9b334a45a8ff 176
bogdanm 0:9b334a45a8ff 177 /* Check the parameters */
bogdanm 0:9b334a45a8ff 178 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
bogdanm 0:9b334a45a8ff 179 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
bogdanm 0:9b334a45a8ff 180 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
bogdanm 0:9b334a45a8ff 181 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
bogdanm 0:9b334a45a8ff 182 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
bogdanm 0:9b334a45a8ff 183 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
bogdanm 0:9b334a45a8ff 184 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
bogdanm 0:9b334a45a8ff 185 assert_param(IS_CAN_MODE(hcan->Init.Mode));
bogdanm 0:9b334a45a8ff 186 assert_param(IS_CAN_SJW(hcan->Init.SJW));
bogdanm 0:9b334a45a8ff 187 assert_param(IS_CAN_BS1(hcan->Init.BS1));
bogdanm 0:9b334a45a8ff 188 assert_param(IS_CAN_BS2(hcan->Init.BS2));
bogdanm 0:9b334a45a8ff 189 assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
bogdanm 0:9b334a45a8ff 190
bogdanm 0:9b334a45a8ff 191 if(hcan->State == HAL_CAN_STATE_RESET)
bogdanm 0:9b334a45a8ff 192 {
bogdanm 0:9b334a45a8ff 193 /* Allocate lock resource and initialize it */
bogdanm 0:9b334a45a8ff 194 hcan->Lock = HAL_UNLOCKED;
bogdanm 0:9b334a45a8ff 195 /* Init the low level hardware */
bogdanm 0:9b334a45a8ff 196 HAL_CAN_MspInit(hcan);
bogdanm 0:9b334a45a8ff 197 }
bogdanm 0:9b334a45a8ff 198
bogdanm 0:9b334a45a8ff 199 /* Initialize the CAN state*/
bogdanm 0:9b334a45a8ff 200 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 201
bogdanm 0:9b334a45a8ff 202 /* Exit from sleep mode */
bogdanm 0:9b334a45a8ff 203 hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
bogdanm 0:9b334a45a8ff 204
bogdanm 0:9b334a45a8ff 205 /* Request initialisation */
bogdanm 0:9b334a45a8ff 206 hcan->Instance->MCR |= CAN_MCR_INRQ ;
bogdanm 0:9b334a45a8ff 207
bogdanm 0:9b334a45a8ff 208 /* Get tick */
bogdanm 0:9b334a45a8ff 209 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 210
bogdanm 0:9b334a45a8ff 211 /* Wait the acknowledge */
bogdanm 0:9b334a45a8ff 212 while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
bogdanm 0:9b334a45a8ff 213 {
bogdanm 0:9b334a45a8ff 214 if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
bogdanm 0:9b334a45a8ff 215 {
bogdanm 0:9b334a45a8ff 216 hcan->State= HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 217 /* Process unlocked */
bogdanm 0:9b334a45a8ff 218 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 219 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 220 }
bogdanm 0:9b334a45a8ff 221 }
bogdanm 0:9b334a45a8ff 222
bogdanm 0:9b334a45a8ff 223 /* Check acknowledge */
bogdanm 0:9b334a45a8ff 224 if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
bogdanm 0:9b334a45a8ff 225 {
bogdanm 0:9b334a45a8ff 226 /* Set the time triggered communication mode */
bogdanm 0:9b334a45a8ff 227 if (hcan->Init.TTCM == ENABLE)
bogdanm 0:9b334a45a8ff 228 {
bogdanm 0:9b334a45a8ff 229 hcan->Instance->MCR |= CAN_MCR_TTCM;
bogdanm 0:9b334a45a8ff 230 }
bogdanm 0:9b334a45a8ff 231 else
bogdanm 0:9b334a45a8ff 232 {
bogdanm 0:9b334a45a8ff 233 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
bogdanm 0:9b334a45a8ff 234 }
bogdanm 0:9b334a45a8ff 235
bogdanm 0:9b334a45a8ff 236 /* Set the automatic bus-off management */
bogdanm 0:9b334a45a8ff 237 if (hcan->Init.ABOM == ENABLE)
bogdanm 0:9b334a45a8ff 238 {
bogdanm 0:9b334a45a8ff 239 hcan->Instance->MCR |= CAN_MCR_ABOM;
bogdanm 0:9b334a45a8ff 240 }
bogdanm 0:9b334a45a8ff 241 else
bogdanm 0:9b334a45a8ff 242 {
bogdanm 0:9b334a45a8ff 243 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
bogdanm 0:9b334a45a8ff 244 }
bogdanm 0:9b334a45a8ff 245
bogdanm 0:9b334a45a8ff 246 /* Set the automatic wake-up mode */
bogdanm 0:9b334a45a8ff 247 if (hcan->Init.AWUM == ENABLE)
bogdanm 0:9b334a45a8ff 248 {
bogdanm 0:9b334a45a8ff 249 hcan->Instance->MCR |= CAN_MCR_AWUM;
bogdanm 0:9b334a45a8ff 250 }
bogdanm 0:9b334a45a8ff 251 else
bogdanm 0:9b334a45a8ff 252 {
bogdanm 0:9b334a45a8ff 253 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
bogdanm 0:9b334a45a8ff 254 }
bogdanm 0:9b334a45a8ff 255
bogdanm 0:9b334a45a8ff 256 /* Set the no automatic retransmission */
bogdanm 0:9b334a45a8ff 257 if (hcan->Init.NART == ENABLE)
bogdanm 0:9b334a45a8ff 258 {
bogdanm 0:9b334a45a8ff 259 hcan->Instance->MCR |= CAN_MCR_NART;
bogdanm 0:9b334a45a8ff 260 }
bogdanm 0:9b334a45a8ff 261 else
bogdanm 0:9b334a45a8ff 262 {
bogdanm 0:9b334a45a8ff 263 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
bogdanm 0:9b334a45a8ff 264 }
bogdanm 0:9b334a45a8ff 265
bogdanm 0:9b334a45a8ff 266 /* Set the receive FIFO locked mode */
bogdanm 0:9b334a45a8ff 267 if (hcan->Init.RFLM == ENABLE)
bogdanm 0:9b334a45a8ff 268 {
bogdanm 0:9b334a45a8ff 269 hcan->Instance->MCR |= CAN_MCR_RFLM;
bogdanm 0:9b334a45a8ff 270 }
bogdanm 0:9b334a45a8ff 271 else
bogdanm 0:9b334a45a8ff 272 {
bogdanm 0:9b334a45a8ff 273 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
bogdanm 0:9b334a45a8ff 274 }
bogdanm 0:9b334a45a8ff 275
bogdanm 0:9b334a45a8ff 276 /* Set the transmit FIFO priority */
bogdanm 0:9b334a45a8ff 277 if (hcan->Init.TXFP == ENABLE)
bogdanm 0:9b334a45a8ff 278 {
bogdanm 0:9b334a45a8ff 279 hcan->Instance->MCR |= CAN_MCR_TXFP;
bogdanm 0:9b334a45a8ff 280 }
bogdanm 0:9b334a45a8ff 281 else
bogdanm 0:9b334a45a8ff 282 {
bogdanm 0:9b334a45a8ff 283 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
bogdanm 0:9b334a45a8ff 284 }
bogdanm 0:9b334a45a8ff 285
bogdanm 0:9b334a45a8ff 286 /* Set the bit timing register */
bogdanm 0:9b334a45a8ff 287 hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \
bogdanm 0:9b334a45a8ff 288 ((uint32_t)hcan->Init.SJW) | \
bogdanm 0:9b334a45a8ff 289 ((uint32_t)hcan->Init.BS1) | \
bogdanm 0:9b334a45a8ff 290 ((uint32_t)hcan->Init.BS2) | \
bogdanm 0:9b334a45a8ff 291 ((uint32_t)hcan->Init.Prescaler - 1);
bogdanm 0:9b334a45a8ff 292
bogdanm 0:9b334a45a8ff 293 /* Request leave initialisation */
bogdanm 0:9b334a45a8ff 294 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
bogdanm 0:9b334a45a8ff 295
bogdanm 0:9b334a45a8ff 296 /* Get tick */
bogdanm 0:9b334a45a8ff 297 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 298
bogdanm 0:9b334a45a8ff 299 /* Wait the acknowledge */
bogdanm 0:9b334a45a8ff 300 while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
bogdanm 0:9b334a45a8ff 301 {
bogdanm 0:9b334a45a8ff 302 if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
bogdanm 0:9b334a45a8ff 303 {
bogdanm 0:9b334a45a8ff 304 hcan->State= HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 305 /* Process unlocked */
bogdanm 0:9b334a45a8ff 306 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 307 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 308 }
bogdanm 0:9b334a45a8ff 309 }
bogdanm 0:9b334a45a8ff 310
bogdanm 0:9b334a45a8ff 311 /* Check acknowledged */
bogdanm 0:9b334a45a8ff 312 if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
bogdanm 0:9b334a45a8ff 313 {
bogdanm 0:9b334a45a8ff 314 status = CAN_INITSTATUS_SUCCESS;
bogdanm 0:9b334a45a8ff 315 }
bogdanm 0:9b334a45a8ff 316 }
bogdanm 0:9b334a45a8ff 317
bogdanm 0:9b334a45a8ff 318 if(status == CAN_INITSTATUS_SUCCESS)
bogdanm 0:9b334a45a8ff 319 {
bogdanm 0:9b334a45a8ff 320 /* Set CAN error code to none */
bogdanm 0:9b334a45a8ff 321 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
bogdanm 0:9b334a45a8ff 322
bogdanm 0:9b334a45a8ff 323 /* Initialize the CAN state */
bogdanm 0:9b334a45a8ff 324 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 325
bogdanm 0:9b334a45a8ff 326 /* Return function status */
bogdanm 0:9b334a45a8ff 327 return HAL_OK;
bogdanm 0:9b334a45a8ff 328 }
bogdanm 0:9b334a45a8ff 329 else
bogdanm 0:9b334a45a8ff 330 {
bogdanm 0:9b334a45a8ff 331 /* Initialize the CAN state */
bogdanm 0:9b334a45a8ff 332 hcan->State = HAL_CAN_STATE_ERROR;
bogdanm 0:9b334a45a8ff 333
bogdanm 0:9b334a45a8ff 334 /* Return function status */
bogdanm 0:9b334a45a8ff 335 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 336 }
bogdanm 0:9b334a45a8ff 337 }
bogdanm 0:9b334a45a8ff 338
bogdanm 0:9b334a45a8ff 339 /**
bogdanm 0:9b334a45a8ff 340 * @brief Configures the CAN reception filter according to the specified
bogdanm 0:9b334a45a8ff 341 * parameters in the CAN_FilterInitStruct.
bogdanm 0:9b334a45a8ff 342 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 343 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 344 * @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
bogdanm 0:9b334a45a8ff 345 * contains the filter configuration information.
bogdanm 0:9b334a45a8ff 346 * @retval None
bogdanm 0:9b334a45a8ff 347 */
bogdanm 0:9b334a45a8ff 348 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
bogdanm 0:9b334a45a8ff 349 {
bogdanm 0:9b334a45a8ff 350 uint32_t filternbrbitpos = 0;
bogdanm 0:9b334a45a8ff 351
bogdanm 0:9b334a45a8ff 352 /* Check the parameters */
bogdanm 0:9b334a45a8ff 353 assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
bogdanm 0:9b334a45a8ff 354 assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
bogdanm 0:9b334a45a8ff 355 assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
bogdanm 0:9b334a45a8ff 356 assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
bogdanm 0:9b334a45a8ff 357 assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
bogdanm 0:9b334a45a8ff 358 assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
bogdanm 0:9b334a45a8ff 359
bogdanm 0:9b334a45a8ff 360 filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber;
bogdanm 0:9b334a45a8ff 361
bogdanm 0:9b334a45a8ff 362 /* Initialisation mode for the filter */
bogdanm 0:9b334a45a8ff 363 hcan->Instance->FMR |= (uint32_t)CAN_FMR_FINIT;
bogdanm 0:9b334a45a8ff 364
bogdanm 0:9b334a45a8ff 365 /* Select the start slave bank */
bogdanm 0:9b334a45a8ff 366 hcan->Instance->FMR &= ~((uint32_t)CAN_FMR_CAN2SB);
bogdanm 0:9b334a45a8ff 367 hcan->Instance->FMR |= (uint32_t)(sFilterConfig->BankNumber << 8);
bogdanm 0:9b334a45a8ff 368
bogdanm 0:9b334a45a8ff 369 /* Filter Deactivation */
bogdanm 0:9b334a45a8ff 370 hcan->Instance->FA1R &= ~(uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 371
bogdanm 0:9b334a45a8ff 372 /* Filter Scale */
bogdanm 0:9b334a45a8ff 373 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
bogdanm 0:9b334a45a8ff 374 {
bogdanm 0:9b334a45a8ff 375 /* 16-bit scale for the filter */
bogdanm 0:9b334a45a8ff 376 hcan->Instance->FS1R &= ~(uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 377
bogdanm 0:9b334a45a8ff 378 /* First 16-bit identifier and First 16-bit mask */
bogdanm 0:9b334a45a8ff 379 /* Or First 16-bit identifier and Second 16-bit identifier */
bogdanm 0:9b334a45a8ff 380 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
bogdanm 0:9b334a45a8ff 381 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) |
bogdanm 0:9b334a45a8ff 382 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
bogdanm 0:9b334a45a8ff 383
bogdanm 0:9b334a45a8ff 384 /* Second 16-bit identifier and Second 16-bit mask */
bogdanm 0:9b334a45a8ff 385 /* Or Third 16-bit identifier and Fourth 16-bit identifier */
bogdanm 0:9b334a45a8ff 386 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
bogdanm 0:9b334a45a8ff 387 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
bogdanm 0:9b334a45a8ff 388 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh);
bogdanm 0:9b334a45a8ff 389 }
bogdanm 0:9b334a45a8ff 390
bogdanm 0:9b334a45a8ff 391 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
bogdanm 0:9b334a45a8ff 392 {
bogdanm 0:9b334a45a8ff 393 /* 32-bit scale for the filter */
bogdanm 0:9b334a45a8ff 394 hcan->Instance->FS1R |= filternbrbitpos;
bogdanm 0:9b334a45a8ff 395 /* 32-bit identifier or First 32-bit identifier */
bogdanm 0:9b334a45a8ff 396 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
bogdanm 0:9b334a45a8ff 397 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) |
bogdanm 0:9b334a45a8ff 398 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
bogdanm 0:9b334a45a8ff 399 /* 32-bit mask or Second 32-bit identifier */
bogdanm 0:9b334a45a8ff 400 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
bogdanm 0:9b334a45a8ff 401 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
bogdanm 0:9b334a45a8ff 402 (0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow);
bogdanm 0:9b334a45a8ff 403 }
bogdanm 0:9b334a45a8ff 404
bogdanm 0:9b334a45a8ff 405 /* Filter Mode */
bogdanm 0:9b334a45a8ff 406 if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
bogdanm 0:9b334a45a8ff 407 {
bogdanm 0:9b334a45a8ff 408 /*Id/Mask mode for the filter*/
bogdanm 0:9b334a45a8ff 409 hcan->Instance->FM1R &= ~(uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 410 }
bogdanm 0:9b334a45a8ff 411 else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
bogdanm 0:9b334a45a8ff 412 {
bogdanm 0:9b334a45a8ff 413 /*Identifier list mode for the filter*/
bogdanm 0:9b334a45a8ff 414 hcan->Instance->FM1R |= (uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 415 }
bogdanm 0:9b334a45a8ff 416
bogdanm 0:9b334a45a8ff 417 /* Filter FIFO assignment */
bogdanm 0:9b334a45a8ff 418 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
bogdanm 0:9b334a45a8ff 419 {
bogdanm 0:9b334a45a8ff 420 /* FIFO 0 assignation for the filter */
bogdanm 0:9b334a45a8ff 421 hcan->Instance->FFA1R &= ~(uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 422 }
bogdanm 0:9b334a45a8ff 423
bogdanm 0:9b334a45a8ff 424 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
bogdanm 0:9b334a45a8ff 425 {
bogdanm 0:9b334a45a8ff 426 /* FIFO 1 assignation for the filter */
bogdanm 0:9b334a45a8ff 427 hcan->Instance->FFA1R |= (uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 428 }
bogdanm 0:9b334a45a8ff 429
bogdanm 0:9b334a45a8ff 430 /* Filter activation */
bogdanm 0:9b334a45a8ff 431 if (sFilterConfig->FilterActivation == ENABLE)
bogdanm 0:9b334a45a8ff 432 {
bogdanm 0:9b334a45a8ff 433 hcan->Instance->FA1R |= filternbrbitpos;
bogdanm 0:9b334a45a8ff 434 }
bogdanm 0:9b334a45a8ff 435
bogdanm 0:9b334a45a8ff 436 /* Leave the initialisation mode for the filter */
bogdanm 0:9b334a45a8ff 437 hcan->Instance->FMR &= ~((uint32_t)CAN_FMR_FINIT);
bogdanm 0:9b334a45a8ff 438
bogdanm 0:9b334a45a8ff 439 /* Return function status */
bogdanm 0:9b334a45a8ff 440 return HAL_OK;
bogdanm 0:9b334a45a8ff 441 }
bogdanm 0:9b334a45a8ff 442
bogdanm 0:9b334a45a8ff 443 /**
bogdanm 0:9b334a45a8ff 444 * @brief Deinitializes the CANx peripheral registers to their default reset values.
bogdanm 0:9b334a45a8ff 445 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 446 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 447 * @retval HAL status
bogdanm 0:9b334a45a8ff 448 */
bogdanm 0:9b334a45a8ff 449 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 450 {
bogdanm 0:9b334a45a8ff 451 /* Check CAN handle */
bogdanm 0:9b334a45a8ff 452 if(hcan == NULL)
bogdanm 0:9b334a45a8ff 453 {
bogdanm 0:9b334a45a8ff 454 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 455 }
bogdanm 0:9b334a45a8ff 456
bogdanm 0:9b334a45a8ff 457 /* Check the parameters */
bogdanm 0:9b334a45a8ff 458 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
bogdanm 0:9b334a45a8ff 459
bogdanm 0:9b334a45a8ff 460 /* Change CAN state */
bogdanm 0:9b334a45a8ff 461 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 462
bogdanm 0:9b334a45a8ff 463 /* DeInit the low level hardware */
bogdanm 0:9b334a45a8ff 464 HAL_CAN_MspDeInit(hcan);
bogdanm 0:9b334a45a8ff 465
bogdanm 0:9b334a45a8ff 466 /* Change CAN state */
bogdanm 0:9b334a45a8ff 467 hcan->State = HAL_CAN_STATE_RESET;
bogdanm 0:9b334a45a8ff 468
bogdanm 0:9b334a45a8ff 469 /* Release Lock */
bogdanm 0:9b334a45a8ff 470 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 471
bogdanm 0:9b334a45a8ff 472 /* Return function status */
bogdanm 0:9b334a45a8ff 473 return HAL_OK;
bogdanm 0:9b334a45a8ff 474 }
bogdanm 0:9b334a45a8ff 475
bogdanm 0:9b334a45a8ff 476 /**
bogdanm 0:9b334a45a8ff 477 * @brief Initializes the CAN MSP.
bogdanm 0:9b334a45a8ff 478 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 479 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 480 * @retval None
bogdanm 0:9b334a45a8ff 481 */
bogdanm 0:9b334a45a8ff 482 __weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 483 {
bogdanm 0:9b334a45a8ff 484 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 485 the HAL_CAN_MspInit could be implemented in the user file
bogdanm 0:9b334a45a8ff 486 */
bogdanm 0:9b334a45a8ff 487 }
bogdanm 0:9b334a45a8ff 488
bogdanm 0:9b334a45a8ff 489 /**
bogdanm 0:9b334a45a8ff 490 * @brief DeInitializes the CAN MSP.
bogdanm 0:9b334a45a8ff 491 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 492 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 493 * @retval None
bogdanm 0:9b334a45a8ff 494 */
bogdanm 0:9b334a45a8ff 495 __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 496 {
bogdanm 0:9b334a45a8ff 497 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 498 the HAL_CAN_MspDeInit could be implemented in the user file
bogdanm 0:9b334a45a8ff 499 */
bogdanm 0:9b334a45a8ff 500 }
bogdanm 0:9b334a45a8ff 501
bogdanm 0:9b334a45a8ff 502 /**
bogdanm 0:9b334a45a8ff 503 * @}
bogdanm 0:9b334a45a8ff 504 */
bogdanm 0:9b334a45a8ff 505
bogdanm 0:9b334a45a8ff 506 /** @defgroup CAN_Exported_Functions_Group2 Input and Output operation functions
bogdanm 0:9b334a45a8ff 507 * @brief IO operation functions
bogdanm 0:9b334a45a8ff 508 *
bogdanm 0:9b334a45a8ff 509 @verbatim
bogdanm 0:9b334a45a8ff 510 ==============================================================================
bogdanm 0:9b334a45a8ff 511 ##### IO operation functions #####
bogdanm 0:9b334a45a8ff 512 ==============================================================================
bogdanm 0:9b334a45a8ff 513 [..] This section provides functions allowing to:
bogdanm 0:9b334a45a8ff 514 (+) Transmit a CAN frame message.
bogdanm 0:9b334a45a8ff 515 (+) Receive a CAN frame message.
bogdanm 0:9b334a45a8ff 516 (+) Enter CAN peripheral in sleep mode.
bogdanm 0:9b334a45a8ff 517 (+) Wake up the CAN peripheral from sleep mode.
bogdanm 0:9b334a45a8ff 518
bogdanm 0:9b334a45a8ff 519 @endverbatim
bogdanm 0:9b334a45a8ff 520 * @{
bogdanm 0:9b334a45a8ff 521 */
bogdanm 0:9b334a45a8ff 522
bogdanm 0:9b334a45a8ff 523 /**
bogdanm 0:9b334a45a8ff 524 * @brief Initiates and transmits a CAN frame message.
bogdanm 0:9b334a45a8ff 525 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 526 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 527 * @param Timeout: Timeout duration.
bogdanm 0:9b334a45a8ff 528 * @retval HAL status
bogdanm 0:9b334a45a8ff 529 */
bogdanm 0:9b334a45a8ff 530 HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
bogdanm 0:9b334a45a8ff 531 {
bogdanm 0:9b334a45a8ff 532 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
bogdanm 0:9b334a45a8ff 533 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 534
bogdanm 0:9b334a45a8ff 535 /* Check the parameters */
bogdanm 0:9b334a45a8ff 536 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
bogdanm 0:9b334a45a8ff 537 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
bogdanm 0:9b334a45a8ff 538 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
bogdanm 0:9b334a45a8ff 539
bogdanm 0:9b334a45a8ff 540 /* Process locked */
bogdanm 0:9b334a45a8ff 541 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 542
bogdanm 0:9b334a45a8ff 543 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
bogdanm 0:9b334a45a8ff 544 {
bogdanm 0:9b334a45a8ff 545 /* Change CAN state */
bogdanm 0:9b334a45a8ff 546 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 547 }
bogdanm 0:9b334a45a8ff 548 else
bogdanm 0:9b334a45a8ff 549 {
bogdanm 0:9b334a45a8ff 550 /* Change CAN state */
bogdanm 0:9b334a45a8ff 551 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 552 }
bogdanm 0:9b334a45a8ff 553
bogdanm 0:9b334a45a8ff 554 /* Select one empty transmit mailbox */
bogdanm 0:9b334a45a8ff 555 if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
bogdanm 0:9b334a45a8ff 556 {
bogdanm 0:9b334a45a8ff 557 transmitmailbox = 0;
bogdanm 0:9b334a45a8ff 558 }
bogdanm 0:9b334a45a8ff 559 else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
bogdanm 0:9b334a45a8ff 560 {
bogdanm 0:9b334a45a8ff 561 transmitmailbox = 1;
bogdanm 0:9b334a45a8ff 562 }
bogdanm 0:9b334a45a8ff 563 else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
bogdanm 0:9b334a45a8ff 564 {
bogdanm 0:9b334a45a8ff 565 transmitmailbox = 2;
bogdanm 0:9b334a45a8ff 566 }
bogdanm 0:9b334a45a8ff 567
bogdanm 0:9b334a45a8ff 568 if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
bogdanm 0:9b334a45a8ff 569 {
bogdanm 0:9b334a45a8ff 570 /* Set up the Id */
bogdanm 0:9b334a45a8ff 571 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 572 if (hcan->pTxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 573 {
bogdanm 0:9b334a45a8ff 574 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
bogdanm 0:9b334a45a8ff 575 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
bogdanm 0:9b334a45a8ff 576 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 577 }
bogdanm 0:9b334a45a8ff 578 else
bogdanm 0:9b334a45a8ff 579 {
bogdanm 0:9b334a45a8ff 580 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
bogdanm 0:9b334a45a8ff 581 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
bogdanm 0:9b334a45a8ff 582 hcan->pTxMsg->IDE | \
bogdanm 0:9b334a45a8ff 583 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 584 }
bogdanm 0:9b334a45a8ff 585
bogdanm 0:9b334a45a8ff 586 /* Set up the DLC */
bogdanm 0:9b334a45a8ff 587 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
bogdanm 0:9b334a45a8ff 588 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
bogdanm 0:9b334a45a8ff 589 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
bogdanm 0:9b334a45a8ff 590
bogdanm 0:9b334a45a8ff 591 /* Set up the data field */
bogdanm 0:9b334a45a8ff 592 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
bogdanm 0:9b334a45a8ff 593 ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
bogdanm 0:9b334a45a8ff 594 ((uint32_t)hcan->pTxMsg->Data[1] << 8) |
bogdanm 0:9b334a45a8ff 595 ((uint32_t)hcan->pTxMsg->Data[0]));
bogdanm 0:9b334a45a8ff 596 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
bogdanm 0:9b334a45a8ff 597 ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
bogdanm 0:9b334a45a8ff 598 ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
bogdanm 0:9b334a45a8ff 599 ((uint32_t)hcan->pTxMsg->Data[4]));
bogdanm 0:9b334a45a8ff 600 /* Request transmission */
bogdanm 0:9b334a45a8ff 601 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 602
bogdanm 0:9b334a45a8ff 603 /* Get tick */
bogdanm 0:9b334a45a8ff 604 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 605
bogdanm 0:9b334a45a8ff 606 /* Check End of transmission flag */
bogdanm 0:9b334a45a8ff 607 while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
bogdanm 0:9b334a45a8ff 608 {
bogdanm 0:9b334a45a8ff 609 /* Check for the Timeout */
bogdanm 0:9b334a45a8ff 610 if(Timeout != HAL_MAX_DELAY)
bogdanm 0:9b334a45a8ff 611 {
bogdanm 0:9b334a45a8ff 612 if((Timeout == 0) || ((HAL_GetTick() - tickstart) > Timeout))
bogdanm 0:9b334a45a8ff 613 {
bogdanm 0:9b334a45a8ff 614 hcan->State = HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 615 /* Process unlocked */
bogdanm 0:9b334a45a8ff 616 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 617 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 618 }
bogdanm 0:9b334a45a8ff 619 }
bogdanm 0:9b334a45a8ff 620 }
bogdanm 0:9b334a45a8ff 621 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 622 {
bogdanm 0:9b334a45a8ff 623 /* Change CAN state */
bogdanm 0:9b334a45a8ff 624 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 625 }
bogdanm 0:9b334a45a8ff 626 else
bogdanm 0:9b334a45a8ff 627 {
bogdanm 0:9b334a45a8ff 628 /* Change CAN state */
bogdanm 0:9b334a45a8ff 629 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 630 }
bogdanm 0:9b334a45a8ff 631
bogdanm 0:9b334a45a8ff 632 /* Process unlocked */
bogdanm 0:9b334a45a8ff 633 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 634
bogdanm 0:9b334a45a8ff 635 /* Return function status */
bogdanm 0:9b334a45a8ff 636 return HAL_OK;
bogdanm 0:9b334a45a8ff 637 }
bogdanm 0:9b334a45a8ff 638 else
bogdanm 0:9b334a45a8ff 639 {
bogdanm 0:9b334a45a8ff 640 /* Change CAN state */
bogdanm 0:9b334a45a8ff 641 hcan->State = HAL_CAN_STATE_ERROR;
bogdanm 0:9b334a45a8ff 642
bogdanm 0:9b334a45a8ff 643 /* Process unlocked */
bogdanm 0:9b334a45a8ff 644 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 645
bogdanm 0:9b334a45a8ff 646 /* Return function status */
bogdanm 0:9b334a45a8ff 647 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 648 }
bogdanm 0:9b334a45a8ff 649 }
bogdanm 0:9b334a45a8ff 650
bogdanm 0:9b334a45a8ff 651 /**
bogdanm 0:9b334a45a8ff 652 * @brief Initiates and transmits a CAN frame message.
bogdanm 0:9b334a45a8ff 653 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 654 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 655 * @retval HAL status
bogdanm 0:9b334a45a8ff 656 */
bogdanm 0:9b334a45a8ff 657 HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 658 {
bogdanm 0:9b334a45a8ff 659 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
bogdanm 0:9b334a45a8ff 660
bogdanm 0:9b334a45a8ff 661 /* Check the parameters */
bogdanm 0:9b334a45a8ff 662 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
bogdanm 0:9b334a45a8ff 663 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
bogdanm 0:9b334a45a8ff 664 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
bogdanm 0:9b334a45a8ff 665
bogdanm 0:9b334a45a8ff 666 if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_RX))
bogdanm 0:9b334a45a8ff 667 {
bogdanm 0:9b334a45a8ff 668 /* Process Locked */
bogdanm 0:9b334a45a8ff 669 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 670
bogdanm 0:9b334a45a8ff 671 /* Select one empty transmit mailbox */
bogdanm 0:9b334a45a8ff 672 if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
bogdanm 0:9b334a45a8ff 673 {
bogdanm 0:9b334a45a8ff 674 transmitmailbox = 0;
bogdanm 0:9b334a45a8ff 675 }
bogdanm 0:9b334a45a8ff 676 else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
bogdanm 0:9b334a45a8ff 677 {
bogdanm 0:9b334a45a8ff 678 transmitmailbox = 1;
bogdanm 0:9b334a45a8ff 679 }
bogdanm 0:9b334a45a8ff 680 else if((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
bogdanm 0:9b334a45a8ff 681 {
bogdanm 0:9b334a45a8ff 682 transmitmailbox = 2;
bogdanm 0:9b334a45a8ff 683 }
bogdanm 0:9b334a45a8ff 684
bogdanm 0:9b334a45a8ff 685 if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
bogdanm 0:9b334a45a8ff 686 {
bogdanm 0:9b334a45a8ff 687 /* Set up the Id */
bogdanm 0:9b334a45a8ff 688 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 689 if(hcan->pTxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 690 {
bogdanm 0:9b334a45a8ff 691 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
bogdanm 0:9b334a45a8ff 692 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
bogdanm 0:9b334a45a8ff 693 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 694 }
bogdanm 0:9b334a45a8ff 695 else
bogdanm 0:9b334a45a8ff 696 {
bogdanm 0:9b334a45a8ff 697 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
bogdanm 0:9b334a45a8ff 698 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
bogdanm 0:9b334a45a8ff 699 hcan->pTxMsg->IDE | \
bogdanm 0:9b334a45a8ff 700 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 701 }
bogdanm 0:9b334a45a8ff 702
bogdanm 0:9b334a45a8ff 703 /* Set up the DLC */
bogdanm 0:9b334a45a8ff 704 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
bogdanm 0:9b334a45a8ff 705 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
bogdanm 0:9b334a45a8ff 706 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
bogdanm 0:9b334a45a8ff 707
bogdanm 0:9b334a45a8ff 708 /* Set up the data field */
bogdanm 0:9b334a45a8ff 709 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
bogdanm 0:9b334a45a8ff 710 ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
bogdanm 0:9b334a45a8ff 711 ((uint32_t)hcan->pTxMsg->Data[1] << 8) |
bogdanm 0:9b334a45a8ff 712 ((uint32_t)hcan->pTxMsg->Data[0]));
bogdanm 0:9b334a45a8ff 713 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
bogdanm 0:9b334a45a8ff 714 ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
bogdanm 0:9b334a45a8ff 715 ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
bogdanm 0:9b334a45a8ff 716 ((uint32_t)hcan->pTxMsg->Data[4]));
bogdanm 0:9b334a45a8ff 717
bogdanm 0:9b334a45a8ff 718 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
bogdanm 0:9b334a45a8ff 719 {
bogdanm 0:9b334a45a8ff 720 /* Change CAN state */
bogdanm 0:9b334a45a8ff 721 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 722 }
bogdanm 0:9b334a45a8ff 723 else
bogdanm 0:9b334a45a8ff 724 {
bogdanm 0:9b334a45a8ff 725 /* Change CAN state */
bogdanm 0:9b334a45a8ff 726 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 727 }
bogdanm 0:9b334a45a8ff 728
bogdanm 0:9b334a45a8ff 729 /* Set CAN error code to none */
bogdanm 0:9b334a45a8ff 730 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
bogdanm 0:9b334a45a8ff 731
bogdanm 0:9b334a45a8ff 732 /* Process Unlocked */
bogdanm 0:9b334a45a8ff 733 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 734
bogdanm 0:9b334a45a8ff 735 /* Enable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 736 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
bogdanm 0:9b334a45a8ff 737
bogdanm 0:9b334a45a8ff 738 /* Enable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 739 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
bogdanm 0:9b334a45a8ff 740
bogdanm 0:9b334a45a8ff 741 /* Enable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 742 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
bogdanm 0:9b334a45a8ff 743
bogdanm 0:9b334a45a8ff 744 /* Enable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 745 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
bogdanm 0:9b334a45a8ff 746
bogdanm 0:9b334a45a8ff 747 /* Enable Error Interrupt */
bogdanm 0:9b334a45a8ff 748 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
bogdanm 0:9b334a45a8ff 749
bogdanm 0:9b334a45a8ff 750 /* Enable Transmit mailbox empty Interrupt */
bogdanm 0:9b334a45a8ff 751 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME);
bogdanm 0:9b334a45a8ff 752
bogdanm 0:9b334a45a8ff 753 /* Request transmission */
bogdanm 0:9b334a45a8ff 754 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 755 }
bogdanm 0:9b334a45a8ff 756 }
bogdanm 0:9b334a45a8ff 757 else
bogdanm 0:9b334a45a8ff 758 {
bogdanm 0:9b334a45a8ff 759 return HAL_BUSY;
bogdanm 0:9b334a45a8ff 760 }
bogdanm 0:9b334a45a8ff 761
bogdanm 0:9b334a45a8ff 762 return HAL_OK;
bogdanm 0:9b334a45a8ff 763 }
bogdanm 0:9b334a45a8ff 764
bogdanm 0:9b334a45a8ff 765 /**
bogdanm 0:9b334a45a8ff 766 * @brief Receives a correct CAN frame.
bogdanm 0:9b334a45a8ff 767 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 768 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 769 * @param FIFONumber: FIFO number.
bogdanm 0:9b334a45a8ff 770 * @param Timeout: Timeout duration.
bogdanm 0:9b334a45a8ff 771 * @retval HAL status
bogdanm 0:9b334a45a8ff 772 * @retval None
bogdanm 0:9b334a45a8ff 773 */
bogdanm 0:9b334a45a8ff 774 HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
bogdanm 0:9b334a45a8ff 775 {
bogdanm 0:9b334a45a8ff 776 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 777
bogdanm 0:9b334a45a8ff 778 /* Check the parameters */
bogdanm 0:9b334a45a8ff 779 assert_param(IS_CAN_FIFO(FIFONumber));
bogdanm 0:9b334a45a8ff 780
bogdanm 0:9b334a45a8ff 781 /* Process locked */
bogdanm 0:9b334a45a8ff 782 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 783
bogdanm 0:9b334a45a8ff 784 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
bogdanm 0:9b334a45a8ff 785 {
bogdanm 0:9b334a45a8ff 786 /* Change CAN state */
bogdanm 0:9b334a45a8ff 787 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 788 }
bogdanm 0:9b334a45a8ff 789 else
bogdanm 0:9b334a45a8ff 790 {
bogdanm 0:9b334a45a8ff 791 /* Change CAN state */
bogdanm 0:9b334a45a8ff 792 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 793 }
bogdanm 0:9b334a45a8ff 794
bogdanm 0:9b334a45a8ff 795 /* Get tick */
bogdanm 0:9b334a45a8ff 796 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 797
bogdanm 0:9b334a45a8ff 798 /* Check pending message */
bogdanm 0:9b334a45a8ff 799 while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0)
bogdanm 0:9b334a45a8ff 800 {
bogdanm 0:9b334a45a8ff 801 /* Check for the Timeout */
bogdanm 0:9b334a45a8ff 802 if(Timeout != HAL_MAX_DELAY)
bogdanm 0:9b334a45a8ff 803 {
bogdanm 0:9b334a45a8ff 804 if((Timeout == 0) || ((HAL_GetTick() - tickstart) > Timeout))
bogdanm 0:9b334a45a8ff 805 {
bogdanm 0:9b334a45a8ff 806 hcan->State = HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 807 /* Process unlocked */
bogdanm 0:9b334a45a8ff 808 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 809 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 810 }
bogdanm 0:9b334a45a8ff 811 }
bogdanm 0:9b334a45a8ff 812 }
bogdanm 0:9b334a45a8ff 813
bogdanm 0:9b334a45a8ff 814 /* Get the Id */
bogdanm 0:9b334a45a8ff 815 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 816 if (hcan->pRxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 817 {
bogdanm 0:9b334a45a8ff 818 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
bogdanm 0:9b334a45a8ff 819 }
bogdanm 0:9b334a45a8ff 820 else
bogdanm 0:9b334a45a8ff 821 {
bogdanm 0:9b334a45a8ff 822 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
bogdanm 0:9b334a45a8ff 823 }
bogdanm 0:9b334a45a8ff 824
bogdanm 0:9b334a45a8ff 825 hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 826 /* Get the DLC */
bogdanm 0:9b334a45a8ff 827 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
bogdanm 0:9b334a45a8ff 828 /* Get the FMI */
bogdanm 0:9b334a45a8ff 829 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
bogdanm 0:9b334a45a8ff 830 /* Get the data field */
bogdanm 0:9b334a45a8ff 831 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
bogdanm 0:9b334a45a8ff 832 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
bogdanm 0:9b334a45a8ff 833 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
bogdanm 0:9b334a45a8ff 834 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
bogdanm 0:9b334a45a8ff 835 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
bogdanm 0:9b334a45a8ff 836 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
bogdanm 0:9b334a45a8ff 837 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
bogdanm 0:9b334a45a8ff 838 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
bogdanm 0:9b334a45a8ff 839
bogdanm 0:9b334a45a8ff 840 /* Release the FIFO */
bogdanm 0:9b334a45a8ff 841 if(FIFONumber == CAN_FIFO0)
bogdanm 0:9b334a45a8ff 842 {
bogdanm 0:9b334a45a8ff 843 /* Release FIFO0 */
bogdanm 0:9b334a45a8ff 844 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
bogdanm 0:9b334a45a8ff 845 }
bogdanm 0:9b334a45a8ff 846 else /* FIFONumber == CAN_FIFO1 */
bogdanm 0:9b334a45a8ff 847 {
bogdanm 0:9b334a45a8ff 848 /* Release FIFO1 */
bogdanm 0:9b334a45a8ff 849 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
bogdanm 0:9b334a45a8ff 850 }
bogdanm 0:9b334a45a8ff 851
bogdanm 0:9b334a45a8ff 852 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 853 {
bogdanm 0:9b334a45a8ff 854 /* Change CAN state */
bogdanm 0:9b334a45a8ff 855 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 856 }
bogdanm 0:9b334a45a8ff 857 else
bogdanm 0:9b334a45a8ff 858 {
bogdanm 0:9b334a45a8ff 859 /* Change CAN state */
bogdanm 0:9b334a45a8ff 860 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 861 }
bogdanm 0:9b334a45a8ff 862
bogdanm 0:9b334a45a8ff 863 /* Process unlocked */
bogdanm 0:9b334a45a8ff 864 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 865
bogdanm 0:9b334a45a8ff 866 /* Return function status */
bogdanm 0:9b334a45a8ff 867 return HAL_OK;
bogdanm 0:9b334a45a8ff 868 }
bogdanm 0:9b334a45a8ff 869
bogdanm 0:9b334a45a8ff 870 /**
bogdanm 0:9b334a45a8ff 871 * @brief Receives a correct CAN frame.
bogdanm 0:9b334a45a8ff 872 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 873 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 874 * @param FIFONumber: FIFO number.
bogdanm 0:9b334a45a8ff 875 * @retval HAL status
bogdanm 0:9b334a45a8ff 876 * @retval None
bogdanm 0:9b334a45a8ff 877 */
bogdanm 0:9b334a45a8ff 878 HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
bogdanm 0:9b334a45a8ff 879 {
bogdanm 0:9b334a45a8ff 880 /* Check the parameters */
bogdanm 0:9b334a45a8ff 881 assert_param(IS_CAN_FIFO(FIFONumber));
bogdanm 0:9b334a45a8ff 882
bogdanm 0:9b334a45a8ff 883 if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_TX))
bogdanm 0:9b334a45a8ff 884 {
bogdanm 0:9b334a45a8ff 885 /* Process locked */
bogdanm 0:9b334a45a8ff 886 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 887
bogdanm 0:9b334a45a8ff 888 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
bogdanm 0:9b334a45a8ff 889 {
bogdanm 0:9b334a45a8ff 890 /* Change CAN state */
bogdanm 0:9b334a45a8ff 891 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 892 }
bogdanm 0:9b334a45a8ff 893 else
bogdanm 0:9b334a45a8ff 894 {
bogdanm 0:9b334a45a8ff 895 /* Change CAN state */
bogdanm 0:9b334a45a8ff 896 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 897 }
bogdanm 0:9b334a45a8ff 898
bogdanm 0:9b334a45a8ff 899 /* Set CAN error code to none */
bogdanm 0:9b334a45a8ff 900 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
bogdanm 0:9b334a45a8ff 901
bogdanm 0:9b334a45a8ff 902 /* Enable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 903 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
bogdanm 0:9b334a45a8ff 904
bogdanm 0:9b334a45a8ff 905 /* Enable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 906 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
bogdanm 0:9b334a45a8ff 907
bogdanm 0:9b334a45a8ff 908 /* Enable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 909 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
bogdanm 0:9b334a45a8ff 910
bogdanm 0:9b334a45a8ff 911 /* Enable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 912 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
bogdanm 0:9b334a45a8ff 913
bogdanm 0:9b334a45a8ff 914 /* Enable Error Interrupt */
bogdanm 0:9b334a45a8ff 915 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
bogdanm 0:9b334a45a8ff 916
bogdanm 0:9b334a45a8ff 917 /* Process unlocked */
bogdanm 0:9b334a45a8ff 918 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 919
bogdanm 0:9b334a45a8ff 920 if(FIFONumber == CAN_FIFO0)
bogdanm 0:9b334a45a8ff 921 {
bogdanm 0:9b334a45a8ff 922 /* Enable FIFO 0 message pending Interrupt */
bogdanm 0:9b334a45a8ff 923 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);
bogdanm 0:9b334a45a8ff 924 }
bogdanm 0:9b334a45a8ff 925 else
bogdanm 0:9b334a45a8ff 926 {
bogdanm 0:9b334a45a8ff 927 /* Enable FIFO 1 message pending Interrupt */
bogdanm 0:9b334a45a8ff 928 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);
bogdanm 0:9b334a45a8ff 929 }
bogdanm 0:9b334a45a8ff 930
bogdanm 0:9b334a45a8ff 931 }
bogdanm 0:9b334a45a8ff 932 else
bogdanm 0:9b334a45a8ff 933 {
bogdanm 0:9b334a45a8ff 934 return HAL_BUSY;
bogdanm 0:9b334a45a8ff 935 }
bogdanm 0:9b334a45a8ff 936
bogdanm 0:9b334a45a8ff 937 /* Return function status */
bogdanm 0:9b334a45a8ff 938 return HAL_OK;
bogdanm 0:9b334a45a8ff 939 }
bogdanm 0:9b334a45a8ff 940
bogdanm 0:9b334a45a8ff 941 /**
bogdanm 0:9b334a45a8ff 942 * @brief Enters the Sleep (low power) mode.
bogdanm 0:9b334a45a8ff 943 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 944 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 945 * @retval HAL status.
bogdanm 0:9b334a45a8ff 946 */
bogdanm 0:9b334a45a8ff 947 HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 948 {
bogdanm 0:9b334a45a8ff 949 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 950
bogdanm 0:9b334a45a8ff 951 /* Process locked */
bogdanm 0:9b334a45a8ff 952 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 953
bogdanm 0:9b334a45a8ff 954 /* Change CAN state */
bogdanm 0:9b334a45a8ff 955 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 956
bogdanm 0:9b334a45a8ff 957 /* Request Sleep mode */
bogdanm 0:9b334a45a8ff 958 hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
bogdanm 0:9b334a45a8ff 959
bogdanm 0:9b334a45a8ff 960 /* Sleep mode status */
bogdanm 0:9b334a45a8ff 961 if ((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
bogdanm 0:9b334a45a8ff 962 {
bogdanm 0:9b334a45a8ff 963 /* Process unlocked */
bogdanm 0:9b334a45a8ff 964 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 965
bogdanm 0:9b334a45a8ff 966 /* Return function status */
bogdanm 0:9b334a45a8ff 967 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 968 }
bogdanm 0:9b334a45a8ff 969
bogdanm 0:9b334a45a8ff 970 /* Get tick */
bogdanm 0:9b334a45a8ff 971 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 972
bogdanm 0:9b334a45a8ff 973 /* Wait the acknowledge */
bogdanm 0:9b334a45a8ff 974 while((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
bogdanm 0:9b334a45a8ff 975 {
bogdanm 0:9b334a45a8ff 976 if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
bogdanm 0:9b334a45a8ff 977 {
bogdanm 0:9b334a45a8ff 978 hcan->State = HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 979 /* Process unlocked */
bogdanm 0:9b334a45a8ff 980 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 981 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 982 }
bogdanm 0:9b334a45a8ff 983 }
bogdanm 0:9b334a45a8ff 984
bogdanm 0:9b334a45a8ff 985 /* Change CAN state */
bogdanm 0:9b334a45a8ff 986 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 987
bogdanm 0:9b334a45a8ff 988 /* Process unlocked */
bogdanm 0:9b334a45a8ff 989 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 990
bogdanm 0:9b334a45a8ff 991 /* Return function status */
bogdanm 0:9b334a45a8ff 992 return HAL_OK;
bogdanm 0:9b334a45a8ff 993 }
bogdanm 0:9b334a45a8ff 994
bogdanm 0:9b334a45a8ff 995 /**
bogdanm 0:9b334a45a8ff 996 * @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
bogdanm 0:9b334a45a8ff 997 * is in the normal mode.
bogdanm 0:9b334a45a8ff 998 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 999 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1000 * @retval HAL status.
bogdanm 0:9b334a45a8ff 1001 */
bogdanm 0:9b334a45a8ff 1002 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1003 {
bogdanm 0:9b334a45a8ff 1004 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 1005
bogdanm 0:9b334a45a8ff 1006 /* Process locked */
bogdanm 0:9b334a45a8ff 1007 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 1008
bogdanm 0:9b334a45a8ff 1009 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1010 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 1011
bogdanm 0:9b334a45a8ff 1012 /* Wake up request */
bogdanm 0:9b334a45a8ff 1013 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
bogdanm 0:9b334a45a8ff 1014
bogdanm 0:9b334a45a8ff 1015 /* Get tick */
bogdanm 0:9b334a45a8ff 1016 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 1017
bogdanm 0:9b334a45a8ff 1018 /* Sleep mode status */
bogdanm 0:9b334a45a8ff 1019 while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
bogdanm 0:9b334a45a8ff 1020 {
bogdanm 0:9b334a45a8ff 1021 if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
bogdanm 0:9b334a45a8ff 1022 {
bogdanm 0:9b334a45a8ff 1023 hcan->State= HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 1024 /* Process unlocked */
bogdanm 0:9b334a45a8ff 1025 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 1026 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 1027 }
bogdanm 0:9b334a45a8ff 1028 }
bogdanm 0:9b334a45a8ff 1029 if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
bogdanm 0:9b334a45a8ff 1030 {
bogdanm 0:9b334a45a8ff 1031 /* Process unlocked */
bogdanm 0:9b334a45a8ff 1032 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 1033
bogdanm 0:9b334a45a8ff 1034 /* Return function status */
bogdanm 0:9b334a45a8ff 1035 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 1036 }
bogdanm 0:9b334a45a8ff 1037
bogdanm 0:9b334a45a8ff 1038 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1039 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1040
bogdanm 0:9b334a45a8ff 1041 /* Process unlocked */
bogdanm 0:9b334a45a8ff 1042 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 1043
bogdanm 0:9b334a45a8ff 1044 /* Return function status */
bogdanm 0:9b334a45a8ff 1045 return HAL_OK;
bogdanm 0:9b334a45a8ff 1046 }
bogdanm 0:9b334a45a8ff 1047
bogdanm 0:9b334a45a8ff 1048 /**
bogdanm 0:9b334a45a8ff 1049 * @brief Handles CAN interrupt request
bogdanm 0:9b334a45a8ff 1050 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1051 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1052 * @retval None
bogdanm 0:9b334a45a8ff 1053 */
bogdanm 0:9b334a45a8ff 1054 void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1055 {
bogdanm 0:9b334a45a8ff 1056 /* Check End of transmission flag */
bogdanm 0:9b334a45a8ff 1057 if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
bogdanm 0:9b334a45a8ff 1058 {
bogdanm 0:9b334a45a8ff 1059 if((__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0)) ||
bogdanm 0:9b334a45a8ff 1060 (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1)) ||
bogdanm 0:9b334a45a8ff 1061 (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2)))
bogdanm 0:9b334a45a8ff 1062 {
bogdanm 0:9b334a45a8ff 1063 /* Call transmit function */
bogdanm 0:9b334a45a8ff 1064 CAN_Transmit_IT(hcan);
bogdanm 0:9b334a45a8ff 1065 }
bogdanm 0:9b334a45a8ff 1066 }
bogdanm 0:9b334a45a8ff 1067
bogdanm 0:9b334a45a8ff 1068 /* Check End of reception flag for FIFO0 */
bogdanm 0:9b334a45a8ff 1069 if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0)) &&
bogdanm 0:9b334a45a8ff 1070 (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0) != 0))
bogdanm 0:9b334a45a8ff 1071 {
bogdanm 0:9b334a45a8ff 1072 /* Call receive function */
bogdanm 0:9b334a45a8ff 1073 CAN_Receive_IT(hcan, CAN_FIFO0);
bogdanm 0:9b334a45a8ff 1074 }
bogdanm 0:9b334a45a8ff 1075
bogdanm 0:9b334a45a8ff 1076 /* Check End of reception flag for FIFO1 */
bogdanm 0:9b334a45a8ff 1077 if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1)) &&
bogdanm 0:9b334a45a8ff 1078 (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1) != 0))
bogdanm 0:9b334a45a8ff 1079 {
bogdanm 0:9b334a45a8ff 1080 /* Call receive function */
bogdanm 0:9b334a45a8ff 1081 CAN_Receive_IT(hcan, CAN_FIFO1);
bogdanm 0:9b334a45a8ff 1082 }
bogdanm 0:9b334a45a8ff 1083
bogdanm 0:9b334a45a8ff 1084 /* Check Error Warning Flag */
bogdanm 0:9b334a45a8ff 1085 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG)) &&
bogdanm 0:9b334a45a8ff 1086 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG)) &&
bogdanm 0:9b334a45a8ff 1087 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1088 {
bogdanm 0:9b334a45a8ff 1089 /* Set CAN error code to EWG error */
bogdanm 0:9b334a45a8ff 1090 hcan->ErrorCode |= HAL_CAN_ERROR_EWG;
bogdanm 0:9b334a45a8ff 1091 /* No need for clear of Error Warning Flag as read-only */
bogdanm 0:9b334a45a8ff 1092 }
bogdanm 0:9b334a45a8ff 1093
bogdanm 0:9b334a45a8ff 1094 /* Check Error Passive Flag */
bogdanm 0:9b334a45a8ff 1095 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV)) &&
bogdanm 0:9b334a45a8ff 1096 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV)) &&
bogdanm 0:9b334a45a8ff 1097 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1098 {
bogdanm 0:9b334a45a8ff 1099 /* Set CAN error code to EPV error */
bogdanm 0:9b334a45a8ff 1100 hcan->ErrorCode |= HAL_CAN_ERROR_EPV;
bogdanm 0:9b334a45a8ff 1101 /* No need for clear of Error Passive Flag as read-only */
bogdanm 0:9b334a45a8ff 1102 }
bogdanm 0:9b334a45a8ff 1103
bogdanm 0:9b334a45a8ff 1104 /* Check Bus-Off Flag */
bogdanm 0:9b334a45a8ff 1105 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF)) &&
bogdanm 0:9b334a45a8ff 1106 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF)) &&
bogdanm 0:9b334a45a8ff 1107 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1108 {
bogdanm 0:9b334a45a8ff 1109 /* Set CAN error code to BOF error */
bogdanm 0:9b334a45a8ff 1110 hcan->ErrorCode |= HAL_CAN_ERROR_BOF;
bogdanm 0:9b334a45a8ff 1111 /* No need for clear of Bus-Off Flag as read-only */
bogdanm 0:9b334a45a8ff 1112 }
bogdanm 0:9b334a45a8ff 1113
bogdanm 0:9b334a45a8ff 1114 /* Check Last error code Flag */
bogdanm 0:9b334a45a8ff 1115 if((!HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC)) &&
bogdanm 0:9b334a45a8ff 1116 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC)) &&
bogdanm 0:9b334a45a8ff 1117 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1118 {
bogdanm 0:9b334a45a8ff 1119 switch(hcan->Instance->ESR & CAN_ESR_LEC)
bogdanm 0:9b334a45a8ff 1120 {
bogdanm 0:9b334a45a8ff 1121 case(CAN_ESR_LEC_0):
bogdanm 0:9b334a45a8ff 1122 /* Set CAN error code to STF error */
bogdanm 0:9b334a45a8ff 1123 hcan->ErrorCode |= HAL_CAN_ERROR_STF;
bogdanm 0:9b334a45a8ff 1124 break;
bogdanm 0:9b334a45a8ff 1125 case(CAN_ESR_LEC_1):
bogdanm 0:9b334a45a8ff 1126 /* Set CAN error code to FOR error */
bogdanm 0:9b334a45a8ff 1127 hcan->ErrorCode |= HAL_CAN_ERROR_FOR;
bogdanm 0:9b334a45a8ff 1128 break;
bogdanm 0:9b334a45a8ff 1129 case(CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
bogdanm 0:9b334a45a8ff 1130 /* Set CAN error code to ACK error */
bogdanm 0:9b334a45a8ff 1131 hcan->ErrorCode |= HAL_CAN_ERROR_ACK;
bogdanm 0:9b334a45a8ff 1132 break;
bogdanm 0:9b334a45a8ff 1133 case(CAN_ESR_LEC_2):
bogdanm 0:9b334a45a8ff 1134 /* Set CAN error code to BR error */
bogdanm 0:9b334a45a8ff 1135 hcan->ErrorCode |= HAL_CAN_ERROR_BR;
bogdanm 0:9b334a45a8ff 1136 break;
bogdanm 0:9b334a45a8ff 1137 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
bogdanm 0:9b334a45a8ff 1138 /* Set CAN error code to BD error */
bogdanm 0:9b334a45a8ff 1139 hcan->ErrorCode |= HAL_CAN_ERROR_BD;
bogdanm 0:9b334a45a8ff 1140 break;
bogdanm 0:9b334a45a8ff 1141 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
bogdanm 0:9b334a45a8ff 1142 /* Set CAN error code to CRC error */
bogdanm 0:9b334a45a8ff 1143 hcan->ErrorCode |= HAL_CAN_ERROR_CRC;
bogdanm 0:9b334a45a8ff 1144 break;
bogdanm 0:9b334a45a8ff 1145 default:
bogdanm 0:9b334a45a8ff 1146 break;
bogdanm 0:9b334a45a8ff 1147 }
bogdanm 0:9b334a45a8ff 1148
bogdanm 0:9b334a45a8ff 1149 /* Clear Last error code Flag */
bogdanm 0:9b334a45a8ff 1150 hcan->Instance->ESR &= ~(CAN_ESR_LEC);
bogdanm 0:9b334a45a8ff 1151 }
bogdanm 0:9b334a45a8ff 1152
bogdanm 0:9b334a45a8ff 1153 /* Call the Error call Back in case of Errors */
bogdanm 0:9b334a45a8ff 1154 if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
bogdanm 0:9b334a45a8ff 1155 {
bogdanm 0:9b334a45a8ff 1156 /* Set the CAN state ready to be able to start again the process */
bogdanm 0:9b334a45a8ff 1157 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1158 /* Call Error callback function */
bogdanm 0:9b334a45a8ff 1159 HAL_CAN_ErrorCallback(hcan);
bogdanm 0:9b334a45a8ff 1160 }
bogdanm 0:9b334a45a8ff 1161 }
bogdanm 0:9b334a45a8ff 1162
bogdanm 0:9b334a45a8ff 1163 /**
bogdanm 0:9b334a45a8ff 1164 * @brief Transmission complete callback in non blocking mode
bogdanm 0:9b334a45a8ff 1165 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1166 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1167 * @retval None
bogdanm 0:9b334a45a8ff 1168 */
bogdanm 0:9b334a45a8ff 1169 __weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1170 {
bogdanm 0:9b334a45a8ff 1171 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 1172 the HAL_CAN_TxCpltCallback could be implemented in the user file
bogdanm 0:9b334a45a8ff 1173 */
bogdanm 0:9b334a45a8ff 1174 }
bogdanm 0:9b334a45a8ff 1175
bogdanm 0:9b334a45a8ff 1176 /**
bogdanm 0:9b334a45a8ff 1177 * @brief Transmission complete callback in non blocking mode
bogdanm 0:9b334a45a8ff 1178 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1179 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1180 * @retval None
bogdanm 0:9b334a45a8ff 1181 */
bogdanm 0:9b334a45a8ff 1182 __weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1183 {
bogdanm 0:9b334a45a8ff 1184 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 1185 the HAL_CAN_RxCpltCallback could be implemented in the user file
bogdanm 0:9b334a45a8ff 1186 */
bogdanm 0:9b334a45a8ff 1187 }
bogdanm 0:9b334a45a8ff 1188
bogdanm 0:9b334a45a8ff 1189 /**
bogdanm 0:9b334a45a8ff 1190 * @brief Error CAN callback.
bogdanm 0:9b334a45a8ff 1191 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1192 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1193 * @retval None
bogdanm 0:9b334a45a8ff 1194 */
bogdanm 0:9b334a45a8ff 1195 __weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
bogdanm 0:9b334a45a8ff 1196 {
bogdanm 0:9b334a45a8ff 1197 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 1198 the HAL_CAN_ErrorCallback could be implemented in the user file
bogdanm 0:9b334a45a8ff 1199 */
bogdanm 0:9b334a45a8ff 1200 }
bogdanm 0:9b334a45a8ff 1201
bogdanm 0:9b334a45a8ff 1202 /**
bogdanm 0:9b334a45a8ff 1203 * @}
bogdanm 0:9b334a45a8ff 1204 */
bogdanm 0:9b334a45a8ff 1205
bogdanm 0:9b334a45a8ff 1206 /** @defgroup CAN_Exported_Functions_Group3 Peripheral State and Error functions
bogdanm 0:9b334a45a8ff 1207 * @brief CAN Peripheral State functions
bogdanm 0:9b334a45a8ff 1208 *
bogdanm 0:9b334a45a8ff 1209 @verbatim
bogdanm 0:9b334a45a8ff 1210 ==============================================================================
bogdanm 0:9b334a45a8ff 1211 ##### Peripheral State and Error functions #####
bogdanm 0:9b334a45a8ff 1212 ==============================================================================
bogdanm 0:9b334a45a8ff 1213 [..]
bogdanm 0:9b334a45a8ff 1214 This subsection provides functions allowing to :
bogdanm 0:9b334a45a8ff 1215 (+) Check the CAN state.
bogdanm 0:9b334a45a8ff 1216 (+) Check CAN Errors detected during interrupt process
bogdanm 0:9b334a45a8ff 1217
bogdanm 0:9b334a45a8ff 1218 @endverbatim
bogdanm 0:9b334a45a8ff 1219 * @{
bogdanm 0:9b334a45a8ff 1220 */
bogdanm 0:9b334a45a8ff 1221
bogdanm 0:9b334a45a8ff 1222 /**
bogdanm 0:9b334a45a8ff 1223 * @brief return the CAN state
bogdanm 0:9b334a45a8ff 1224 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1225 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1226 * @retval HAL state
bogdanm 0:9b334a45a8ff 1227 */
bogdanm 0:9b334a45a8ff 1228 HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1229 {
bogdanm 0:9b334a45a8ff 1230 /* Return CAN state */
bogdanm 0:9b334a45a8ff 1231 return hcan->State;
bogdanm 0:9b334a45a8ff 1232 }
bogdanm 0:9b334a45a8ff 1233
bogdanm 0:9b334a45a8ff 1234 /**
bogdanm 0:9b334a45a8ff 1235 * @brief Return the CAN error code
bogdanm 0:9b334a45a8ff 1236 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1237 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1238 * @retval CAN Error Code
bogdanm 0:9b334a45a8ff 1239 */
bogdanm 0:9b334a45a8ff 1240 uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
bogdanm 0:9b334a45a8ff 1241 {
bogdanm 0:9b334a45a8ff 1242 return hcan->ErrorCode;
bogdanm 0:9b334a45a8ff 1243 }
bogdanm 0:9b334a45a8ff 1244
bogdanm 0:9b334a45a8ff 1245 /**
bogdanm 0:9b334a45a8ff 1246 * @}
bogdanm 0:9b334a45a8ff 1247 */
bogdanm 0:9b334a45a8ff 1248
bogdanm 0:9b334a45a8ff 1249 /**
bogdanm 0:9b334a45a8ff 1250 * @}
bogdanm 0:9b334a45a8ff 1251 */
bogdanm 0:9b334a45a8ff 1252
bogdanm 0:9b334a45a8ff 1253 /** @addtogroup CAN_Private_Functions CAN Private Functions
bogdanm 0:9b334a45a8ff 1254 * @brief CAN Frame message Rx/Tx functions
bogdanm 0:9b334a45a8ff 1255 *
bogdanm 0:9b334a45a8ff 1256 * @{
bogdanm 0:9b334a45a8ff 1257 */
bogdanm 0:9b334a45a8ff 1258 /**
bogdanm 0:9b334a45a8ff 1259 * @brief Initiates and transmits a CAN frame message.
bogdanm 0:9b334a45a8ff 1260 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1261 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1262 * @retval HAL status
bogdanm 0:9b334a45a8ff 1263 */
bogdanm 0:9b334a45a8ff 1264 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1265 {
bogdanm 0:9b334a45a8ff 1266 /* Disable Transmit mailbox empty Interrupt */
bogdanm 0:9b334a45a8ff 1267 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
bogdanm 0:9b334a45a8ff 1268
bogdanm 0:9b334a45a8ff 1269 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
bogdanm 0:9b334a45a8ff 1270 {
bogdanm 0:9b334a45a8ff 1271 /* Disable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 1272 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
bogdanm 0:9b334a45a8ff 1273
bogdanm 0:9b334a45a8ff 1274 /* Disable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 1275 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
bogdanm 0:9b334a45a8ff 1276
bogdanm 0:9b334a45a8ff 1277 /* Disable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 1278 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
bogdanm 0:9b334a45a8ff 1279
bogdanm 0:9b334a45a8ff 1280 /* Disable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 1281 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
bogdanm 0:9b334a45a8ff 1282
bogdanm 0:9b334a45a8ff 1283 /* Disable Error Interrupt */
bogdanm 0:9b334a45a8ff 1284 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
bogdanm 0:9b334a45a8ff 1285 }
bogdanm 0:9b334a45a8ff 1286
bogdanm 0:9b334a45a8ff 1287 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 1288 {
bogdanm 0:9b334a45a8ff 1289 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1290 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 1291 }
bogdanm 0:9b334a45a8ff 1292 else
bogdanm 0:9b334a45a8ff 1293 {
bogdanm 0:9b334a45a8ff 1294 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1295 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1296 }
bogdanm 0:9b334a45a8ff 1297
bogdanm 0:9b334a45a8ff 1298 /* Transmission complete callback */
bogdanm 0:9b334a45a8ff 1299 HAL_CAN_TxCpltCallback(hcan);
bogdanm 0:9b334a45a8ff 1300
bogdanm 0:9b334a45a8ff 1301 return HAL_OK;
bogdanm 0:9b334a45a8ff 1302 }
bogdanm 0:9b334a45a8ff 1303
bogdanm 0:9b334a45a8ff 1304 /**
bogdanm 0:9b334a45a8ff 1305 * @brief Receives a correct CAN frame.
bogdanm 0:9b334a45a8ff 1306 * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1307 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1308 * @param FIFONumber: Specify the FIFO number
bogdanm 0:9b334a45a8ff 1309 * @retval HAL status
bogdanm 0:9b334a45a8ff 1310 * @retval None
bogdanm 0:9b334a45a8ff 1311 */
bogdanm 0:9b334a45a8ff 1312 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
bogdanm 0:9b334a45a8ff 1313 {
bogdanm 0:9b334a45a8ff 1314 /* Get the Id */
bogdanm 0:9b334a45a8ff 1315 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 1316 if (hcan->pRxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 1317 {
bogdanm 0:9b334a45a8ff 1318 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
bogdanm 0:9b334a45a8ff 1319 }
bogdanm 0:9b334a45a8ff 1320 else
bogdanm 0:9b334a45a8ff 1321 {
bogdanm 0:9b334a45a8ff 1322 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
bogdanm 0:9b334a45a8ff 1323 }
bogdanm 0:9b334a45a8ff 1324
bogdanm 0:9b334a45a8ff 1325 hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 1326 /* Get the DLC */
bogdanm 0:9b334a45a8ff 1327 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
bogdanm 0:9b334a45a8ff 1328 /* Get the FMI */
bogdanm 0:9b334a45a8ff 1329 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
bogdanm 0:9b334a45a8ff 1330 /* Get the data field */
bogdanm 0:9b334a45a8ff 1331 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
bogdanm 0:9b334a45a8ff 1332 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
bogdanm 0:9b334a45a8ff 1333 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
bogdanm 0:9b334a45a8ff 1334 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
bogdanm 0:9b334a45a8ff 1335 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
bogdanm 0:9b334a45a8ff 1336 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
bogdanm 0:9b334a45a8ff 1337 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
bogdanm 0:9b334a45a8ff 1338 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
bogdanm 0:9b334a45a8ff 1339 /* Release the FIFO */
bogdanm 0:9b334a45a8ff 1340 /* Release FIFO0 */
bogdanm 0:9b334a45a8ff 1341 if (FIFONumber == CAN_FIFO0)
bogdanm 0:9b334a45a8ff 1342 {
bogdanm 0:9b334a45a8ff 1343 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
bogdanm 0:9b334a45a8ff 1344
bogdanm 0:9b334a45a8ff 1345 /* Disable FIFO 0 message pending Interrupt */
bogdanm 0:9b334a45a8ff 1346 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
bogdanm 0:9b334a45a8ff 1347 }
bogdanm 0:9b334a45a8ff 1348 /* Release FIFO1 */
bogdanm 0:9b334a45a8ff 1349 else /* FIFONumber == CAN_FIFO1 */
bogdanm 0:9b334a45a8ff 1350 {
bogdanm 0:9b334a45a8ff 1351 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
bogdanm 0:9b334a45a8ff 1352
bogdanm 0:9b334a45a8ff 1353 /* Disable FIFO 1 message pending Interrupt */
bogdanm 0:9b334a45a8ff 1354 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
bogdanm 0:9b334a45a8ff 1355 }
bogdanm 0:9b334a45a8ff 1356
bogdanm 0:9b334a45a8ff 1357 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
bogdanm 0:9b334a45a8ff 1358 {
bogdanm 0:9b334a45a8ff 1359 /* Disable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 1360 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
bogdanm 0:9b334a45a8ff 1361
bogdanm 0:9b334a45a8ff 1362 /* Disable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 1363 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
bogdanm 0:9b334a45a8ff 1364
bogdanm 0:9b334a45a8ff 1365 /* Disable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 1366 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
bogdanm 0:9b334a45a8ff 1367
bogdanm 0:9b334a45a8ff 1368 /* Disable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 1369 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
bogdanm 0:9b334a45a8ff 1370
bogdanm 0:9b334a45a8ff 1371 /* Disable Error Interrupt */
bogdanm 0:9b334a45a8ff 1372 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
bogdanm 0:9b334a45a8ff 1373 }
bogdanm 0:9b334a45a8ff 1374
bogdanm 0:9b334a45a8ff 1375 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 1376 {
bogdanm 0:9b334a45a8ff 1377 /* Disable CAN state */
bogdanm 0:9b334a45a8ff 1378 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 1379 }
bogdanm 0:9b334a45a8ff 1380 else
bogdanm 0:9b334a45a8ff 1381 {
bogdanm 0:9b334a45a8ff 1382 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1383 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1384 }
bogdanm 0:9b334a45a8ff 1385
bogdanm 0:9b334a45a8ff 1386 /* Receive complete callback */
bogdanm 0:9b334a45a8ff 1387 HAL_CAN_RxCpltCallback(hcan);
bogdanm 0:9b334a45a8ff 1388
bogdanm 0:9b334a45a8ff 1389 /* Return function status */
bogdanm 0:9b334a45a8ff 1390 return HAL_OK;
bogdanm 0:9b334a45a8ff 1391 }
bogdanm 0:9b334a45a8ff 1392 /**
bogdanm 0:9b334a45a8ff 1393 * @}
bogdanm 0:9b334a45a8ff 1394 */
bogdanm 0:9b334a45a8ff 1395
bogdanm 0:9b334a45a8ff 1396 /**
bogdanm 0:9b334a45a8ff 1397 * @}
bogdanm 0:9b334a45a8ff 1398 */
bogdanm 0:9b334a45a8ff 1399
bogdanm 0:9b334a45a8ff 1400 /**
bogdanm 0:9b334a45a8ff 1401 * @}
bogdanm 0:9b334a45a8ff 1402 */
bogdanm 0:9b334a45a8ff 1403
bogdanm 0:9b334a45a8ff 1404 #endif /* defined(STM32F072xB) || defined(STM32F042x6) || defined(STM32F048xx) || defined(STM32F091xC) || defined(STM32F098xx) */
bogdanm 0:9b334a45a8ff 1405
bogdanm 0:9b334a45a8ff 1406 #endif /* HAL_CAN_MODULE_ENABLED */
bogdanm 0:9b334a45a8ff 1407
bogdanm 0:9b334a45a8ff 1408 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/