en 129 / mbed-dev

fix LPC812 PWM

Dependents:   IR_LED_Send

Fork of mbed-dev by mbed official

targets/cmsis/TARGET_STM/TARGET_STM32F3/stm32f3xx_hal_can.c@0:9b334a45a8ff, 2015-10-01 (annotated)

Committer:
bogdanm
Date:
Thu Oct 01 15:25:22 2015 +0300
Revision:
0:9b334a45a8ff
Initial commit on mbed-dev



Replaces mbed-src (now inactive)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bogdanm 0:9b334a45a8ff 1 /**
bogdanm 0:9b334a45a8ff 2 ******************************************************************************
bogdanm 0:9b334a45a8ff 3 * @file stm32f3xx_hal_can.c
bogdanm 0:9b334a45a8ff 4 * @author MCD Application Team
bogdanm 0:9b334a45a8ff 5 * @version V1.1.0
bogdanm 0:9b334a45a8ff 6 * @date 12-Sept-2014
bogdanm 0:9b334a45a8ff 7 * @brief CAN HAL module driver.
bogdanm 0:9b334a45a8ff 8 *
bogdanm 0:9b334a45a8ff 9 * This file provides firmware functions to manage the following
bogdanm 0:9b334a45a8ff 10 * functionalities of the Controller Area Network (CAN) peripheral:
bogdanm 0:9b334a45a8ff 11 * + Initialization and de-initialization functions
bogdanm 0:9b334a45a8ff 12 * + IO operation functions
bogdanm 0:9b334a45a8ff 13 * + Peripheral Control functions
bogdanm 0:9b334a45a8ff 14 * + Peripheral State and Error functions
bogdanm 0:9b334a45a8ff 15 *
bogdanm 0:9b334a45a8ff 16 @verbatim
bogdanm 0:9b334a45a8ff 17 ==============================================================================
bogdanm 0:9b334a45a8ff 18 ##### How to use this driver #####
bogdanm 0:9b334a45a8ff 19 ==============================================================================
bogdanm 0:9b334a45a8ff 20 [..]
bogdanm 0:9b334a45a8ff 21 (#) Enable the CAN controller interface clock using
bogdanm 0:9b334a45a8ff 22 __CAN_CLK_ENABLE();
bogdanm 0:9b334a45a8ff 23
bogdanm 0:9b334a45a8ff 24 (#) CAN pins configuration
bogdanm 0:9b334a45a8ff 25 (++) Enable the clock for the CAN GPIOs using the following function:
bogdanm 0:9b334a45a8ff 26 __GPIOx_CLK_ENABLE();
bogdanm 0:9b334a45a8ff 27 (++) Connect and configure the involved CAN pins to AF9 using the
bogdanm 0:9b334a45a8ff 28 following function HAL_GPIO_Init();
bogdanm 0:9b334a45a8ff 29
bogdanm 0:9b334a45a8ff 30 (#) Initialise and configure the CAN using HAL_CAN_Init() function.
bogdanm 0:9b334a45a8ff 31
bogdanm 0:9b334a45a8ff 32 (#) Transmit the desired CAN frame using HAL_CAN_Transmit() function.
bogdanm 0:9b334a45a8ff 33
bogdanm 0:9b334a45a8ff 34 (#) Receive a CAN frame using HAL_CAN_Receive() function.
bogdanm 0:9b334a45a8ff 35
bogdanm 0:9b334a45a8ff 36 *** Polling mode IO operation ***
bogdanm 0:9b334a45a8ff 37 =================================
bogdanm 0:9b334a45a8ff 38 [..]
bogdanm 0:9b334a45a8ff 39 (+) Start the CAN peripheral transmission and wait the end of this operation
bogdanm 0:9b334a45a8ff 40 using HAL_CAN_Transmit(), at this stage user can specify the value of timeout
bogdanm 0:9b334a45a8ff 41 according to his end application
bogdanm 0:9b334a45a8ff 42 (+) Start the CAN peripheral reception and wait the end of this operation
bogdanm 0:9b334a45a8ff 43 using HAL_CAN_Receive(), at this stage user can specify the value of timeout
bogdanm 0:9b334a45a8ff 44 according to his end application
bogdanm 0:9b334a45a8ff 45
bogdanm 0:9b334a45a8ff 46 *** Interrupt mode IO operation ***
bogdanm 0:9b334a45a8ff 47 ===================================
bogdanm 0:9b334a45a8ff 48 [..]
bogdanm 0:9b334a45a8ff 49 (+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT()
bogdanm 0:9b334a45a8ff 50 (+) Start the CAN peripheral reception using HAL_CAN_Receive_IT()
bogdanm 0:9b334a45a8ff 51 (+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine
bogdanm 0:9b334a45a8ff 52 (+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can
bogdanm 0:9b334a45a8ff 53 add his own code by customization of function pointer HAL_CAN_TxCpltCallback
bogdanm 0:9b334a45a8ff 54 (+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can
bogdanm 0:9b334a45a8ff 55 add his own code by customization of function pointer HAL_CAN_ErrorCallback
bogdanm 0:9b334a45a8ff 56
bogdanm 0:9b334a45a8ff 57 *** CAN HAL driver macros list ***
bogdanm 0:9b334a45a8ff 58 =============================================
bogdanm 0:9b334a45a8ff 59 [..]
bogdanm 0:9b334a45a8ff 60 Below the list of most used macros in CAN HAL driver.
bogdanm 0:9b334a45a8ff 61
bogdanm 0:9b334a45a8ff 62 (+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts
bogdanm 0:9b334a45a8ff 63 (+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts
bogdanm 0:9b334a45a8ff 64 (+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled
bogdanm 0:9b334a45a8ff 65 (+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags
bogdanm 0:9b334a45a8ff 66 (+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status
bogdanm 0:9b334a45a8ff 67
bogdanm 0:9b334a45a8ff 68 [..]
bogdanm 0:9b334a45a8ff 69 (@) You can refer to the CAN HAL driver header file for more useful macros
bogdanm 0:9b334a45a8ff 70
bogdanm 0:9b334a45a8ff 71 @endverbatim
bogdanm 0:9b334a45a8ff 72
bogdanm 0:9b334a45a8ff 73 ******************************************************************************
bogdanm 0:9b334a45a8ff 74 * @attention
bogdanm 0:9b334a45a8ff 75 *
bogdanm 0:9b334a45a8ff 76 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
bogdanm 0:9b334a45a8ff 77 *
bogdanm 0:9b334a45a8ff 78 * Redistribution and use in source and binary forms, with or without modification,
bogdanm 0:9b334a45a8ff 79 * are permitted provided that the following conditions are met:
bogdanm 0:9b334a45a8ff 80 * 1. Redistributions of source code must retain the above copyright notice,
bogdanm 0:9b334a45a8ff 81 * this list of conditions and the following disclaimer.
bogdanm 0:9b334a45a8ff 82 * 2. Redistributions in binary form must reproduce the above copyright notice,
bogdanm 0:9b334a45a8ff 83 * this list of conditions and the following disclaimer in the documentation
bogdanm 0:9b334a45a8ff 84 * and/or other materials provided with the distribution.
bogdanm 0:9b334a45a8ff 85 * 3. Neither the name of STMicroelectronics nor the names of its contributors
bogdanm 0:9b334a45a8ff 86 * may be used to endorse or promote products derived from this software
bogdanm 0:9b334a45a8ff 87 * without specific prior written permission.
bogdanm 0:9b334a45a8ff 88 *
bogdanm 0:9b334a45a8ff 89 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
bogdanm 0:9b334a45a8ff 90 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
bogdanm 0:9b334a45a8ff 91 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
bogdanm 0:9b334a45a8ff 92 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
bogdanm 0:9b334a45a8ff 93 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
bogdanm 0:9b334a45a8ff 94 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
bogdanm 0:9b334a45a8ff 95 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
bogdanm 0:9b334a45a8ff 96 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
bogdanm 0:9b334a45a8ff 97 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
bogdanm 0:9b334a45a8ff 98 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
bogdanm 0:9b334a45a8ff 99 *
bogdanm 0:9b334a45a8ff 100 ******************************************************************************
bogdanm 0:9b334a45a8ff 101 */
bogdanm 0:9b334a45a8ff 102
bogdanm 0:9b334a45a8ff 103 /* Includes ------------------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 104 #include "stm32f3xx_hal.h"
bogdanm 0:9b334a45a8ff 105
bogdanm 0:9b334a45a8ff 106 /** @addtogroup STM32F3xx_HAL_Driver
bogdanm 0:9b334a45a8ff 107 * @{
bogdanm 0:9b334a45a8ff 108 */
bogdanm 0:9b334a45a8ff 109
bogdanm 0:9b334a45a8ff 110 /** @defgroup CAN CAN HAL module driver
bogdanm 0:9b334a45a8ff 111 * @brief CAN driver modules
bogdanm 0:9b334a45a8ff 112 * @{
bogdanm 0:9b334a45a8ff 113 */
bogdanm 0:9b334a45a8ff 114
bogdanm 0:9b334a45a8ff 115 #ifdef HAL_CAN_MODULE_ENABLED
bogdanm 0:9b334a45a8ff 116
bogdanm 0:9b334a45a8ff 117 #if defined(STM32F302xE) || defined(STM32F303xE) || defined(STM32F398xx) || \
bogdanm 0:9b334a45a8ff 118 defined(STM32F302xC) || defined(STM32F303xC) || defined(STM32F358xx) || \
bogdanm 0:9b334a45a8ff 119 defined(STM32F303x8) || defined(STM32F334x8) || defined(STM32F328xx) || \
bogdanm 0:9b334a45a8ff 120 defined(STM32F302x8) || \
bogdanm 0:9b334a45a8ff 121 defined(STM32F373xC) || defined(STM32F378xx)
bogdanm 0:9b334a45a8ff 122
bogdanm 0:9b334a45a8ff 123 /* Private typedef -----------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 124 /* Private define ------------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 125 /* Private macro -------------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 126 /* Private variables ---------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 127 /* Private function prototypes -----------------------------------------------*/
bogdanm 0:9b334a45a8ff 128 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
bogdanm 0:9b334a45a8ff 129 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
bogdanm 0:9b334a45a8ff 130 /* Exported functions ---------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 131
bogdanm 0:9b334a45a8ff 132 /** @defgroup CAN_Exported_Functions CAN Exported Functions
bogdanm 0:9b334a45a8ff 133 * @{
bogdanm 0:9b334a45a8ff 134 */
bogdanm 0:9b334a45a8ff 135
bogdanm 0:9b334a45a8ff 136 /** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
bogdanm 0:9b334a45a8ff 137 * @brief Initialization and Configuration functions
bogdanm 0:9b334a45a8ff 138 *
bogdanm 0:9b334a45a8ff 139 @verbatim
bogdanm 0:9b334a45a8ff 140 ==============================================================================
bogdanm 0:9b334a45a8ff 141 ##### Initialization and de-initialization functions #####
bogdanm 0:9b334a45a8ff 142 ==============================================================================
bogdanm 0:9b334a45a8ff 143 [..] This section provides functions allowing to:
bogdanm 0:9b334a45a8ff 144 (+) Initialize and configure the CAN.
bogdanm 0:9b334a45a8ff 145 (+) De-initialize the CAN.
bogdanm 0:9b334a45a8ff 146
bogdanm 0:9b334a45a8ff 147 @endverbatim
bogdanm 0:9b334a45a8ff 148 * @{
bogdanm 0:9b334a45a8ff 149 */
bogdanm 0:9b334a45a8ff 150
bogdanm 0:9b334a45a8ff 151 /**
bogdanm 0:9b334a45a8ff 152 * @brief Initializes the CAN peripheral according to the specified
bogdanm 0:9b334a45a8ff 153 * parameters in the CAN_InitStruct.
bogdanm 0:9b334a45a8ff 154 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 155 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 156 * @retval HAL status
bogdanm 0:9b334a45a8ff 157 */
bogdanm 0:9b334a45a8ff 158 HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 159 {
bogdanm 0:9b334a45a8ff 160 uint32_t status = CAN_INITSTATUS_FAILED; /* Default init status */
bogdanm 0:9b334a45a8ff 161 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 162
bogdanm 0:9b334a45a8ff 163 /* Check CAN handle */
bogdanm 0:9b334a45a8ff 164 if(hcan == HAL_NULL)
bogdanm 0:9b334a45a8ff 165 {
bogdanm 0:9b334a45a8ff 166 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 167 }
bogdanm 0:9b334a45a8ff 168
bogdanm 0:9b334a45a8ff 169 /* Check the parameters */
bogdanm 0:9b334a45a8ff 170 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
bogdanm 0:9b334a45a8ff 171 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
bogdanm 0:9b334a45a8ff 172 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
bogdanm 0:9b334a45a8ff 173 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
bogdanm 0:9b334a45a8ff 174 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
bogdanm 0:9b334a45a8ff 175 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
bogdanm 0:9b334a45a8ff 176 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
bogdanm 0:9b334a45a8ff 177 assert_param(IS_CAN_MODE(hcan->Init.Mode));
bogdanm 0:9b334a45a8ff 178 assert_param(IS_CAN_SJW(hcan->Init.SJW));
bogdanm 0:9b334a45a8ff 179 assert_param(IS_CAN_BS1(hcan->Init.BS1));
bogdanm 0:9b334a45a8ff 180 assert_param(IS_CAN_BS2(hcan->Init.BS2));
bogdanm 0:9b334a45a8ff 181 assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
bogdanm 0:9b334a45a8ff 182
bogdanm 0:9b334a45a8ff 183 if(hcan->State == HAL_CAN_STATE_RESET)
bogdanm 0:9b334a45a8ff 184 {
bogdanm 0:9b334a45a8ff 185 /* Init the low level hardware */
bogdanm 0:9b334a45a8ff 186 HAL_CAN_MspInit(hcan);
bogdanm 0:9b334a45a8ff 187 }
bogdanm 0:9b334a45a8ff 188
bogdanm 0:9b334a45a8ff 189 /* Initialize the CAN state*/
bogdanm 0:9b334a45a8ff 190 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 191
bogdanm 0:9b334a45a8ff 192 /* Exit from sleep mode */
bogdanm 0:9b334a45a8ff 193 hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
bogdanm 0:9b334a45a8ff 194
bogdanm 0:9b334a45a8ff 195 /* Request initialisation */
bogdanm 0:9b334a45a8ff 196 hcan->Instance->MCR |= CAN_MCR_INRQ ;
bogdanm 0:9b334a45a8ff 197
bogdanm 0:9b334a45a8ff 198 /* Get timeout */
bogdanm 0:9b334a45a8ff 199 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 200
bogdanm 0:9b334a45a8ff 201 /* Wait the acknowledge */
bogdanm 0:9b334a45a8ff 202 while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
bogdanm 0:9b334a45a8ff 203 {
bogdanm 0:9b334a45a8ff 204 if((HAL_GetTick()-tickstart) > INAK_TIMEOUT)
bogdanm 0:9b334a45a8ff 205 {
bogdanm 0:9b334a45a8ff 206 hcan->State= HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 207 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 208 }
bogdanm 0:9b334a45a8ff 209 }
bogdanm 0:9b334a45a8ff 210
bogdanm 0:9b334a45a8ff 211 /* Check acknowledge */
bogdanm 0:9b334a45a8ff 212 if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
bogdanm 0:9b334a45a8ff 213 {
bogdanm 0:9b334a45a8ff 214 /* Set the time triggered communication mode */
bogdanm 0:9b334a45a8ff 215 if (hcan->Init.TTCM == ENABLE)
bogdanm 0:9b334a45a8ff 216 {
bogdanm 0:9b334a45a8ff 217 hcan->Instance->MCR |= CAN_MCR_TTCM;
bogdanm 0:9b334a45a8ff 218 }
bogdanm 0:9b334a45a8ff 219 else
bogdanm 0:9b334a45a8ff 220 {
bogdanm 0:9b334a45a8ff 221 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
bogdanm 0:9b334a45a8ff 222 }
bogdanm 0:9b334a45a8ff 223
bogdanm 0:9b334a45a8ff 224 /* Set the automatic bus-off management */
bogdanm 0:9b334a45a8ff 225 if (hcan->Init.ABOM == ENABLE)
bogdanm 0:9b334a45a8ff 226 {
bogdanm 0:9b334a45a8ff 227 hcan->Instance->MCR |= CAN_MCR_ABOM;
bogdanm 0:9b334a45a8ff 228 }
bogdanm 0:9b334a45a8ff 229 else
bogdanm 0:9b334a45a8ff 230 {
bogdanm 0:9b334a45a8ff 231 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
bogdanm 0:9b334a45a8ff 232 }
bogdanm 0:9b334a45a8ff 233
bogdanm 0:9b334a45a8ff 234 /* Set the automatic wake-up mode */
bogdanm 0:9b334a45a8ff 235 if (hcan->Init.AWUM == ENABLE)
bogdanm 0:9b334a45a8ff 236 {
bogdanm 0:9b334a45a8ff 237 hcan->Instance->MCR |= CAN_MCR_AWUM;
bogdanm 0:9b334a45a8ff 238 }
bogdanm 0:9b334a45a8ff 239 else
bogdanm 0:9b334a45a8ff 240 {
bogdanm 0:9b334a45a8ff 241 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
bogdanm 0:9b334a45a8ff 242 }
bogdanm 0:9b334a45a8ff 243
bogdanm 0:9b334a45a8ff 244 /* Set the no automatic retransmission */
bogdanm 0:9b334a45a8ff 245 if (hcan->Init.NART == ENABLE)
bogdanm 0:9b334a45a8ff 246 {
bogdanm 0:9b334a45a8ff 247 hcan->Instance->MCR |= CAN_MCR_NART;
bogdanm 0:9b334a45a8ff 248 }
bogdanm 0:9b334a45a8ff 249 else
bogdanm 0:9b334a45a8ff 250 {
bogdanm 0:9b334a45a8ff 251 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
bogdanm 0:9b334a45a8ff 252 }
bogdanm 0:9b334a45a8ff 253
bogdanm 0:9b334a45a8ff 254 /* Set the receive FIFO locked mode */
bogdanm 0:9b334a45a8ff 255 if (hcan->Init.RFLM == ENABLE)
bogdanm 0:9b334a45a8ff 256 {
bogdanm 0:9b334a45a8ff 257 hcan->Instance->MCR |= CAN_MCR_RFLM;
bogdanm 0:9b334a45a8ff 258 }
bogdanm 0:9b334a45a8ff 259 else
bogdanm 0:9b334a45a8ff 260 {
bogdanm 0:9b334a45a8ff 261 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
bogdanm 0:9b334a45a8ff 262 }
bogdanm 0:9b334a45a8ff 263
bogdanm 0:9b334a45a8ff 264 /* Set the transmit FIFO priority */
bogdanm 0:9b334a45a8ff 265 if (hcan->Init.TXFP == ENABLE)
bogdanm 0:9b334a45a8ff 266 {
bogdanm 0:9b334a45a8ff 267 hcan->Instance->MCR |= CAN_MCR_TXFP;
bogdanm 0:9b334a45a8ff 268 }
bogdanm 0:9b334a45a8ff 269 else
bogdanm 0:9b334a45a8ff 270 {
bogdanm 0:9b334a45a8ff 271 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
bogdanm 0:9b334a45a8ff 272 }
bogdanm 0:9b334a45a8ff 273
bogdanm 0:9b334a45a8ff 274 /* Set the bit timing register */
bogdanm 0:9b334a45a8ff 275 hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \
bogdanm 0:9b334a45a8ff 276 ((uint32_t)hcan->Init.SJW) | \
bogdanm 0:9b334a45a8ff 277 ((uint32_t)hcan->Init.BS1) | \
bogdanm 0:9b334a45a8ff 278 ((uint32_t)hcan->Init.BS2) | \
bogdanm 0:9b334a45a8ff 279 ((uint32_t)hcan->Init.Prescaler - 1);
bogdanm 0:9b334a45a8ff 280
bogdanm 0:9b334a45a8ff 281 /* Request leave initialisation */
bogdanm 0:9b334a45a8ff 282 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
bogdanm 0:9b334a45a8ff 283
bogdanm 0:9b334a45a8ff 284 /* Get timeout */
bogdanm 0:9b334a45a8ff 285 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 286
bogdanm 0:9b334a45a8ff 287 /* Wait the acknowledge */
bogdanm 0:9b334a45a8ff 288 while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
bogdanm 0:9b334a45a8ff 289 {
bogdanm 0:9b334a45a8ff 290 if((HAL_GetTick()-tickstart) > INAK_TIMEOUT)
bogdanm 0:9b334a45a8ff 291 {
bogdanm 0:9b334a45a8ff 292 hcan->State= HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 293 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 294 }
bogdanm 0:9b334a45a8ff 295 }
bogdanm 0:9b334a45a8ff 296
bogdanm 0:9b334a45a8ff 297 /* Check acknowledged */
bogdanm 0:9b334a45a8ff 298 if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
bogdanm 0:9b334a45a8ff 299 {
bogdanm 0:9b334a45a8ff 300 status = CAN_INITSTATUS_SUCCESS;
bogdanm 0:9b334a45a8ff 301 }
bogdanm 0:9b334a45a8ff 302 }
bogdanm 0:9b334a45a8ff 303
bogdanm 0:9b334a45a8ff 304 if(status == CAN_INITSTATUS_SUCCESS)
bogdanm 0:9b334a45a8ff 305 {
bogdanm 0:9b334a45a8ff 306 /* Set CAN error code to none */
bogdanm 0:9b334a45a8ff 307 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
bogdanm 0:9b334a45a8ff 308
bogdanm 0:9b334a45a8ff 309 /* Initialize the CAN state */
bogdanm 0:9b334a45a8ff 310 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 311
bogdanm 0:9b334a45a8ff 312 /* Return function status */
bogdanm 0:9b334a45a8ff 313 return HAL_OK;
bogdanm 0:9b334a45a8ff 314 }
bogdanm 0:9b334a45a8ff 315 else
bogdanm 0:9b334a45a8ff 316 {
bogdanm 0:9b334a45a8ff 317 /* Initialize the CAN state */
bogdanm 0:9b334a45a8ff 318 hcan->State = HAL_CAN_STATE_ERROR;
bogdanm 0:9b334a45a8ff 319
bogdanm 0:9b334a45a8ff 320 /* Return function status */
bogdanm 0:9b334a45a8ff 321 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 322 }
bogdanm 0:9b334a45a8ff 323 }
bogdanm 0:9b334a45a8ff 324
bogdanm 0:9b334a45a8ff 325 /**
bogdanm 0:9b334a45a8ff 326 * @brief Configures the CAN reception filter according to the specified
bogdanm 0:9b334a45a8ff 327 * parameters in the CAN_FilterInitStruct.
bogdanm 0:9b334a45a8ff 328 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 329 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 330 * @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
bogdanm 0:9b334a45a8ff 331 * contains the filter configuration information.
bogdanm 0:9b334a45a8ff 332 * @retval None
bogdanm 0:9b334a45a8ff 333 */
bogdanm 0:9b334a45a8ff 334 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
bogdanm 0:9b334a45a8ff 335 {
bogdanm 0:9b334a45a8ff 336 uint32_t filternbrbitpos = 0;
bogdanm 0:9b334a45a8ff 337
bogdanm 0:9b334a45a8ff 338 /* Check the parameters */
bogdanm 0:9b334a45a8ff 339 assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
bogdanm 0:9b334a45a8ff 340 assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
bogdanm 0:9b334a45a8ff 341 assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
bogdanm 0:9b334a45a8ff 342 assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
bogdanm 0:9b334a45a8ff 343 assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
bogdanm 0:9b334a45a8ff 344 assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
bogdanm 0:9b334a45a8ff 345
bogdanm 0:9b334a45a8ff 346 filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber;
bogdanm 0:9b334a45a8ff 347
bogdanm 0:9b334a45a8ff 348 /* Initialisation mode for the filter */
bogdanm 0:9b334a45a8ff 349 hcan->Instance->FMR |= (uint32_t)CAN_FMR_FINIT;
bogdanm 0:9b334a45a8ff 350
bogdanm 0:9b334a45a8ff 351 /* Filter Deactivation */
bogdanm 0:9b334a45a8ff 352 hcan->Instance->FA1R &= ~(uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 353
bogdanm 0:9b334a45a8ff 354 /* Filter Scale */
bogdanm 0:9b334a45a8ff 355 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
bogdanm 0:9b334a45a8ff 356 {
bogdanm 0:9b334a45a8ff 357 /* 16-bit scale for the filter */
bogdanm 0:9b334a45a8ff 358 hcan->Instance->FS1R &= ~(uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 359
bogdanm 0:9b334a45a8ff 360 /* First 16-bit identifier and First 16-bit mask */
bogdanm 0:9b334a45a8ff 361 /* Or First 16-bit identifier and Second 16-bit identifier */
bogdanm 0:9b334a45a8ff 362 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
bogdanm 0:9b334a45a8ff 363 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) |
bogdanm 0:9b334a45a8ff 364 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
bogdanm 0:9b334a45a8ff 365
bogdanm 0:9b334a45a8ff 366 /* Second 16-bit identifier and Second 16-bit mask */
bogdanm 0:9b334a45a8ff 367 /* Or Third 16-bit identifier and Fourth 16-bit identifier */
bogdanm 0:9b334a45a8ff 368 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
bogdanm 0:9b334a45a8ff 369 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
bogdanm 0:9b334a45a8ff 370 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh);
bogdanm 0:9b334a45a8ff 371 }
bogdanm 0:9b334a45a8ff 372
bogdanm 0:9b334a45a8ff 373 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
bogdanm 0:9b334a45a8ff 374 {
bogdanm 0:9b334a45a8ff 375 /* 32-bit scale for the filter */
bogdanm 0:9b334a45a8ff 376 hcan->Instance->FS1R |= filternbrbitpos;
bogdanm 0:9b334a45a8ff 377 /* 32-bit identifier or First 32-bit identifier */
bogdanm 0:9b334a45a8ff 378 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
bogdanm 0:9b334a45a8ff 379 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) |
bogdanm 0:9b334a45a8ff 380 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
bogdanm 0:9b334a45a8ff 381 /* 32-bit mask or Second 32-bit identifier */
bogdanm 0:9b334a45a8ff 382 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
bogdanm 0:9b334a45a8ff 383 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
bogdanm 0:9b334a45a8ff 384 (0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow);
bogdanm 0:9b334a45a8ff 385 }
bogdanm 0:9b334a45a8ff 386
bogdanm 0:9b334a45a8ff 387 /* Filter Mode */
bogdanm 0:9b334a45a8ff 388 if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
bogdanm 0:9b334a45a8ff 389 {
bogdanm 0:9b334a45a8ff 390 /*Id/Mask mode for the filter*/
bogdanm 0:9b334a45a8ff 391 hcan->Instance->FM1R &= ~(uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 392 }
bogdanm 0:9b334a45a8ff 393 else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
bogdanm 0:9b334a45a8ff 394 {
bogdanm 0:9b334a45a8ff 395 /*Identifier list mode for the filter*/
bogdanm 0:9b334a45a8ff 396 hcan->Instance->FM1R |= (uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 397 }
bogdanm 0:9b334a45a8ff 398
bogdanm 0:9b334a45a8ff 399 /* Filter FIFO assignment */
bogdanm 0:9b334a45a8ff 400 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
bogdanm 0:9b334a45a8ff 401 {
bogdanm 0:9b334a45a8ff 402 /* FIFO 0 assignation for the filter */
bogdanm 0:9b334a45a8ff 403 hcan->Instance->FFA1R &= ~(uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 404 }
bogdanm 0:9b334a45a8ff 405
bogdanm 0:9b334a45a8ff 406 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
bogdanm 0:9b334a45a8ff 407 {
bogdanm 0:9b334a45a8ff 408 /* FIFO 1 assignation for the filter */
bogdanm 0:9b334a45a8ff 409 hcan->Instance->FFA1R |= (uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 410 }
bogdanm 0:9b334a45a8ff 411
bogdanm 0:9b334a45a8ff 412 /* Filter activation */
bogdanm 0:9b334a45a8ff 413 if (sFilterConfig->FilterActivation == ENABLE)
bogdanm 0:9b334a45a8ff 414 {
bogdanm 0:9b334a45a8ff 415 hcan->Instance->FA1R |= filternbrbitpos;
bogdanm 0:9b334a45a8ff 416 }
bogdanm 0:9b334a45a8ff 417
bogdanm 0:9b334a45a8ff 418 /* Leave the initialisation mode for the filter */
bogdanm 0:9b334a45a8ff 419 hcan->Instance->FMR &= ~((uint32_t)CAN_FMR_FINIT);
bogdanm 0:9b334a45a8ff 420
bogdanm 0:9b334a45a8ff 421 /* Return function status */
bogdanm 0:9b334a45a8ff 422 return HAL_OK;
bogdanm 0:9b334a45a8ff 423 }
bogdanm 0:9b334a45a8ff 424
bogdanm 0:9b334a45a8ff 425 /**
bogdanm 0:9b334a45a8ff 426 * @brief Deinitializes the CANx peripheral registers to their default reset values.
bogdanm 0:9b334a45a8ff 427 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 428 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 429 * @retval HAL status
bogdanm 0:9b334a45a8ff 430 */
bogdanm 0:9b334a45a8ff 431 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 432 {
bogdanm 0:9b334a45a8ff 433 /* Check CAN handle */
bogdanm 0:9b334a45a8ff 434 if(hcan == HAL_NULL)
bogdanm 0:9b334a45a8ff 435 {
bogdanm 0:9b334a45a8ff 436 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 437 }
bogdanm 0:9b334a45a8ff 438
bogdanm 0:9b334a45a8ff 439 /* Check the parameters */
bogdanm 0:9b334a45a8ff 440 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
bogdanm 0:9b334a45a8ff 441
bogdanm 0:9b334a45a8ff 442 /* Change CAN state */
bogdanm 0:9b334a45a8ff 443 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 444
bogdanm 0:9b334a45a8ff 445 /* DeInit the low level hardware */
bogdanm 0:9b334a45a8ff 446 HAL_CAN_MspDeInit(hcan);
bogdanm 0:9b334a45a8ff 447
bogdanm 0:9b334a45a8ff 448 /* Change CAN state */
bogdanm 0:9b334a45a8ff 449 hcan->State = HAL_CAN_STATE_RESET;
bogdanm 0:9b334a45a8ff 450
bogdanm 0:9b334a45a8ff 451 /* Release Lock */
bogdanm 0:9b334a45a8ff 452 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 453
bogdanm 0:9b334a45a8ff 454 /* Return function status */
bogdanm 0:9b334a45a8ff 455 return HAL_OK;
bogdanm 0:9b334a45a8ff 456 }
bogdanm 0:9b334a45a8ff 457
bogdanm 0:9b334a45a8ff 458 /**
bogdanm 0:9b334a45a8ff 459 * @brief Initializes the CAN MSP.
bogdanm 0:9b334a45a8ff 460 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 461 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 462 * @retval None
bogdanm 0:9b334a45a8ff 463 */
bogdanm 0:9b334a45a8ff 464 __weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 465 {
bogdanm 0:9b334a45a8ff 466 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 467 the HAL_CAN_MspInit could be implemented in the user file
bogdanm 0:9b334a45a8ff 468 */
bogdanm 0:9b334a45a8ff 469 }
bogdanm 0:9b334a45a8ff 470
bogdanm 0:9b334a45a8ff 471 /**
bogdanm 0:9b334a45a8ff 472 * @brief DeInitializes the CAN MSP.
bogdanm 0:9b334a45a8ff 473 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 474 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 475 * @retval None
bogdanm 0:9b334a45a8ff 476 */
bogdanm 0:9b334a45a8ff 477 __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 478 {
bogdanm 0:9b334a45a8ff 479 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 480 the HAL_CAN_MspDeInit could be implemented in the user file
bogdanm 0:9b334a45a8ff 481 */
bogdanm 0:9b334a45a8ff 482 }
bogdanm 0:9b334a45a8ff 483
bogdanm 0:9b334a45a8ff 484 /**
bogdanm 0:9b334a45a8ff 485 * @}
bogdanm 0:9b334a45a8ff 486 */
bogdanm 0:9b334a45a8ff 487
bogdanm 0:9b334a45a8ff 488 /** @defgroup CAN_Exported_Functions_Group2 Input and Output operation functions
bogdanm 0:9b334a45a8ff 489 * @brief I/O operation functions
bogdanm 0:9b334a45a8ff 490 *
bogdanm 0:9b334a45a8ff 491 @verbatim
bogdanm 0:9b334a45a8ff 492 ==============================================================================
bogdanm 0:9b334a45a8ff 493 ##### IO operation functions #####
bogdanm 0:9b334a45a8ff 494 ==============================================================================
bogdanm 0:9b334a45a8ff 495 [..] This section provides functions allowing to:
bogdanm 0:9b334a45a8ff 496 (+) Transmit a CAN frame message.
bogdanm 0:9b334a45a8ff 497 (+) Receive a CAN frame message.
bogdanm 0:9b334a45a8ff 498 (+) Enter CAN peripheral in sleep mode.
bogdanm 0:9b334a45a8ff 499 (+) Wake up the CAN peripheral from sleep mode.
bogdanm 0:9b334a45a8ff 500
bogdanm 0:9b334a45a8ff 501 @endverbatim
bogdanm 0:9b334a45a8ff 502 * @{
bogdanm 0:9b334a45a8ff 503 */
bogdanm 0:9b334a45a8ff 504
bogdanm 0:9b334a45a8ff 505 /**
bogdanm 0:9b334a45a8ff 506 * @brief Initiates and transmits a CAN frame message.
bogdanm 0:9b334a45a8ff 507 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 508 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 509 * @param Timeout: Timeout duration.
bogdanm 0:9b334a45a8ff 510 * @retval HAL status
bogdanm 0:9b334a45a8ff 511 */
bogdanm 0:9b334a45a8ff 512 HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
bogdanm 0:9b334a45a8ff 513 {
bogdanm 0:9b334a45a8ff 514 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
bogdanm 0:9b334a45a8ff 515 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 516
bogdanm 0:9b334a45a8ff 517 /* Check the parameters */
bogdanm 0:9b334a45a8ff 518 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
bogdanm 0:9b334a45a8ff 519 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
bogdanm 0:9b334a45a8ff 520 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
bogdanm 0:9b334a45a8ff 521
bogdanm 0:9b334a45a8ff 522 /* Process locked */
bogdanm 0:9b334a45a8ff 523 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 524
bogdanm 0:9b334a45a8ff 525 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
bogdanm 0:9b334a45a8ff 526 {
bogdanm 0:9b334a45a8ff 527 /* Change CAN state */
bogdanm 0:9b334a45a8ff 528 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 529 }
bogdanm 0:9b334a45a8ff 530 else
bogdanm 0:9b334a45a8ff 531 {
bogdanm 0:9b334a45a8ff 532 /* Change CAN state */
bogdanm 0:9b334a45a8ff 533 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 534 }
bogdanm 0:9b334a45a8ff 535
bogdanm 0:9b334a45a8ff 536 /* Select one empty transmit mailbox */
bogdanm 0:9b334a45a8ff 537 if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
bogdanm 0:9b334a45a8ff 538 {
bogdanm 0:9b334a45a8ff 539 transmitmailbox = 0;
bogdanm 0:9b334a45a8ff 540 }
bogdanm 0:9b334a45a8ff 541 else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
bogdanm 0:9b334a45a8ff 542 {
bogdanm 0:9b334a45a8ff 543 transmitmailbox = 1;
bogdanm 0:9b334a45a8ff 544 }
bogdanm 0:9b334a45a8ff 545 else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
bogdanm 0:9b334a45a8ff 546 {
bogdanm 0:9b334a45a8ff 547 transmitmailbox = 2;
bogdanm 0:9b334a45a8ff 548 }
bogdanm 0:9b334a45a8ff 549
bogdanm 0:9b334a45a8ff 550 if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
bogdanm 0:9b334a45a8ff 551 {
bogdanm 0:9b334a45a8ff 552 /* Set up the Id */
bogdanm 0:9b334a45a8ff 553 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 554 if (hcan->pTxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 555 {
bogdanm 0:9b334a45a8ff 556 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
bogdanm 0:9b334a45a8ff 557 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
bogdanm 0:9b334a45a8ff 558 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 559 }
bogdanm 0:9b334a45a8ff 560 else
bogdanm 0:9b334a45a8ff 561 {
bogdanm 0:9b334a45a8ff 562 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
bogdanm 0:9b334a45a8ff 563 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
bogdanm 0:9b334a45a8ff 564 hcan->pTxMsg->IDE | \
bogdanm 0:9b334a45a8ff 565 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 566 }
bogdanm 0:9b334a45a8ff 567
bogdanm 0:9b334a45a8ff 568 /* Set up the DLC */
bogdanm 0:9b334a45a8ff 569 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
bogdanm 0:9b334a45a8ff 570 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
bogdanm 0:9b334a45a8ff 571 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
bogdanm 0:9b334a45a8ff 572
bogdanm 0:9b334a45a8ff 573 /* Set up the data field */
bogdanm 0:9b334a45a8ff 574 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
bogdanm 0:9b334a45a8ff 575 ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
bogdanm 0:9b334a45a8ff 576 ((uint32_t)hcan->pTxMsg->Data[1] << 8) |
bogdanm 0:9b334a45a8ff 577 ((uint32_t)hcan->pTxMsg->Data[0]));
bogdanm 0:9b334a45a8ff 578 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
bogdanm 0:9b334a45a8ff 579 ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
bogdanm 0:9b334a45a8ff 580 ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
bogdanm 0:9b334a45a8ff 581 ((uint32_t)hcan->pTxMsg->Data[4]));
bogdanm 0:9b334a45a8ff 582 /* Request transmission */
bogdanm 0:9b334a45a8ff 583 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 584
bogdanm 0:9b334a45a8ff 585 /* Get timeout */
bogdanm 0:9b334a45a8ff 586 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 587
bogdanm 0:9b334a45a8ff 588 /* Check End of transmission flag */
bogdanm 0:9b334a45a8ff 589 while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
bogdanm 0:9b334a45a8ff 590 {
bogdanm 0:9b334a45a8ff 591 /* Check for the Timeout */
bogdanm 0:9b334a45a8ff 592 if(Timeout != HAL_MAX_DELAY)
bogdanm 0:9b334a45a8ff 593 {
bogdanm 0:9b334a45a8ff 594 if((Timeout == 0) || ((HAL_GetTick()-tickstart) > Timeout))
bogdanm 0:9b334a45a8ff 595 {
bogdanm 0:9b334a45a8ff 596 hcan->State = HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 597 /* Process unlocked */
bogdanm 0:9b334a45a8ff 598 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 599 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 600 }
bogdanm 0:9b334a45a8ff 601 }
bogdanm 0:9b334a45a8ff 602 }
bogdanm 0:9b334a45a8ff 603 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 604 {
bogdanm 0:9b334a45a8ff 605 /* Change CAN state */
bogdanm 0:9b334a45a8ff 606 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 607 }
bogdanm 0:9b334a45a8ff 608 else
bogdanm 0:9b334a45a8ff 609 {
bogdanm 0:9b334a45a8ff 610 /* Change CAN state */
bogdanm 0:9b334a45a8ff 611 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 612 }
bogdanm 0:9b334a45a8ff 613
bogdanm 0:9b334a45a8ff 614 /* Process unlocked */
bogdanm 0:9b334a45a8ff 615 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 616
bogdanm 0:9b334a45a8ff 617 /* Return function status */
bogdanm 0:9b334a45a8ff 618 return HAL_OK;
bogdanm 0:9b334a45a8ff 619 }
bogdanm 0:9b334a45a8ff 620 else
bogdanm 0:9b334a45a8ff 621 {
bogdanm 0:9b334a45a8ff 622 /* Change CAN state */
bogdanm 0:9b334a45a8ff 623 hcan->State = HAL_CAN_STATE_ERROR;
bogdanm 0:9b334a45a8ff 624
bogdanm 0:9b334a45a8ff 625 /* Process unlocked */
bogdanm 0:9b334a45a8ff 626 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 627
bogdanm 0:9b334a45a8ff 628 /* Return function status */
bogdanm 0:9b334a45a8ff 629 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 630 }
bogdanm 0:9b334a45a8ff 631 }
bogdanm 0:9b334a45a8ff 632
bogdanm 0:9b334a45a8ff 633 /**
bogdanm 0:9b334a45a8ff 634 * @brief Initiates and transmits a CAN frame message.
bogdanm 0:9b334a45a8ff 635 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 636 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 637 * @retval HAL status
bogdanm 0:9b334a45a8ff 638 */
bogdanm 0:9b334a45a8ff 639 HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 640 {
bogdanm 0:9b334a45a8ff 641 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
bogdanm 0:9b334a45a8ff 642
bogdanm 0:9b334a45a8ff 643 /* Check the parameters */
bogdanm 0:9b334a45a8ff 644 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
bogdanm 0:9b334a45a8ff 645 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
bogdanm 0:9b334a45a8ff 646 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
bogdanm 0:9b334a45a8ff 647
bogdanm 0:9b334a45a8ff 648 if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_RX))
bogdanm 0:9b334a45a8ff 649 {
bogdanm 0:9b334a45a8ff 650 /* Process Locked */
bogdanm 0:9b334a45a8ff 651 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 652
bogdanm 0:9b334a45a8ff 653 /* Select one empty transmit mailbox */
bogdanm 0:9b334a45a8ff 654 if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
bogdanm 0:9b334a45a8ff 655 {
bogdanm 0:9b334a45a8ff 656 transmitmailbox = 0;
bogdanm 0:9b334a45a8ff 657 }
bogdanm 0:9b334a45a8ff 658 else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
bogdanm 0:9b334a45a8ff 659 {
bogdanm 0:9b334a45a8ff 660 transmitmailbox = 1;
bogdanm 0:9b334a45a8ff 661 }
bogdanm 0:9b334a45a8ff 662 else if((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
bogdanm 0:9b334a45a8ff 663 {
bogdanm 0:9b334a45a8ff 664 transmitmailbox = 2;
bogdanm 0:9b334a45a8ff 665 }
bogdanm 0:9b334a45a8ff 666
bogdanm 0:9b334a45a8ff 667 if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
bogdanm 0:9b334a45a8ff 668 {
bogdanm 0:9b334a45a8ff 669 /* Set up the Id */
bogdanm 0:9b334a45a8ff 670 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 671 if(hcan->pTxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 672 {
bogdanm 0:9b334a45a8ff 673 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
bogdanm 0:9b334a45a8ff 674 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
bogdanm 0:9b334a45a8ff 675 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 676 }
bogdanm 0:9b334a45a8ff 677 else
bogdanm 0:9b334a45a8ff 678 {
bogdanm 0:9b334a45a8ff 679 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
bogdanm 0:9b334a45a8ff 680 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
bogdanm 0:9b334a45a8ff 681 hcan->pTxMsg->IDE | \
bogdanm 0:9b334a45a8ff 682 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 683 }
bogdanm 0:9b334a45a8ff 684
bogdanm 0:9b334a45a8ff 685 /* Set up the DLC */
bogdanm 0:9b334a45a8ff 686 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
bogdanm 0:9b334a45a8ff 687 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
bogdanm 0:9b334a45a8ff 688 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
bogdanm 0:9b334a45a8ff 689
bogdanm 0:9b334a45a8ff 690 /* Set up the data field */
bogdanm 0:9b334a45a8ff 691 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
bogdanm 0:9b334a45a8ff 692 ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
bogdanm 0:9b334a45a8ff 693 ((uint32_t)hcan->pTxMsg->Data[1] << 8) |
bogdanm 0:9b334a45a8ff 694 ((uint32_t)hcan->pTxMsg->Data[0]));
bogdanm 0:9b334a45a8ff 695 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
bogdanm 0:9b334a45a8ff 696 ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
bogdanm 0:9b334a45a8ff 697 ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
bogdanm 0:9b334a45a8ff 698 ((uint32_t)hcan->pTxMsg->Data[4]));
bogdanm 0:9b334a45a8ff 699
bogdanm 0:9b334a45a8ff 700 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
bogdanm 0:9b334a45a8ff 701 {
bogdanm 0:9b334a45a8ff 702 /* Change CAN state */
bogdanm 0:9b334a45a8ff 703 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 704 }
bogdanm 0:9b334a45a8ff 705 else
bogdanm 0:9b334a45a8ff 706 {
bogdanm 0:9b334a45a8ff 707 /* Change CAN state */
bogdanm 0:9b334a45a8ff 708 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 709 }
bogdanm 0:9b334a45a8ff 710
bogdanm 0:9b334a45a8ff 711 /* Set CAN error code to none */
bogdanm 0:9b334a45a8ff 712 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
bogdanm 0:9b334a45a8ff 713
bogdanm 0:9b334a45a8ff 714 /* Process Unlocked */
bogdanm 0:9b334a45a8ff 715 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 716
bogdanm 0:9b334a45a8ff 717 /* Enable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 718 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
bogdanm 0:9b334a45a8ff 719
bogdanm 0:9b334a45a8ff 720 /* Enable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 721 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
bogdanm 0:9b334a45a8ff 722
bogdanm 0:9b334a45a8ff 723 /* Enable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 724 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
bogdanm 0:9b334a45a8ff 725
bogdanm 0:9b334a45a8ff 726 /* Enable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 727 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
bogdanm 0:9b334a45a8ff 728
bogdanm 0:9b334a45a8ff 729 /* Enable Error Interrupt */
bogdanm 0:9b334a45a8ff 730 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
bogdanm 0:9b334a45a8ff 731
bogdanm 0:9b334a45a8ff 732 /* Enable Transmit mailbox empty Interrupt */
bogdanm 0:9b334a45a8ff 733 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_TME);
bogdanm 0:9b334a45a8ff 734
bogdanm 0:9b334a45a8ff 735 /* Request transmission */
bogdanm 0:9b334a45a8ff 736 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 737 }
bogdanm 0:9b334a45a8ff 738 }
bogdanm 0:9b334a45a8ff 739 else
bogdanm 0:9b334a45a8ff 740 {
bogdanm 0:9b334a45a8ff 741 return HAL_BUSY;
bogdanm 0:9b334a45a8ff 742 }
bogdanm 0:9b334a45a8ff 743
bogdanm 0:9b334a45a8ff 744 return HAL_OK;
bogdanm 0:9b334a45a8ff 745 }
bogdanm 0:9b334a45a8ff 746
bogdanm 0:9b334a45a8ff 747 /**
bogdanm 0:9b334a45a8ff 748 * @brief Receives a correct CAN frame.
bogdanm 0:9b334a45a8ff 749 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 750 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 751 * @param FIFONumber: FIFO number.
bogdanm 0:9b334a45a8ff 752 * @param Timeout: Timeout duration.
bogdanm 0:9b334a45a8ff 753 * @retval HAL status
bogdanm 0:9b334a45a8ff 754 * @retval None
bogdanm 0:9b334a45a8ff 755 */
bogdanm 0:9b334a45a8ff 756 HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
bogdanm 0:9b334a45a8ff 757 {
bogdanm 0:9b334a45a8ff 758 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 759
bogdanm 0:9b334a45a8ff 760 /* Check the parameters */
bogdanm 0:9b334a45a8ff 761 assert_param(IS_CAN_FIFO(FIFONumber));
bogdanm 0:9b334a45a8ff 762
bogdanm 0:9b334a45a8ff 763 /* Process locked */
bogdanm 0:9b334a45a8ff 764 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 765
bogdanm 0:9b334a45a8ff 766 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
bogdanm 0:9b334a45a8ff 767 {
bogdanm 0:9b334a45a8ff 768 /* Change CAN state */
bogdanm 0:9b334a45a8ff 769 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 770 }
bogdanm 0:9b334a45a8ff 771 else
bogdanm 0:9b334a45a8ff 772 {
bogdanm 0:9b334a45a8ff 773 /* Change CAN state */
bogdanm 0:9b334a45a8ff 774 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 775 }
bogdanm 0:9b334a45a8ff 776
bogdanm 0:9b334a45a8ff 777 /* Get timeout */
bogdanm 0:9b334a45a8ff 778 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 779
bogdanm 0:9b334a45a8ff 780 /* Check pending message */
bogdanm 0:9b334a45a8ff 781 while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0)
bogdanm 0:9b334a45a8ff 782 {
bogdanm 0:9b334a45a8ff 783 /* Check for the Timeout */
bogdanm 0:9b334a45a8ff 784 if(Timeout != HAL_MAX_DELAY)
bogdanm 0:9b334a45a8ff 785 {
bogdanm 0:9b334a45a8ff 786 if((Timeout == 0) || ((HAL_GetTick()-tickstart) > Timeout))
bogdanm 0:9b334a45a8ff 787 {
bogdanm 0:9b334a45a8ff 788 hcan->State = HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 789 /* Process unlocked */
bogdanm 0:9b334a45a8ff 790 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 791 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 792 }
bogdanm 0:9b334a45a8ff 793 }
bogdanm 0:9b334a45a8ff 794 }
bogdanm 0:9b334a45a8ff 795
bogdanm 0:9b334a45a8ff 796 /* Get the Id */
bogdanm 0:9b334a45a8ff 797 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 798 if (hcan->pRxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 799 {
bogdanm 0:9b334a45a8ff 800 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
bogdanm 0:9b334a45a8ff 801 }
bogdanm 0:9b334a45a8ff 802 else
bogdanm 0:9b334a45a8ff 803 {
bogdanm 0:9b334a45a8ff 804 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
bogdanm 0:9b334a45a8ff 805 }
bogdanm 0:9b334a45a8ff 806
bogdanm 0:9b334a45a8ff 807 hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 808 /* Get the DLC */
bogdanm 0:9b334a45a8ff 809 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
bogdanm 0:9b334a45a8ff 810 /* Get the FMI */
bogdanm 0:9b334a45a8ff 811 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
bogdanm 0:9b334a45a8ff 812 /* Get the data field */
bogdanm 0:9b334a45a8ff 813 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
bogdanm 0:9b334a45a8ff 814 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
bogdanm 0:9b334a45a8ff 815 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
bogdanm 0:9b334a45a8ff 816 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
bogdanm 0:9b334a45a8ff 817 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
bogdanm 0:9b334a45a8ff 818 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
bogdanm 0:9b334a45a8ff 819 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
bogdanm 0:9b334a45a8ff 820 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
bogdanm 0:9b334a45a8ff 821
bogdanm 0:9b334a45a8ff 822 /* Release the FIFO */
bogdanm 0:9b334a45a8ff 823 if(FIFONumber == CAN_FIFO0)
bogdanm 0:9b334a45a8ff 824 {
bogdanm 0:9b334a45a8ff 825 /* Release FIFO0 */
bogdanm 0:9b334a45a8ff 826 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
bogdanm 0:9b334a45a8ff 827 }
bogdanm 0:9b334a45a8ff 828 else /* FIFONumber == CAN_FIFO1 */
bogdanm 0:9b334a45a8ff 829 {
bogdanm 0:9b334a45a8ff 830 /* Release FIFO1 */
bogdanm 0:9b334a45a8ff 831 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
bogdanm 0:9b334a45a8ff 832 }
bogdanm 0:9b334a45a8ff 833
bogdanm 0:9b334a45a8ff 834 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 835 {
bogdanm 0:9b334a45a8ff 836 /* Change CAN state */
bogdanm 0:9b334a45a8ff 837 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 838 }
bogdanm 0:9b334a45a8ff 839 else
bogdanm 0:9b334a45a8ff 840 {
bogdanm 0:9b334a45a8ff 841 /* Change CAN state */
bogdanm 0:9b334a45a8ff 842 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 843 }
bogdanm 0:9b334a45a8ff 844
bogdanm 0:9b334a45a8ff 845 /* Process unlocked */
bogdanm 0:9b334a45a8ff 846 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 847
bogdanm 0:9b334a45a8ff 848 /* Return function status */
bogdanm 0:9b334a45a8ff 849 return HAL_OK;
bogdanm 0:9b334a45a8ff 850 }
bogdanm 0:9b334a45a8ff 851
bogdanm 0:9b334a45a8ff 852 /**
bogdanm 0:9b334a45a8ff 853 * @brief Receives a correct CAN frame.
bogdanm 0:9b334a45a8ff 854 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 855 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 856 * @param FIFONumber: FIFO number.
bogdanm 0:9b334a45a8ff 857 * @retval HAL status
bogdanm 0:9b334a45a8ff 858 * @retval None
bogdanm 0:9b334a45a8ff 859 */
bogdanm 0:9b334a45a8ff 860 HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
bogdanm 0:9b334a45a8ff 861 {
bogdanm 0:9b334a45a8ff 862 /* Check the parameters */
bogdanm 0:9b334a45a8ff 863 assert_param(IS_CAN_FIFO(FIFONumber));
bogdanm 0:9b334a45a8ff 864
bogdanm 0:9b334a45a8ff 865 if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_TX))
bogdanm 0:9b334a45a8ff 866 {
bogdanm 0:9b334a45a8ff 867 /* Process locked */
bogdanm 0:9b334a45a8ff 868 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 869
bogdanm 0:9b334a45a8ff 870 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
bogdanm 0:9b334a45a8ff 871 {
bogdanm 0:9b334a45a8ff 872 /* Change CAN state */
bogdanm 0:9b334a45a8ff 873 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 874 }
bogdanm 0:9b334a45a8ff 875 else
bogdanm 0:9b334a45a8ff 876 {
bogdanm 0:9b334a45a8ff 877 /* Change CAN state */
bogdanm 0:9b334a45a8ff 878 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 879 }
bogdanm 0:9b334a45a8ff 880
bogdanm 0:9b334a45a8ff 881 /* Set CAN error code to none */
bogdanm 0:9b334a45a8ff 882 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
bogdanm 0:9b334a45a8ff 883
bogdanm 0:9b334a45a8ff 884 /* Enable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 885 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG);
bogdanm 0:9b334a45a8ff 886
bogdanm 0:9b334a45a8ff 887 /* Enable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 888 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EPV);
bogdanm 0:9b334a45a8ff 889
bogdanm 0:9b334a45a8ff 890 /* Enable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 891 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_BOF);
bogdanm 0:9b334a45a8ff 892
bogdanm 0:9b334a45a8ff 893 /* Enable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 894 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_LEC);
bogdanm 0:9b334a45a8ff 895
bogdanm 0:9b334a45a8ff 896 /* Enable Error Interrupt */
bogdanm 0:9b334a45a8ff 897 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_ERR);
bogdanm 0:9b334a45a8ff 898
bogdanm 0:9b334a45a8ff 899 /* Process unlocked */
bogdanm 0:9b334a45a8ff 900 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 901
bogdanm 0:9b334a45a8ff 902 if(FIFONumber == CAN_FIFO0)
bogdanm 0:9b334a45a8ff 903 {
bogdanm 0:9b334a45a8ff 904 /* Enable FIFO 0 message pending Interrupt */
bogdanm 0:9b334a45a8ff 905 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);
bogdanm 0:9b334a45a8ff 906 }
bogdanm 0:9b334a45a8ff 907 else
bogdanm 0:9b334a45a8ff 908 {
bogdanm 0:9b334a45a8ff 909 /* Enable FIFO 1 message pending Interrupt */
bogdanm 0:9b334a45a8ff 910 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);
bogdanm 0:9b334a45a8ff 911 }
bogdanm 0:9b334a45a8ff 912
bogdanm 0:9b334a45a8ff 913 }
bogdanm 0:9b334a45a8ff 914 else
bogdanm 0:9b334a45a8ff 915 {
bogdanm 0:9b334a45a8ff 916 return HAL_BUSY;
bogdanm 0:9b334a45a8ff 917 }
bogdanm 0:9b334a45a8ff 918
bogdanm 0:9b334a45a8ff 919 /* Return function status */
bogdanm 0:9b334a45a8ff 920 return HAL_OK;
bogdanm 0:9b334a45a8ff 921 }
bogdanm 0:9b334a45a8ff 922
bogdanm 0:9b334a45a8ff 923 /**
bogdanm 0:9b334a45a8ff 924 * @brief Enters the Sleep (low power) mode.
bogdanm 0:9b334a45a8ff 925 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 926 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 927 * @retval HAL status.
bogdanm 0:9b334a45a8ff 928 */
bogdanm 0:9b334a45a8ff 929 HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 930 {
bogdanm 0:9b334a45a8ff 931 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 932
bogdanm 0:9b334a45a8ff 933 /* Process locked */
bogdanm 0:9b334a45a8ff 934 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 935
bogdanm 0:9b334a45a8ff 936 /* Change CAN state */
bogdanm 0:9b334a45a8ff 937 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 938
bogdanm 0:9b334a45a8ff 939 /* Request Sleep mode */
bogdanm 0:9b334a45a8ff 940 hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
bogdanm 0:9b334a45a8ff 941
bogdanm 0:9b334a45a8ff 942 /* Sleep mode status */
bogdanm 0:9b334a45a8ff 943 if ((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
bogdanm 0:9b334a45a8ff 944 {
bogdanm 0:9b334a45a8ff 945 /* Process unlocked */
bogdanm 0:9b334a45a8ff 946 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 947
bogdanm 0:9b334a45a8ff 948 /* Return function status */
bogdanm 0:9b334a45a8ff 949 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 950 }
bogdanm 0:9b334a45a8ff 951
bogdanm 0:9b334a45a8ff 952 /* Get timeout */
bogdanm 0:9b334a45a8ff 953 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 954
bogdanm 0:9b334a45a8ff 955 /* Wait the acknowledge */
bogdanm 0:9b334a45a8ff 956 while((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
bogdanm 0:9b334a45a8ff 957 {
bogdanm 0:9b334a45a8ff 958 if((HAL_GetTick()-tickstart) > 10)
bogdanm 0:9b334a45a8ff 959 {
bogdanm 0:9b334a45a8ff 960 hcan->State = HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 961 /* Process unlocked */
bogdanm 0:9b334a45a8ff 962 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 963 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 964 }
bogdanm 0:9b334a45a8ff 965 }
bogdanm 0:9b334a45a8ff 966
bogdanm 0:9b334a45a8ff 967 /* Change CAN state */
bogdanm 0:9b334a45a8ff 968 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 969
bogdanm 0:9b334a45a8ff 970 /* Process unlocked */
bogdanm 0:9b334a45a8ff 971 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 972
bogdanm 0:9b334a45a8ff 973 /* Return function status */
bogdanm 0:9b334a45a8ff 974 return HAL_OK;
bogdanm 0:9b334a45a8ff 975 }
bogdanm 0:9b334a45a8ff 976
bogdanm 0:9b334a45a8ff 977 /**
bogdanm 0:9b334a45a8ff 978 * @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
bogdanm 0:9b334a45a8ff 979 * is in the normal mode.
bogdanm 0:9b334a45a8ff 980 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 981 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 982 * @retval HAL status.
bogdanm 0:9b334a45a8ff 983 */
bogdanm 0:9b334a45a8ff 984 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 985 {
bogdanm 0:9b334a45a8ff 986 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 987
bogdanm 0:9b334a45a8ff 988 /* Process locked */
bogdanm 0:9b334a45a8ff 989 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 990
bogdanm 0:9b334a45a8ff 991 /* Change CAN state */
bogdanm 0:9b334a45a8ff 992 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 993
bogdanm 0:9b334a45a8ff 994 /* Wake up request */
bogdanm 0:9b334a45a8ff 995 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
bogdanm 0:9b334a45a8ff 996
bogdanm 0:9b334a45a8ff 997 /* Get timeout */
bogdanm 0:9b334a45a8ff 998 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 999
bogdanm 0:9b334a45a8ff 1000 /* Sleep mode status */
bogdanm 0:9b334a45a8ff 1001 while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
bogdanm 0:9b334a45a8ff 1002 {
bogdanm 0:9b334a45a8ff 1003 if((HAL_GetTick()-tickstart) > 10)
bogdanm 0:9b334a45a8ff 1004 {
bogdanm 0:9b334a45a8ff 1005 hcan->State= HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 1006 /* Process unlocked */
bogdanm 0:9b334a45a8ff 1007 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 1008 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 1009 }
bogdanm 0:9b334a45a8ff 1010 }
bogdanm 0:9b334a45a8ff 1011 if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
bogdanm 0:9b334a45a8ff 1012 {
bogdanm 0:9b334a45a8ff 1013 /* Process unlocked */
bogdanm 0:9b334a45a8ff 1014 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 1015
bogdanm 0:9b334a45a8ff 1016 /* Return function status */
bogdanm 0:9b334a45a8ff 1017 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 1018 }
bogdanm 0:9b334a45a8ff 1019
bogdanm 0:9b334a45a8ff 1020 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1021 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1022
bogdanm 0:9b334a45a8ff 1023 /* Process unlocked */
bogdanm 0:9b334a45a8ff 1024 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 1025
bogdanm 0:9b334a45a8ff 1026 /* Return function status */
bogdanm 0:9b334a45a8ff 1027 return HAL_OK;
bogdanm 0:9b334a45a8ff 1028 }
bogdanm 0:9b334a45a8ff 1029
bogdanm 0:9b334a45a8ff 1030 /**
bogdanm 0:9b334a45a8ff 1031 * @brief Handles CAN interrupt request
bogdanm 0:9b334a45a8ff 1032 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1033 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1034 * @retval None
bogdanm 0:9b334a45a8ff 1035 */
bogdanm 0:9b334a45a8ff 1036 void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1037 {
bogdanm 0:9b334a45a8ff 1038 /* Check End of transmission flag */
bogdanm 0:9b334a45a8ff 1039 if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
bogdanm 0:9b334a45a8ff 1040 {
bogdanm 0:9b334a45a8ff 1041 if((__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0)) ||
bogdanm 0:9b334a45a8ff 1042 (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1)) ||
bogdanm 0:9b334a45a8ff 1043 (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2)))
bogdanm 0:9b334a45a8ff 1044 {
bogdanm 0:9b334a45a8ff 1045 /* Call transmit function */
bogdanm 0:9b334a45a8ff 1046 CAN_Transmit_IT(hcan);
bogdanm 0:9b334a45a8ff 1047 }
bogdanm 0:9b334a45a8ff 1048 }
bogdanm 0:9b334a45a8ff 1049
bogdanm 0:9b334a45a8ff 1050 /* Check End of reception flag for FIFO0 */
bogdanm 0:9b334a45a8ff 1051 if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0)) &&
bogdanm 0:9b334a45a8ff 1052 (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0) != 0))
bogdanm 0:9b334a45a8ff 1053 {
bogdanm 0:9b334a45a8ff 1054 /* Call receive function */
bogdanm 0:9b334a45a8ff 1055 CAN_Receive_IT(hcan, CAN_FIFO0);
bogdanm 0:9b334a45a8ff 1056 }
bogdanm 0:9b334a45a8ff 1057
bogdanm 0:9b334a45a8ff 1058 /* Check End of reception flag for FIFO1 */
bogdanm 0:9b334a45a8ff 1059 if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1)) &&
bogdanm 0:9b334a45a8ff 1060 (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1) != 0))
bogdanm 0:9b334a45a8ff 1061 {
bogdanm 0:9b334a45a8ff 1062 /* Call receive function */
bogdanm 0:9b334a45a8ff 1063 CAN_Receive_IT(hcan, CAN_FIFO1);
bogdanm 0:9b334a45a8ff 1064 }
bogdanm 0:9b334a45a8ff 1065
bogdanm 0:9b334a45a8ff 1066 /* Check Error Warning Flag */
bogdanm 0:9b334a45a8ff 1067 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG)) &&
bogdanm 0:9b334a45a8ff 1068 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG)) &&
bogdanm 0:9b334a45a8ff 1069 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1070 {
bogdanm 0:9b334a45a8ff 1071 /* Set CAN error code to EWG error */
bogdanm 0:9b334a45a8ff 1072 hcan->ErrorCode |= HAL_CAN_ERROR_EWG;
bogdanm 0:9b334a45a8ff 1073 /* No need for clear of Error Warning Flag as read-only */
bogdanm 0:9b334a45a8ff 1074 }
bogdanm 0:9b334a45a8ff 1075
bogdanm 0:9b334a45a8ff 1076 /* Check Error Passive Flag */
bogdanm 0:9b334a45a8ff 1077 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV)) &&
bogdanm 0:9b334a45a8ff 1078 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV)) &&
bogdanm 0:9b334a45a8ff 1079 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1080 {
bogdanm 0:9b334a45a8ff 1081 /* Set CAN error code to EPV error */
bogdanm 0:9b334a45a8ff 1082 hcan->ErrorCode |= HAL_CAN_ERROR_EPV;
bogdanm 0:9b334a45a8ff 1083 /* No need for clear of Error Passive Flag as read-only */
bogdanm 0:9b334a45a8ff 1084 }
bogdanm 0:9b334a45a8ff 1085
bogdanm 0:9b334a45a8ff 1086 /* Check Bus-Off Flag */
bogdanm 0:9b334a45a8ff 1087 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF)) &&
bogdanm 0:9b334a45a8ff 1088 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF)) &&
bogdanm 0:9b334a45a8ff 1089 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1090 {
bogdanm 0:9b334a45a8ff 1091 /* Set CAN error code to BOF error */
bogdanm 0:9b334a45a8ff 1092 hcan->ErrorCode |= HAL_CAN_ERROR_BOF;
bogdanm 0:9b334a45a8ff 1093 /* No need for clear of Bus-Off Flag as read-only */
bogdanm 0:9b334a45a8ff 1094 }
bogdanm 0:9b334a45a8ff 1095
bogdanm 0:9b334a45a8ff 1096 /* Check Last error code Flag */
bogdanm 0:9b334a45a8ff 1097 if((!HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC)) &&
bogdanm 0:9b334a45a8ff 1098 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC)) &&
bogdanm 0:9b334a45a8ff 1099 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1100 {
bogdanm 0:9b334a45a8ff 1101 switch(hcan->Instance->ESR & CAN_ESR_LEC)
bogdanm 0:9b334a45a8ff 1102 {
bogdanm 0:9b334a45a8ff 1103 case(CAN_ESR_LEC_0):
bogdanm 0:9b334a45a8ff 1104 /* Set CAN error code to STF error */
bogdanm 0:9b334a45a8ff 1105 hcan->ErrorCode |= HAL_CAN_ERROR_STF;
bogdanm 0:9b334a45a8ff 1106 break;
bogdanm 0:9b334a45a8ff 1107 case(CAN_ESR_LEC_1):
bogdanm 0:9b334a45a8ff 1108 /* Set CAN error code to FOR error */
bogdanm 0:9b334a45a8ff 1109 hcan->ErrorCode |= HAL_CAN_ERROR_FOR;
bogdanm 0:9b334a45a8ff 1110 break;
bogdanm 0:9b334a45a8ff 1111 case(CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
bogdanm 0:9b334a45a8ff 1112 /* Set CAN error code to ACK error */
bogdanm 0:9b334a45a8ff 1113 hcan->ErrorCode |= HAL_CAN_ERROR_ACK;
bogdanm 0:9b334a45a8ff 1114 break;
bogdanm 0:9b334a45a8ff 1115 case(CAN_ESR_LEC_2):
bogdanm 0:9b334a45a8ff 1116 /* Set CAN error code to BR error */
bogdanm 0:9b334a45a8ff 1117 hcan->ErrorCode |= HAL_CAN_ERROR_BR;
bogdanm 0:9b334a45a8ff 1118 break;
bogdanm 0:9b334a45a8ff 1119 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
bogdanm 0:9b334a45a8ff 1120 /* Set CAN error code to BD error */
bogdanm 0:9b334a45a8ff 1121 hcan->ErrorCode |= HAL_CAN_ERROR_BD;
bogdanm 0:9b334a45a8ff 1122 break;
bogdanm 0:9b334a45a8ff 1123 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
bogdanm 0:9b334a45a8ff 1124 /* Set CAN error code to CRC error */
bogdanm 0:9b334a45a8ff 1125 hcan->ErrorCode |= HAL_CAN_ERROR_CRC;
bogdanm 0:9b334a45a8ff 1126 break;
bogdanm 0:9b334a45a8ff 1127 default:
bogdanm 0:9b334a45a8ff 1128 break;
bogdanm 0:9b334a45a8ff 1129 }
bogdanm 0:9b334a45a8ff 1130
bogdanm 0:9b334a45a8ff 1131 /* Clear Last error code Flag */
bogdanm 0:9b334a45a8ff 1132 hcan->Instance->ESR &= ~(CAN_ESR_LEC);
bogdanm 0:9b334a45a8ff 1133 }
bogdanm 0:9b334a45a8ff 1134
bogdanm 0:9b334a45a8ff 1135 /* Call the Error call Back in case of Errors */
bogdanm 0:9b334a45a8ff 1136 if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
bogdanm 0:9b334a45a8ff 1137 {
bogdanm 0:9b334a45a8ff 1138 /* Set the CAN state ready to be able to start again the process */
bogdanm 0:9b334a45a8ff 1139 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1140 /* Call Error callback function */
bogdanm 0:9b334a45a8ff 1141 HAL_CAN_ErrorCallback(hcan);
bogdanm 0:9b334a45a8ff 1142 }
bogdanm 0:9b334a45a8ff 1143 }
bogdanm 0:9b334a45a8ff 1144
bogdanm 0:9b334a45a8ff 1145 /**
bogdanm 0:9b334a45a8ff 1146 * @brief Transmission complete callback in non blocking mode
bogdanm 0:9b334a45a8ff 1147 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1148 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1149 * @retval None
bogdanm 0:9b334a45a8ff 1150 */
bogdanm 0:9b334a45a8ff 1151 __weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1152 {
bogdanm 0:9b334a45a8ff 1153 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 1154 the HAL_CAN_TxCpltCallback could be implemented in the user file
bogdanm 0:9b334a45a8ff 1155 */
bogdanm 0:9b334a45a8ff 1156 }
bogdanm 0:9b334a45a8ff 1157
bogdanm 0:9b334a45a8ff 1158 /**
bogdanm 0:9b334a45a8ff 1159 * @brief Transmission complete callback in non blocking mode
bogdanm 0:9b334a45a8ff 1160 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1161 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1162 * @retval None
bogdanm 0:9b334a45a8ff 1163 */
bogdanm 0:9b334a45a8ff 1164 __weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1165 {
bogdanm 0:9b334a45a8ff 1166 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 1167 the HAL_CAN_RxCpltCallback could be implemented in the user file
bogdanm 0:9b334a45a8ff 1168 */
bogdanm 0:9b334a45a8ff 1169 }
bogdanm 0:9b334a45a8ff 1170
bogdanm 0:9b334a45a8ff 1171 /**
bogdanm 0:9b334a45a8ff 1172 * @brief Error CAN callback.
bogdanm 0:9b334a45a8ff 1173 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1174 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1175 * @retval None
bogdanm 0:9b334a45a8ff 1176 */
bogdanm 0:9b334a45a8ff 1177 __weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
bogdanm 0:9b334a45a8ff 1178 {
bogdanm 0:9b334a45a8ff 1179 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 1180 the HAL_CAN_ErrorCallback could be implemented in the user file
bogdanm 0:9b334a45a8ff 1181 */
bogdanm 0:9b334a45a8ff 1182 }
bogdanm 0:9b334a45a8ff 1183
bogdanm 0:9b334a45a8ff 1184 /**
bogdanm 0:9b334a45a8ff 1185 * @}
bogdanm 0:9b334a45a8ff 1186 */
bogdanm 0:9b334a45a8ff 1187
bogdanm 0:9b334a45a8ff 1188 /** @defgroup CAN_Exported_Functions_Group3 Peripheral State and Error functions
bogdanm 0:9b334a45a8ff 1189 * @brief CAN Peripheral State functions
bogdanm 0:9b334a45a8ff 1190 *
bogdanm 0:9b334a45a8ff 1191 @verbatim
bogdanm 0:9b334a45a8ff 1192 ==============================================================================
bogdanm 0:9b334a45a8ff 1193 ##### Peripheral State and Error functions #####
bogdanm 0:9b334a45a8ff 1194 ==============================================================================
bogdanm 0:9b334a45a8ff 1195 [..]
bogdanm 0:9b334a45a8ff 1196 This subsection provides functions allowing to :
bogdanm 0:9b334a45a8ff 1197 (+) Check the CAN state.
bogdanm 0:9b334a45a8ff 1198 (+) Check CAN Errors detected during interrupt process
bogdanm 0:9b334a45a8ff 1199
bogdanm 0:9b334a45a8ff 1200 @endverbatim
bogdanm 0:9b334a45a8ff 1201 * @{
bogdanm 0:9b334a45a8ff 1202 */
bogdanm 0:9b334a45a8ff 1203
bogdanm 0:9b334a45a8ff 1204 /**
bogdanm 0:9b334a45a8ff 1205 * @brief return the CAN state
bogdanm 0:9b334a45a8ff 1206 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1207 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1208 * @retval HAL state
bogdanm 0:9b334a45a8ff 1209 */
bogdanm 0:9b334a45a8ff 1210 HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1211 {
bogdanm 0:9b334a45a8ff 1212 /* Return CAN state */
bogdanm 0:9b334a45a8ff 1213 return hcan->State;
bogdanm 0:9b334a45a8ff 1214 }
bogdanm 0:9b334a45a8ff 1215
bogdanm 0:9b334a45a8ff 1216 /**
bogdanm 0:9b334a45a8ff 1217 * @brief Return the CAN error code
bogdanm 0:9b334a45a8ff 1218 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1219 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1220 * @retval CAN Error Code
bogdanm 0:9b334a45a8ff 1221 */
bogdanm 0:9b334a45a8ff 1222 uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
bogdanm 0:9b334a45a8ff 1223 {
bogdanm 0:9b334a45a8ff 1224 return hcan->ErrorCode;
bogdanm 0:9b334a45a8ff 1225 }
bogdanm 0:9b334a45a8ff 1226
bogdanm 0:9b334a45a8ff 1227 /**
bogdanm 0:9b334a45a8ff 1228 * @}
bogdanm 0:9b334a45a8ff 1229 */
bogdanm 0:9b334a45a8ff 1230
bogdanm 0:9b334a45a8ff 1231 /**
bogdanm 0:9b334a45a8ff 1232 * @}
bogdanm 0:9b334a45a8ff 1233 */
bogdanm 0:9b334a45a8ff 1234
bogdanm 0:9b334a45a8ff 1235 /** @defgroup CAN_Private_Functions CAN Private Functions
bogdanm 0:9b334a45a8ff 1236 * @{
bogdanm 0:9b334a45a8ff 1237 */
bogdanm 0:9b334a45a8ff 1238 /**
bogdanm 0:9b334a45a8ff 1239 * @brief Initiates and transmits a CAN frame message.
bogdanm 0:9b334a45a8ff 1240 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1241 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1242 * @retval HAL status
bogdanm 0:9b334a45a8ff 1243 */
bogdanm 0:9b334a45a8ff 1244 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1245 {
bogdanm 0:9b334a45a8ff 1246 /* Disable Transmit mailbox empty Interrupt */
bogdanm 0:9b334a45a8ff 1247 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
bogdanm 0:9b334a45a8ff 1248
bogdanm 0:9b334a45a8ff 1249 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
bogdanm 0:9b334a45a8ff 1250 {
bogdanm 0:9b334a45a8ff 1251 /* Disable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 1252 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
bogdanm 0:9b334a45a8ff 1253
bogdanm 0:9b334a45a8ff 1254 /* Disable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 1255 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
bogdanm 0:9b334a45a8ff 1256
bogdanm 0:9b334a45a8ff 1257 /* Disable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 1258 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
bogdanm 0:9b334a45a8ff 1259
bogdanm 0:9b334a45a8ff 1260 /* Disable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 1261 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
bogdanm 0:9b334a45a8ff 1262
bogdanm 0:9b334a45a8ff 1263 /* Disable Error Interrupt */
bogdanm 0:9b334a45a8ff 1264 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
bogdanm 0:9b334a45a8ff 1265 }
bogdanm 0:9b334a45a8ff 1266
bogdanm 0:9b334a45a8ff 1267 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 1268 {
bogdanm 0:9b334a45a8ff 1269 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1270 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 1271 }
bogdanm 0:9b334a45a8ff 1272 else
bogdanm 0:9b334a45a8ff 1273 {
bogdanm 0:9b334a45a8ff 1274 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1275 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1276 }
bogdanm 0:9b334a45a8ff 1277
bogdanm 0:9b334a45a8ff 1278 /* Transmission complete callback */
bogdanm 0:9b334a45a8ff 1279 HAL_CAN_TxCpltCallback(hcan);
bogdanm 0:9b334a45a8ff 1280
bogdanm 0:9b334a45a8ff 1281 return HAL_OK;
bogdanm 0:9b334a45a8ff 1282 }
bogdanm 0:9b334a45a8ff 1283
bogdanm 0:9b334a45a8ff 1284 /**
bogdanm 0:9b334a45a8ff 1285 * @brief Receives a correct CAN frame.
bogdanm 0:9b334a45a8ff 1286 * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1287 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1288 * @param FIFONumber: Specify the FIFO number
bogdanm 0:9b334a45a8ff 1289 * @retval HAL status
bogdanm 0:9b334a45a8ff 1290 * @retval None
bogdanm 0:9b334a45a8ff 1291 */
bogdanm 0:9b334a45a8ff 1292 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
bogdanm 0:9b334a45a8ff 1293 {
bogdanm 0:9b334a45a8ff 1294 /* Get the Id */
bogdanm 0:9b334a45a8ff 1295 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 1296 if (hcan->pRxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 1297 {
bogdanm 0:9b334a45a8ff 1298 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
bogdanm 0:9b334a45a8ff 1299 }
bogdanm 0:9b334a45a8ff 1300 else
bogdanm 0:9b334a45a8ff 1301 {
bogdanm 0:9b334a45a8ff 1302 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
bogdanm 0:9b334a45a8ff 1303 }
bogdanm 0:9b334a45a8ff 1304
bogdanm 0:9b334a45a8ff 1305 hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 1306 /* Get the DLC */
bogdanm 0:9b334a45a8ff 1307 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
bogdanm 0:9b334a45a8ff 1308 /* Get the FMI */
bogdanm 0:9b334a45a8ff 1309 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
bogdanm 0:9b334a45a8ff 1310 /* Get the data field */
bogdanm 0:9b334a45a8ff 1311 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
bogdanm 0:9b334a45a8ff 1312 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
bogdanm 0:9b334a45a8ff 1313 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
bogdanm 0:9b334a45a8ff 1314 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
bogdanm 0:9b334a45a8ff 1315 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
bogdanm 0:9b334a45a8ff 1316 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
bogdanm 0:9b334a45a8ff 1317 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
bogdanm 0:9b334a45a8ff 1318 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
bogdanm 0:9b334a45a8ff 1319 /* Release the FIFO */
bogdanm 0:9b334a45a8ff 1320 /* Release FIFO0 */
bogdanm 0:9b334a45a8ff 1321 if (FIFONumber == CAN_FIFO0)
bogdanm 0:9b334a45a8ff 1322 {
bogdanm 0:9b334a45a8ff 1323 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
bogdanm 0:9b334a45a8ff 1324
bogdanm 0:9b334a45a8ff 1325 /* Disable FIFO 0 message pending Interrupt */
bogdanm 0:9b334a45a8ff 1326 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
bogdanm 0:9b334a45a8ff 1327 }
bogdanm 0:9b334a45a8ff 1328 /* Release FIFO1 */
bogdanm 0:9b334a45a8ff 1329 else /* FIFONumber == CAN_FIFO1 */
bogdanm 0:9b334a45a8ff 1330 {
bogdanm 0:9b334a45a8ff 1331 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
bogdanm 0:9b334a45a8ff 1332
bogdanm 0:9b334a45a8ff 1333 /* Disable FIFO 1 message pending Interrupt */
bogdanm 0:9b334a45a8ff 1334 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
bogdanm 0:9b334a45a8ff 1335 }
bogdanm 0:9b334a45a8ff 1336
bogdanm 0:9b334a45a8ff 1337 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
bogdanm 0:9b334a45a8ff 1338 {
bogdanm 0:9b334a45a8ff 1339 /* Disable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 1340 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG);
bogdanm 0:9b334a45a8ff 1341
bogdanm 0:9b334a45a8ff 1342 /* Disable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 1343 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EPV);
bogdanm 0:9b334a45a8ff 1344
bogdanm 0:9b334a45a8ff 1345 /* Disable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 1346 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_BOF);
bogdanm 0:9b334a45a8ff 1347
bogdanm 0:9b334a45a8ff 1348 /* Disable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 1349 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_LEC);
bogdanm 0:9b334a45a8ff 1350
bogdanm 0:9b334a45a8ff 1351 /* Disable Error Interrupt */
bogdanm 0:9b334a45a8ff 1352 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_ERR);
bogdanm 0:9b334a45a8ff 1353 }
bogdanm 0:9b334a45a8ff 1354
bogdanm 0:9b334a45a8ff 1355 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 1356 {
bogdanm 0:9b334a45a8ff 1357 /* Disable CAN state */
bogdanm 0:9b334a45a8ff 1358 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 1359 }
bogdanm 0:9b334a45a8ff 1360 else
bogdanm 0:9b334a45a8ff 1361 {
bogdanm 0:9b334a45a8ff 1362 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1363 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1364 }
bogdanm 0:9b334a45a8ff 1365
bogdanm 0:9b334a45a8ff 1366 /* Receive complete callback */
bogdanm 0:9b334a45a8ff 1367 HAL_CAN_RxCpltCallback(hcan);
bogdanm 0:9b334a45a8ff 1368
bogdanm 0:9b334a45a8ff 1369 /* Return function status */
bogdanm 0:9b334a45a8ff 1370 return HAL_OK;
bogdanm 0:9b334a45a8ff 1371 }
bogdanm 0:9b334a45a8ff 1372 /**
bogdanm 0:9b334a45a8ff 1373 * @}
bogdanm 0:9b334a45a8ff 1374 */
bogdanm 0:9b334a45a8ff 1375 #endif /* STM32F302xE || STM32F303xE || STM32F398xx || */
bogdanm 0:9b334a45a8ff 1376 /* STM32F302xC || STM32F303xC || STM32F358xx || */
bogdanm 0:9b334a45a8ff 1377 /* STM32F303x8 || STM32F334x8 || STM32F328xx || */
bogdanm 0:9b334a45a8ff 1378 /* STM32F302x8 || */
bogdanm 0:9b334a45a8ff 1379 /* STM32F373xC || STM32F378xx */
bogdanm 0:9b334a45a8ff 1380
bogdanm 0:9b334a45a8ff 1381 #endif /* HAL_CAN_MODULE_ENABLED */
bogdanm 0:9b334a45a8ff 1382 /**
bogdanm 0:9b334a45a8ff 1383 * @}
bogdanm 0:9b334a45a8ff 1384 */
bogdanm 0:9b334a45a8ff 1385
bogdanm 0:9b334a45a8ff 1386 /**
bogdanm 0:9b334a45a8ff 1387 * @}
bogdanm 0:9b334a45a8ff 1388 */
bogdanm 0:9b334a45a8ff 1389
bogdanm 0:9b334a45a8ff 1390 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/