en 129 / mbed-dev

fix LPC812 PWM

Dependents:   IR_LED_Send

Fork of mbed-dev by mbed official

targets/cmsis/TARGET_STM/TARGET_STM32L4/stm32l4xx_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 stm32l4xx_hal_can.c
bogdanm 0:9b334a45a8ff 4 * @author MCD Application Team
bogdanm 0:9b334a45a8ff 5 * @version V1.0.0
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
bogdanm 0:9b334a45a8ff 21 __HAL_RCC_CAN1_CLK_ENABLE() for CAN1.
bogdanm 0:9b334a45a8ff 22
bogdanm 0:9b334a45a8ff 23 (#) CAN pins configuration
bogdanm 0:9b334a45a8ff 24 (++) Enable the clock for the CAN GPIOs using the following function:
bogdanm 0:9b334a45a8ff 25 __HAL_RCC_GPIOx_CLK_ENABLE();
bogdanm 0:9b334a45a8ff 26 (++) Connect and configure the involved CAN pins using the
bogdanm 0:9b334a45a8ff 27 following function HAL_GPIO_Init();
bogdanm 0:9b334a45a8ff 28
bogdanm 0:9b334a45a8ff 29 (#) Initialize and configure the CAN using HAL_CAN_Init() function.
bogdanm 0:9b334a45a8ff 30
bogdanm 0:9b334a45a8ff 31 (#) Transmit the desired CAN frame using HAL_CAN_Transmit() or
bogdanm 0:9b334a45a8ff 32 HAL_CAN_Transmit_IT() function.
bogdanm 0:9b334a45a8ff 33
bogdanm 0:9b334a45a8ff 34 (#) Receive a CAN frame using HAL_CAN_Receive() or HAL_CAN_Receive_IT() 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) 2015 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 "stm32l4xx_hal.h"
bogdanm 0:9b334a45a8ff 105
bogdanm 0:9b334a45a8ff 106 /** @addtogroup STM32L4xx_HAL_Driver
bogdanm 0:9b334a45a8ff 107 * @{
bogdanm 0:9b334a45a8ff 108 */
bogdanm 0:9b334a45a8ff 109
bogdanm 0:9b334a45a8ff 110 /** @defgroup CAN CAN
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 /* 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 Initialize the CAN peripheral according to the specified parameters
bogdanm 0:9b334a45a8ff 161 * in the CAN_InitStruct structure and initialize the associated handle.
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
bogdanm 0:9b334a45a8ff 196 /* Init the low level hardware */
bogdanm 0:9b334a45a8ff 197 HAL_CAN_MspInit(hcan);
bogdanm 0:9b334a45a8ff 198 }
bogdanm 0:9b334a45a8ff 199
bogdanm 0:9b334a45a8ff 200 /* Initialize the CAN state*/
bogdanm 0:9b334a45a8ff 201 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 202
bogdanm 0:9b334a45a8ff 203 /* Exit from sleep mode */
bogdanm 0:9b334a45a8ff 204 hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP);
bogdanm 0:9b334a45a8ff 205
bogdanm 0:9b334a45a8ff 206 /* Request initialisation */
bogdanm 0:9b334a45a8ff 207 hcan->Instance->MCR |= CAN_MCR_INRQ ;
bogdanm 0:9b334a45a8ff 208
bogdanm 0:9b334a45a8ff 209 /* Get tick */
bogdanm 0:9b334a45a8ff 210 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 211
bogdanm 0:9b334a45a8ff 212 /* Wait the acknowledge */
bogdanm 0:9b334a45a8ff 213 while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
bogdanm 0:9b334a45a8ff 214 {
bogdanm 0:9b334a45a8ff 215 if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
bogdanm 0:9b334a45a8ff 216 {
bogdanm 0:9b334a45a8ff 217 hcan->State= HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 218 /* Process unlocked */
bogdanm 0:9b334a45a8ff 219 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 220 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 221 }
bogdanm 0:9b334a45a8ff 222 }
bogdanm 0:9b334a45a8ff 223
bogdanm 0:9b334a45a8ff 224 /* Check acknowledge */
bogdanm 0:9b334a45a8ff 225 if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
bogdanm 0:9b334a45a8ff 226 {
bogdanm 0:9b334a45a8ff 227 /* Set the time triggered communication mode */
bogdanm 0:9b334a45a8ff 228 if (hcan->Init.TTCM == ENABLE)
bogdanm 0:9b334a45a8ff 229 {
bogdanm 0:9b334a45a8ff 230 hcan->Instance->MCR |= CAN_MCR_TTCM;
bogdanm 0:9b334a45a8ff 231 }
bogdanm 0:9b334a45a8ff 232 else
bogdanm 0:9b334a45a8ff 233 {
bogdanm 0:9b334a45a8ff 234 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM;
bogdanm 0:9b334a45a8ff 235 }
bogdanm 0:9b334a45a8ff 236
bogdanm 0:9b334a45a8ff 237 /* Set the automatic bus-off management */
bogdanm 0:9b334a45a8ff 238 if (hcan->Init.ABOM == ENABLE)
bogdanm 0:9b334a45a8ff 239 {
bogdanm 0:9b334a45a8ff 240 hcan->Instance->MCR |= CAN_MCR_ABOM;
bogdanm 0:9b334a45a8ff 241 }
bogdanm 0:9b334a45a8ff 242 else
bogdanm 0:9b334a45a8ff 243 {
bogdanm 0:9b334a45a8ff 244 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM;
bogdanm 0:9b334a45a8ff 245 }
bogdanm 0:9b334a45a8ff 246
bogdanm 0:9b334a45a8ff 247 /* Set the automatic wake-up mode */
bogdanm 0:9b334a45a8ff 248 if (hcan->Init.AWUM == ENABLE)
bogdanm 0:9b334a45a8ff 249 {
bogdanm 0:9b334a45a8ff 250 hcan->Instance->MCR |= CAN_MCR_AWUM;
bogdanm 0:9b334a45a8ff 251 }
bogdanm 0:9b334a45a8ff 252 else
bogdanm 0:9b334a45a8ff 253 {
bogdanm 0:9b334a45a8ff 254 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM;
bogdanm 0:9b334a45a8ff 255 }
bogdanm 0:9b334a45a8ff 256
bogdanm 0:9b334a45a8ff 257 /* Set the no automatic retransmission */
bogdanm 0:9b334a45a8ff 258 if (hcan->Init.NART == ENABLE)
bogdanm 0:9b334a45a8ff 259 {
bogdanm 0:9b334a45a8ff 260 hcan->Instance->MCR |= CAN_MCR_NART;
bogdanm 0:9b334a45a8ff 261 }
bogdanm 0:9b334a45a8ff 262 else
bogdanm 0:9b334a45a8ff 263 {
bogdanm 0:9b334a45a8ff 264 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART;
bogdanm 0:9b334a45a8ff 265 }
bogdanm 0:9b334a45a8ff 266
bogdanm 0:9b334a45a8ff 267 /* Set the receive FIFO locked mode */
bogdanm 0:9b334a45a8ff 268 if (hcan->Init.RFLM == ENABLE)
bogdanm 0:9b334a45a8ff 269 {
bogdanm 0:9b334a45a8ff 270 hcan->Instance->MCR |= CAN_MCR_RFLM;
bogdanm 0:9b334a45a8ff 271 }
bogdanm 0:9b334a45a8ff 272 else
bogdanm 0:9b334a45a8ff 273 {
bogdanm 0:9b334a45a8ff 274 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM;
bogdanm 0:9b334a45a8ff 275 }
bogdanm 0:9b334a45a8ff 276
bogdanm 0:9b334a45a8ff 277 /* Set the transmit FIFO priority */
bogdanm 0:9b334a45a8ff 278 if (hcan->Init.TXFP == ENABLE)
bogdanm 0:9b334a45a8ff 279 {
bogdanm 0:9b334a45a8ff 280 hcan->Instance->MCR |= CAN_MCR_TXFP;
bogdanm 0:9b334a45a8ff 281 }
bogdanm 0:9b334a45a8ff 282 else
bogdanm 0:9b334a45a8ff 283 {
bogdanm 0:9b334a45a8ff 284 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP;
bogdanm 0:9b334a45a8ff 285 }
bogdanm 0:9b334a45a8ff 286
bogdanm 0:9b334a45a8ff 287 /* Set the bit timing register */
bogdanm 0:9b334a45a8ff 288 hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \
bogdanm 0:9b334a45a8ff 289 ((uint32_t)hcan->Init.SJW) | \
bogdanm 0:9b334a45a8ff 290 ((uint32_t)hcan->Init.BS1) | \
bogdanm 0:9b334a45a8ff 291 ((uint32_t)hcan->Init.BS2) | \
bogdanm 0:9b334a45a8ff 292 ((uint32_t)hcan->Init.Prescaler - 1);
bogdanm 0:9b334a45a8ff 293
bogdanm 0:9b334a45a8ff 294 /* Request leave initialisation */
bogdanm 0:9b334a45a8ff 295 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ;
bogdanm 0:9b334a45a8ff 296
bogdanm 0:9b334a45a8ff 297 /* Get tick */
bogdanm 0:9b334a45a8ff 298 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 299
bogdanm 0:9b334a45a8ff 300 /* Wait the acknowledge */
bogdanm 0:9b334a45a8ff 301 while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
bogdanm 0:9b334a45a8ff 302 {
bogdanm 0:9b334a45a8ff 303 if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
bogdanm 0:9b334a45a8ff 304 {
bogdanm 0:9b334a45a8ff 305 hcan->State= HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 306 /* Process unlocked */
bogdanm 0:9b334a45a8ff 307 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 308 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 309 }
bogdanm 0:9b334a45a8ff 310 }
bogdanm 0:9b334a45a8ff 311
bogdanm 0:9b334a45a8ff 312 /* Check acknowledged */
bogdanm 0:9b334a45a8ff 313 if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
bogdanm 0:9b334a45a8ff 314 {
bogdanm 0:9b334a45a8ff 315 status = CAN_INITSTATUS_SUCCESS;
bogdanm 0:9b334a45a8ff 316 }
bogdanm 0:9b334a45a8ff 317 }
bogdanm 0:9b334a45a8ff 318
bogdanm 0:9b334a45a8ff 319 if(status == CAN_INITSTATUS_SUCCESS)
bogdanm 0:9b334a45a8ff 320 {
bogdanm 0:9b334a45a8ff 321 /* Set CAN error code to none */
bogdanm 0:9b334a45a8ff 322 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
bogdanm 0:9b334a45a8ff 323
bogdanm 0:9b334a45a8ff 324 /* Initialize the CAN state */
bogdanm 0:9b334a45a8ff 325 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 326
bogdanm 0:9b334a45a8ff 327 /* Return function status */
bogdanm 0:9b334a45a8ff 328 return HAL_OK;
bogdanm 0:9b334a45a8ff 329 }
bogdanm 0:9b334a45a8ff 330 else
bogdanm 0:9b334a45a8ff 331 {
bogdanm 0:9b334a45a8ff 332 /* Initialize the CAN state */
bogdanm 0:9b334a45a8ff 333 hcan->State = HAL_CAN_STATE_ERROR;
bogdanm 0:9b334a45a8ff 334
bogdanm 0:9b334a45a8ff 335 /* Return function status */
bogdanm 0:9b334a45a8ff 336 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 337 }
bogdanm 0:9b334a45a8ff 338 }
bogdanm 0:9b334a45a8ff 339
bogdanm 0:9b334a45a8ff 340 /**
bogdanm 0:9b334a45a8ff 341 * @brief Configure the CAN reception filter according to the specified
bogdanm 0:9b334a45a8ff 342 * parameters in the CAN_FilterInitStruct.
bogdanm 0:9b334a45a8ff 343 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 344 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 345 * @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
bogdanm 0:9b334a45a8ff 346 * contains the filter configuration information.
bogdanm 0:9b334a45a8ff 347 * @retval None
bogdanm 0:9b334a45a8ff 348 */
bogdanm 0:9b334a45a8ff 349 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
bogdanm 0:9b334a45a8ff 350 {
bogdanm 0:9b334a45a8ff 351 uint32_t filternbrbitpos = 0;
bogdanm 0:9b334a45a8ff 352
bogdanm 0:9b334a45a8ff 353 /* Check the parameters */
bogdanm 0:9b334a45a8ff 354 assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
bogdanm 0:9b334a45a8ff 355 assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
bogdanm 0:9b334a45a8ff 356 assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
bogdanm 0:9b334a45a8ff 357 assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
bogdanm 0:9b334a45a8ff 358 assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
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 /* Filter Deactivation */
bogdanm 0:9b334a45a8ff 366 hcan->Instance->FA1R &= ~(uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 367
bogdanm 0:9b334a45a8ff 368 /* Filter Scale */
bogdanm 0:9b334a45a8ff 369 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT)
bogdanm 0:9b334a45a8ff 370 {
bogdanm 0:9b334a45a8ff 371 /* 16-bit scale for the filter */
bogdanm 0:9b334a45a8ff 372 hcan->Instance->FS1R &= ~(uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 373
bogdanm 0:9b334a45a8ff 374 /* First 16-bit identifier and First 16-bit mask */
bogdanm 0:9b334a45a8ff 375 /* Or First 16-bit identifier and Second 16-bit identifier */
bogdanm 0:9b334a45a8ff 376 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
bogdanm 0:9b334a45a8ff 377 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16) |
bogdanm 0:9b334a45a8ff 378 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
bogdanm 0:9b334a45a8ff 379
bogdanm 0:9b334a45a8ff 380 /* Second 16-bit identifier and Second 16-bit mask */
bogdanm 0:9b334a45a8ff 381 /* Or Third 16-bit identifier and Fourth 16-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->FilterIdHigh);
bogdanm 0:9b334a45a8ff 385 }
bogdanm 0:9b334a45a8ff 386
bogdanm 0:9b334a45a8ff 387 if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT)
bogdanm 0:9b334a45a8ff 388 {
bogdanm 0:9b334a45a8ff 389 /* 32-bit scale for the filter */
bogdanm 0:9b334a45a8ff 390 hcan->Instance->FS1R |= filternbrbitpos;
bogdanm 0:9b334a45a8ff 391 /* 32-bit identifier or First 32-bit identifier */
bogdanm 0:9b334a45a8ff 392 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR1 =
bogdanm 0:9b334a45a8ff 393 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterIdHigh) << 16) |
bogdanm 0:9b334a45a8ff 394 (0x0000FFFF & (uint32_t)sFilterConfig->FilterIdLow);
bogdanm 0:9b334a45a8ff 395 /* 32-bit mask or Second 32-bit identifier */
bogdanm 0:9b334a45a8ff 396 hcan->Instance->sFilterRegister[sFilterConfig->FilterNumber].FR2 =
bogdanm 0:9b334a45a8ff 397 ((0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16) |
bogdanm 0:9b334a45a8ff 398 (0x0000FFFF & (uint32_t)sFilterConfig->FilterMaskIdLow);
bogdanm 0:9b334a45a8ff 399 }
bogdanm 0:9b334a45a8ff 400
bogdanm 0:9b334a45a8ff 401 /* Filter Mode */
bogdanm 0:9b334a45a8ff 402 if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK)
bogdanm 0:9b334a45a8ff 403 {
bogdanm 0:9b334a45a8ff 404 /*Id/Mask mode for the filter*/
bogdanm 0:9b334a45a8ff 405 hcan->Instance->FM1R &= ~(uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 406 }
bogdanm 0:9b334a45a8ff 407 else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */
bogdanm 0:9b334a45a8ff 408 {
bogdanm 0:9b334a45a8ff 409 /*Identifier list mode for the filter*/
bogdanm 0:9b334a45a8ff 410 hcan->Instance->FM1R |= (uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 411 }
bogdanm 0:9b334a45a8ff 412
bogdanm 0:9b334a45a8ff 413 /* Filter FIFO assignment */
bogdanm 0:9b334a45a8ff 414 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0)
bogdanm 0:9b334a45a8ff 415 {
bogdanm 0:9b334a45a8ff 416 /* FIFO 0 assignation for the filter */
bogdanm 0:9b334a45a8ff 417 hcan->Instance->FFA1R &= ~(uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 418 }
bogdanm 0:9b334a45a8ff 419
bogdanm 0:9b334a45a8ff 420 if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1)
bogdanm 0:9b334a45a8ff 421 {
bogdanm 0:9b334a45a8ff 422 /* FIFO 1 assignation for the filter */
bogdanm 0:9b334a45a8ff 423 hcan->Instance->FFA1R |= (uint32_t)filternbrbitpos;
bogdanm 0:9b334a45a8ff 424 }
bogdanm 0:9b334a45a8ff 425
bogdanm 0:9b334a45a8ff 426 /* Filter activation */
bogdanm 0:9b334a45a8ff 427 if (sFilterConfig->FilterActivation == ENABLE)
bogdanm 0:9b334a45a8ff 428 {
bogdanm 0:9b334a45a8ff 429 hcan->Instance->FA1R |= filternbrbitpos;
bogdanm 0:9b334a45a8ff 430 }
bogdanm 0:9b334a45a8ff 431
bogdanm 0:9b334a45a8ff 432 /* Leave the initialisation mode for the filter */
bogdanm 0:9b334a45a8ff 433 hcan->Instance->FMR &= ~((uint32_t)CAN_FMR_FINIT);
bogdanm 0:9b334a45a8ff 434
bogdanm 0:9b334a45a8ff 435 /* Return function status */
bogdanm 0:9b334a45a8ff 436 return HAL_OK;
bogdanm 0:9b334a45a8ff 437 }
bogdanm 0:9b334a45a8ff 438
bogdanm 0:9b334a45a8ff 439 /**
bogdanm 0:9b334a45a8ff 440 * @brief DeInitialize the CAN peripheral registers to their default reset values.
bogdanm 0:9b334a45a8ff 441 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 442 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 443 * @retval HAL status
bogdanm 0:9b334a45a8ff 444 */
bogdanm 0:9b334a45a8ff 445 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 446 {
bogdanm 0:9b334a45a8ff 447 /* Check CAN handle */
bogdanm 0:9b334a45a8ff 448 if(hcan == NULL)
bogdanm 0:9b334a45a8ff 449 {
bogdanm 0:9b334a45a8ff 450 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 451 }
bogdanm 0:9b334a45a8ff 452
bogdanm 0:9b334a45a8ff 453 /* Check the parameters */
bogdanm 0:9b334a45a8ff 454 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
bogdanm 0:9b334a45a8ff 455
bogdanm 0:9b334a45a8ff 456 /* Change CAN state */
bogdanm 0:9b334a45a8ff 457 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 458
bogdanm 0:9b334a45a8ff 459 /* DeInit the low level hardware */
bogdanm 0:9b334a45a8ff 460 HAL_CAN_MspDeInit(hcan);
bogdanm 0:9b334a45a8ff 461
bogdanm 0:9b334a45a8ff 462 /* Change CAN state */
bogdanm 0:9b334a45a8ff 463 hcan->State = HAL_CAN_STATE_RESET;
bogdanm 0:9b334a45a8ff 464
bogdanm 0:9b334a45a8ff 465 /* Release Lock */
bogdanm 0:9b334a45a8ff 466 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 467
bogdanm 0:9b334a45a8ff 468 /* Return function status */
bogdanm 0:9b334a45a8ff 469 return HAL_OK;
bogdanm 0:9b334a45a8ff 470 }
bogdanm 0:9b334a45a8ff 471
bogdanm 0:9b334a45a8ff 472 /**
bogdanm 0:9b334a45a8ff 473 * @brief Initialize the CAN MSP.
bogdanm 0:9b334a45a8ff 474 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 475 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 476 * @retval None
bogdanm 0:9b334a45a8ff 477 */
bogdanm 0:9b334a45a8ff 478 __weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 479 {
bogdanm 0:9b334a45a8ff 480 /* NOTE : This function should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 481 the HAL_CAN_MspInit could be implemented in the user file
bogdanm 0:9b334a45a8ff 482 */
bogdanm 0:9b334a45a8ff 483 }
bogdanm 0:9b334a45a8ff 484
bogdanm 0:9b334a45a8ff 485 /**
bogdanm 0:9b334a45a8ff 486 * @brief DeInitialize the CAN MSP.
bogdanm 0:9b334a45a8ff 487 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 488 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 489 * @retval None
bogdanm 0:9b334a45a8ff 490 */
bogdanm 0:9b334a45a8ff 491 __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 492 {
bogdanm 0:9b334a45a8ff 493 /* NOTE : This function should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 494 the HAL_CAN_MspDeInit could be implemented in the user file
bogdanm 0:9b334a45a8ff 495 */
bogdanm 0:9b334a45a8ff 496 }
bogdanm 0:9b334a45a8ff 497
bogdanm 0:9b334a45a8ff 498 /**
bogdanm 0:9b334a45a8ff 499 * @}
bogdanm 0:9b334a45a8ff 500 */
bogdanm 0:9b334a45a8ff 501
bogdanm 0:9b334a45a8ff 502 /** @defgroup CAN_Exported_Functions_Group2 Input and Output operation functions
bogdanm 0:9b334a45a8ff 503 * @brief I/O operation functions
bogdanm 0:9b334a45a8ff 504 *
bogdanm 0:9b334a45a8ff 505 @verbatim
bogdanm 0:9b334a45a8ff 506 ==============================================================================
bogdanm 0:9b334a45a8ff 507 ##### IO operation functions #####
bogdanm 0:9b334a45a8ff 508 ==============================================================================
bogdanm 0:9b334a45a8ff 509 [..] This section provides functions allowing to:
bogdanm 0:9b334a45a8ff 510 (+) Transmit a CAN frame message.
bogdanm 0:9b334a45a8ff 511 (+) Receive a CAN frame message.
bogdanm 0:9b334a45a8ff 512 (+) Enter CAN peripheral in sleep mode.
bogdanm 0:9b334a45a8ff 513 (+) Wake up the CAN peripheral from sleep mode.
bogdanm 0:9b334a45a8ff 514
bogdanm 0:9b334a45a8ff 515 @endverbatim
bogdanm 0:9b334a45a8ff 516 * @{
bogdanm 0:9b334a45a8ff 517 */
bogdanm 0:9b334a45a8ff 518
bogdanm 0:9b334a45a8ff 519 /**
bogdanm 0:9b334a45a8ff 520 * @brief Initiate and transmit a CAN frame message.
bogdanm 0:9b334a45a8ff 521 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 522 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 523 * @param Timeout: Timeout duration.
bogdanm 0:9b334a45a8ff 524 * @retval HAL status
bogdanm 0:9b334a45a8ff 525 */
bogdanm 0:9b334a45a8ff 526 HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
bogdanm 0:9b334a45a8ff 527 {
bogdanm 0:9b334a45a8ff 528 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
bogdanm 0:9b334a45a8ff 529 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 530
bogdanm 0:9b334a45a8ff 531 /* Check the parameters */
bogdanm 0:9b334a45a8ff 532 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
bogdanm 0:9b334a45a8ff 533 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
bogdanm 0:9b334a45a8ff 534 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
bogdanm 0:9b334a45a8ff 535
bogdanm 0:9b334a45a8ff 536 /* Process locked */
bogdanm 0:9b334a45a8ff 537 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 538
bogdanm 0:9b334a45a8ff 539 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
bogdanm 0:9b334a45a8ff 540 {
bogdanm 0:9b334a45a8ff 541 /* Change CAN state */
bogdanm 0:9b334a45a8ff 542 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 543 }
bogdanm 0:9b334a45a8ff 544 else
bogdanm 0:9b334a45a8ff 545 {
bogdanm 0:9b334a45a8ff 546 /* Change CAN state */
bogdanm 0:9b334a45a8ff 547 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 548 }
bogdanm 0:9b334a45a8ff 549
bogdanm 0:9b334a45a8ff 550 /* Select one empty transmit mailbox */
bogdanm 0:9b334a45a8ff 551 if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
bogdanm 0:9b334a45a8ff 552 {
bogdanm 0:9b334a45a8ff 553 transmitmailbox = 0;
bogdanm 0:9b334a45a8ff 554 }
bogdanm 0:9b334a45a8ff 555 else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
bogdanm 0:9b334a45a8ff 556 {
bogdanm 0:9b334a45a8ff 557 transmitmailbox = 1;
bogdanm 0:9b334a45a8ff 558 }
bogdanm 0:9b334a45a8ff 559 else if ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
bogdanm 0:9b334a45a8ff 560 {
bogdanm 0:9b334a45a8ff 561 transmitmailbox = 2;
bogdanm 0:9b334a45a8ff 562 }
bogdanm 0:9b334a45a8ff 563
bogdanm 0:9b334a45a8ff 564 if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
bogdanm 0:9b334a45a8ff 565 {
bogdanm 0:9b334a45a8ff 566 /* Set up the Id */
bogdanm 0:9b334a45a8ff 567 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 568 if (hcan->pTxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 569 {
bogdanm 0:9b334a45a8ff 570 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
bogdanm 0:9b334a45a8ff 571 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
bogdanm 0:9b334a45a8ff 572 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 573 }
bogdanm 0:9b334a45a8ff 574 else
bogdanm 0:9b334a45a8ff 575 {
bogdanm 0:9b334a45a8ff 576 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
bogdanm 0:9b334a45a8ff 577 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
bogdanm 0:9b334a45a8ff 578 hcan->pTxMsg->IDE | \
bogdanm 0:9b334a45a8ff 579 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 580 }
bogdanm 0:9b334a45a8ff 581
bogdanm 0:9b334a45a8ff 582 /* Set up the DLC */
bogdanm 0:9b334a45a8ff 583 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
bogdanm 0:9b334a45a8ff 584 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
bogdanm 0:9b334a45a8ff 585 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
bogdanm 0:9b334a45a8ff 586
bogdanm 0:9b334a45a8ff 587 /* Set up the data field */
bogdanm 0:9b334a45a8ff 588 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
bogdanm 0:9b334a45a8ff 589 ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
bogdanm 0:9b334a45a8ff 590 ((uint32_t)hcan->pTxMsg->Data[1] << 8) |
bogdanm 0:9b334a45a8ff 591 ((uint32_t)hcan->pTxMsg->Data[0]));
bogdanm 0:9b334a45a8ff 592 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
bogdanm 0:9b334a45a8ff 593 ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
bogdanm 0:9b334a45a8ff 594 ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
bogdanm 0:9b334a45a8ff 595 ((uint32_t)hcan->pTxMsg->Data[4]));
bogdanm 0:9b334a45a8ff 596 /* Request transmission */
bogdanm 0:9b334a45a8ff 597 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 598
bogdanm 0:9b334a45a8ff 599 /* Get tick */
bogdanm 0:9b334a45a8ff 600 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 601
bogdanm 0:9b334a45a8ff 602 /* Check End of transmission flag */
bogdanm 0:9b334a45a8ff 603 while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
bogdanm 0:9b334a45a8ff 604 {
bogdanm 0:9b334a45a8ff 605 /* Check for the Timeout */
bogdanm 0:9b334a45a8ff 606 if(Timeout != HAL_MAX_DELAY)
bogdanm 0:9b334a45a8ff 607 {
bogdanm 0:9b334a45a8ff 608 if((Timeout == 0) || ((HAL_GetTick()-tickstart) > Timeout))
bogdanm 0:9b334a45a8ff 609 {
bogdanm 0:9b334a45a8ff 610 hcan->State = HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 611 /* Process unlocked */
bogdanm 0:9b334a45a8ff 612 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 613 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 614 }
bogdanm 0:9b334a45a8ff 615 }
bogdanm 0:9b334a45a8ff 616 }
bogdanm 0:9b334a45a8ff 617 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 618 {
bogdanm 0:9b334a45a8ff 619 /* Change CAN state */
bogdanm 0:9b334a45a8ff 620 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 621 }
bogdanm 0:9b334a45a8ff 622 else
bogdanm 0:9b334a45a8ff 623 {
bogdanm 0:9b334a45a8ff 624 /* Change CAN state */
bogdanm 0:9b334a45a8ff 625 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 626 }
bogdanm 0:9b334a45a8ff 627
bogdanm 0:9b334a45a8ff 628 /* Process unlocked */
bogdanm 0:9b334a45a8ff 629 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 630
bogdanm 0:9b334a45a8ff 631 /* Return function status */
bogdanm 0:9b334a45a8ff 632 return HAL_OK;
bogdanm 0:9b334a45a8ff 633 }
bogdanm 0:9b334a45a8ff 634 else
bogdanm 0:9b334a45a8ff 635 {
bogdanm 0:9b334a45a8ff 636 /* Change CAN state */
bogdanm 0:9b334a45a8ff 637 hcan->State = HAL_CAN_STATE_ERROR;
bogdanm 0:9b334a45a8ff 638
bogdanm 0:9b334a45a8ff 639 /* Process unlocked */
bogdanm 0:9b334a45a8ff 640 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 641
bogdanm 0:9b334a45a8ff 642 /* Return function status */
bogdanm 0:9b334a45a8ff 643 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 644 }
bogdanm 0:9b334a45a8ff 645 }
bogdanm 0:9b334a45a8ff 646
bogdanm 0:9b334a45a8ff 647 /**
bogdanm 0:9b334a45a8ff 648 * @brief Initiate and transmit a CAN frame message in Interrupt mode.
bogdanm 0:9b334a45a8ff 649 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 650 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 651 * @retval HAL status
bogdanm 0:9b334a45a8ff 652 */
bogdanm 0:9b334a45a8ff 653 HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 654 {
bogdanm 0:9b334a45a8ff 655 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
bogdanm 0:9b334a45a8ff 656
bogdanm 0:9b334a45a8ff 657 /* Check the parameters */
bogdanm 0:9b334a45a8ff 658 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
bogdanm 0:9b334a45a8ff 659 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
bogdanm 0:9b334a45a8ff 660 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
bogdanm 0:9b334a45a8ff 661
bogdanm 0:9b334a45a8ff 662 if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_RX))
bogdanm 0:9b334a45a8ff 663 {
bogdanm 0:9b334a45a8ff 664 /* Process Locked */
bogdanm 0:9b334a45a8ff 665 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 666
bogdanm 0:9b334a45a8ff 667 /* Select one empty transmit mailbox */
bogdanm 0:9b334a45a8ff 668 if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
bogdanm 0:9b334a45a8ff 669 {
bogdanm 0:9b334a45a8ff 670 transmitmailbox = 0;
bogdanm 0:9b334a45a8ff 671 }
bogdanm 0:9b334a45a8ff 672 else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
bogdanm 0:9b334a45a8ff 673 {
bogdanm 0:9b334a45a8ff 674 transmitmailbox = 1;
bogdanm 0:9b334a45a8ff 675 }
bogdanm 0:9b334a45a8ff 676 else if((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
bogdanm 0:9b334a45a8ff 677 {
bogdanm 0:9b334a45a8ff 678 transmitmailbox = 2;
bogdanm 0:9b334a45a8ff 679 }
bogdanm 0:9b334a45a8ff 680
bogdanm 0:9b334a45a8ff 681 if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
bogdanm 0:9b334a45a8ff 682 {
bogdanm 0:9b334a45a8ff 683 /* Set up the Id */
bogdanm 0:9b334a45a8ff 684 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 685 if(hcan->pTxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 686 {
bogdanm 0:9b334a45a8ff 687 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
bogdanm 0:9b334a45a8ff 688 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21) | \
bogdanm 0:9b334a45a8ff 689 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 690 }
bogdanm 0:9b334a45a8ff 691 else
bogdanm 0:9b334a45a8ff 692 {
bogdanm 0:9b334a45a8ff 693 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
bogdanm 0:9b334a45a8ff 694 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3) | \
bogdanm 0:9b334a45a8ff 695 hcan->pTxMsg->IDE | \
bogdanm 0:9b334a45a8ff 696 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 697 }
bogdanm 0:9b334a45a8ff 698
bogdanm 0:9b334a45a8ff 699 /* Set up the DLC */
bogdanm 0:9b334a45a8ff 700 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
bogdanm 0:9b334a45a8ff 701 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
bogdanm 0:9b334a45a8ff 702 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
bogdanm 0:9b334a45a8ff 703
bogdanm 0:9b334a45a8ff 704 /* Set up the data field */
bogdanm 0:9b334a45a8ff 705 hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3] << 24) |
bogdanm 0:9b334a45a8ff 706 ((uint32_t)hcan->pTxMsg->Data[2] << 16) |
bogdanm 0:9b334a45a8ff 707 ((uint32_t)hcan->pTxMsg->Data[1] << 8) |
bogdanm 0:9b334a45a8ff 708 ((uint32_t)hcan->pTxMsg->Data[0]));
bogdanm 0:9b334a45a8ff 709 hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7] << 24) |
bogdanm 0:9b334a45a8ff 710 ((uint32_t)hcan->pTxMsg->Data[6] << 16) |
bogdanm 0:9b334a45a8ff 711 ((uint32_t)hcan->pTxMsg->Data[5] << 8) |
bogdanm 0:9b334a45a8ff 712 ((uint32_t)hcan->pTxMsg->Data[4]));
bogdanm 0:9b334a45a8ff 713
bogdanm 0:9b334a45a8ff 714 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
bogdanm 0:9b334a45a8ff 715 {
bogdanm 0:9b334a45a8ff 716 /* Change CAN state */
bogdanm 0:9b334a45a8ff 717 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 718 }
bogdanm 0:9b334a45a8ff 719 else
bogdanm 0:9b334a45a8ff 720 {
bogdanm 0:9b334a45a8ff 721 /* Change CAN state */
bogdanm 0:9b334a45a8ff 722 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 723 }
bogdanm 0:9b334a45a8ff 724
bogdanm 0:9b334a45a8ff 725 /* Set CAN error code to none */
bogdanm 0:9b334a45a8ff 726 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
bogdanm 0:9b334a45a8ff 727
bogdanm 0:9b334a45a8ff 728 /* Process Unlocked */
bogdanm 0:9b334a45a8ff 729 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 730
bogdanm 0:9b334a45a8ff 731 /* Enable interrupts: */
bogdanm 0:9b334a45a8ff 732 /* - Enable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 733 /* - Enable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 734 /* - Enable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 735 /* - Enable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 736 /* - Enable Error Interrupt */
bogdanm 0:9b334a45a8ff 737 /* - Enable Transmit mailbox empty Interrupt */
bogdanm 0:9b334a45a8ff 738 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG |
bogdanm 0:9b334a45a8ff 739 CAN_IT_EPV |
bogdanm 0:9b334a45a8ff 740 CAN_IT_BOF |
bogdanm 0:9b334a45a8ff 741 CAN_IT_LEC |
bogdanm 0:9b334a45a8ff 742 CAN_IT_ERR |
bogdanm 0:9b334a45a8ff 743 CAN_IT_TME );
bogdanm 0:9b334a45a8ff 744
bogdanm 0:9b334a45a8ff 745 /* Request transmission */
bogdanm 0:9b334a45a8ff 746 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 747 }
bogdanm 0:9b334a45a8ff 748 }
bogdanm 0:9b334a45a8ff 749 else
bogdanm 0:9b334a45a8ff 750 {
bogdanm 0:9b334a45a8ff 751 return HAL_BUSY;
bogdanm 0:9b334a45a8ff 752 }
bogdanm 0:9b334a45a8ff 753
bogdanm 0:9b334a45a8ff 754 return HAL_OK;
bogdanm 0:9b334a45a8ff 755 }
bogdanm 0:9b334a45a8ff 756
bogdanm 0:9b334a45a8ff 757 /**
bogdanm 0:9b334a45a8ff 758 * @brief Receive a correct CAN frame.
bogdanm 0:9b334a45a8ff 759 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 760 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 761 * @param FIFONumber: FIFO number.
bogdanm 0:9b334a45a8ff 762 * @param Timeout: Timeout duration.
bogdanm 0:9b334a45a8ff 763 * @retval HAL status
bogdanm 0:9b334a45a8ff 764 */
bogdanm 0:9b334a45a8ff 765 HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
bogdanm 0:9b334a45a8ff 766 {
bogdanm 0:9b334a45a8ff 767 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 768
bogdanm 0:9b334a45a8ff 769 /* Check the parameters */
bogdanm 0:9b334a45a8ff 770 assert_param(IS_CAN_FIFO(FIFONumber));
bogdanm 0:9b334a45a8ff 771
bogdanm 0:9b334a45a8ff 772 /* Process locked */
bogdanm 0:9b334a45a8ff 773 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 774
bogdanm 0:9b334a45a8ff 775 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
bogdanm 0:9b334a45a8ff 776 {
bogdanm 0:9b334a45a8ff 777 /* Change CAN state */
bogdanm 0:9b334a45a8ff 778 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 779 }
bogdanm 0:9b334a45a8ff 780 else
bogdanm 0:9b334a45a8ff 781 {
bogdanm 0:9b334a45a8ff 782 /* Change CAN state */
bogdanm 0:9b334a45a8ff 783 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 784 }
bogdanm 0:9b334a45a8ff 785
bogdanm 0:9b334a45a8ff 786 /* Get tick */
bogdanm 0:9b334a45a8ff 787 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 788
bogdanm 0:9b334a45a8ff 789 /* Check pending message */
bogdanm 0:9b334a45a8ff 790 while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0)
bogdanm 0:9b334a45a8ff 791 {
bogdanm 0:9b334a45a8ff 792 /* Check for the Timeout */
bogdanm 0:9b334a45a8ff 793 if(Timeout != HAL_MAX_DELAY)
bogdanm 0:9b334a45a8ff 794 {
bogdanm 0:9b334a45a8ff 795 if((Timeout == 0) || ((HAL_GetTick()-tickstart) > Timeout))
bogdanm 0:9b334a45a8ff 796 {
bogdanm 0:9b334a45a8ff 797 hcan->State = HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 798 /* Process unlocked */
bogdanm 0:9b334a45a8ff 799 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 800 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 801 }
bogdanm 0:9b334a45a8ff 802 }
bogdanm 0:9b334a45a8ff 803 }
bogdanm 0:9b334a45a8ff 804
bogdanm 0:9b334a45a8ff 805 /* Get the Id */
bogdanm 0:9b334a45a8ff 806 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 807 if (hcan->pRxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 808 {
bogdanm 0:9b334a45a8ff 809 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
bogdanm 0:9b334a45a8ff 810 }
bogdanm 0:9b334a45a8ff 811 else
bogdanm 0:9b334a45a8ff 812 {
bogdanm 0:9b334a45a8ff 813 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
bogdanm 0:9b334a45a8ff 814 }
bogdanm 0:9b334a45a8ff 815
bogdanm 0:9b334a45a8ff 816 hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 817 /* Get the DLC */
bogdanm 0:9b334a45a8ff 818 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
bogdanm 0:9b334a45a8ff 819 /* Get the FMI */
bogdanm 0:9b334a45a8ff 820 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
bogdanm 0:9b334a45a8ff 821 /* Get the data field */
bogdanm 0:9b334a45a8ff 822 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
bogdanm 0:9b334a45a8ff 823 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
bogdanm 0:9b334a45a8ff 824 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
bogdanm 0:9b334a45a8ff 825 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
bogdanm 0:9b334a45a8ff 826 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
bogdanm 0:9b334a45a8ff 827 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
bogdanm 0:9b334a45a8ff 828 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
bogdanm 0:9b334a45a8ff 829 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
bogdanm 0:9b334a45a8ff 830
bogdanm 0:9b334a45a8ff 831 /* Release the FIFO */
bogdanm 0:9b334a45a8ff 832 if(FIFONumber == CAN_FIFO0)
bogdanm 0:9b334a45a8ff 833 {
bogdanm 0:9b334a45a8ff 834 /* Release FIFO0 */
bogdanm 0:9b334a45a8ff 835 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
bogdanm 0:9b334a45a8ff 836 }
bogdanm 0:9b334a45a8ff 837 else /* FIFONumber == CAN_FIFO1 */
bogdanm 0:9b334a45a8ff 838 {
bogdanm 0:9b334a45a8ff 839 /* Release FIFO1 */
bogdanm 0:9b334a45a8ff 840 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
bogdanm 0:9b334a45a8ff 841 }
bogdanm 0:9b334a45a8ff 842
bogdanm 0:9b334a45a8ff 843 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 844 {
bogdanm 0:9b334a45a8ff 845 /* Change CAN state */
bogdanm 0:9b334a45a8ff 846 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 847 }
bogdanm 0:9b334a45a8ff 848 else
bogdanm 0:9b334a45a8ff 849 {
bogdanm 0:9b334a45a8ff 850 /* Change CAN state */
bogdanm 0:9b334a45a8ff 851 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 852 }
bogdanm 0:9b334a45a8ff 853
bogdanm 0:9b334a45a8ff 854 /* Process unlocked */
bogdanm 0:9b334a45a8ff 855 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 856
bogdanm 0:9b334a45a8ff 857 /* Return function status */
bogdanm 0:9b334a45a8ff 858 return HAL_OK;
bogdanm 0:9b334a45a8ff 859 }
bogdanm 0:9b334a45a8ff 860
bogdanm 0:9b334a45a8ff 861 /**
bogdanm 0:9b334a45a8ff 862 * @brief Receive a correct CAN frame in Interrupt mode.
bogdanm 0:9b334a45a8ff 863 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 864 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 865 * @param FIFONumber: FIFO number.
bogdanm 0:9b334a45a8ff 866 * @retval HAL status
bogdanm 0:9b334a45a8ff 867 */
bogdanm 0:9b334a45a8ff 868 HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
bogdanm 0:9b334a45a8ff 869 {
bogdanm 0:9b334a45a8ff 870 /* Check the parameters */
bogdanm 0:9b334a45a8ff 871 assert_param(IS_CAN_FIFO(FIFONumber));
bogdanm 0:9b334a45a8ff 872
bogdanm 0:9b334a45a8ff 873 if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_TX))
bogdanm 0:9b334a45a8ff 874 {
bogdanm 0:9b334a45a8ff 875 /* Process locked */
bogdanm 0:9b334a45a8ff 876 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 877
bogdanm 0:9b334a45a8ff 878 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
bogdanm 0:9b334a45a8ff 879 {
bogdanm 0:9b334a45a8ff 880 /* Change CAN state */
bogdanm 0:9b334a45a8ff 881 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 882 }
bogdanm 0:9b334a45a8ff 883 else
bogdanm 0:9b334a45a8ff 884 {
bogdanm 0:9b334a45a8ff 885 /* Change CAN state */
bogdanm 0:9b334a45a8ff 886 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 887 }
bogdanm 0:9b334a45a8ff 888
bogdanm 0:9b334a45a8ff 889 /* Set CAN error code to none */
bogdanm 0:9b334a45a8ff 890 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
bogdanm 0:9b334a45a8ff 891
bogdanm 0:9b334a45a8ff 892 /* Enable interrupts: */
bogdanm 0:9b334a45a8ff 893 /* - Enable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 894 /* - Enable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 895 /* - Enable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 896 /* - Enable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 897 /* - Enable Error Interrupt */
bogdanm 0:9b334a45a8ff 898 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG |
bogdanm 0:9b334a45a8ff 899 CAN_IT_EPV |
bogdanm 0:9b334a45a8ff 900 CAN_IT_BOF |
bogdanm 0:9b334a45a8ff 901 CAN_IT_LEC |
bogdanm 0:9b334a45a8ff 902 CAN_IT_ERR );
bogdanm 0:9b334a45a8ff 903
bogdanm 0:9b334a45a8ff 904 /* Process unlocked */
bogdanm 0:9b334a45a8ff 905 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 906
bogdanm 0:9b334a45a8ff 907 if(FIFONumber == CAN_FIFO0)
bogdanm 0:9b334a45a8ff 908 {
bogdanm 0:9b334a45a8ff 909 /* Enable FIFO 0 message pending Interrupt */
bogdanm 0:9b334a45a8ff 910 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);
bogdanm 0:9b334a45a8ff 911 }
bogdanm 0:9b334a45a8ff 912 else
bogdanm 0:9b334a45a8ff 913 {
bogdanm 0:9b334a45a8ff 914 /* Enable FIFO 1 message pending Interrupt */
bogdanm 0:9b334a45a8ff 915 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);
bogdanm 0:9b334a45a8ff 916 }
bogdanm 0:9b334a45a8ff 917
bogdanm 0:9b334a45a8ff 918 }
bogdanm 0:9b334a45a8ff 919 else
bogdanm 0:9b334a45a8ff 920 {
bogdanm 0:9b334a45a8ff 921 return HAL_BUSY;
bogdanm 0:9b334a45a8ff 922 }
bogdanm 0:9b334a45a8ff 923
bogdanm 0:9b334a45a8ff 924 /* Return function status */
bogdanm 0:9b334a45a8ff 925 return HAL_OK;
bogdanm 0:9b334a45a8ff 926 }
bogdanm 0:9b334a45a8ff 927
bogdanm 0:9b334a45a8ff 928 /**
bogdanm 0:9b334a45a8ff 929 * @brief Enter the Sleep (low power) mode.
bogdanm 0:9b334a45a8ff 930 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 931 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 932 * @retval HAL status.
bogdanm 0:9b334a45a8ff 933 */
bogdanm 0:9b334a45a8ff 934 HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 935 {
bogdanm 0:9b334a45a8ff 936 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 937
bogdanm 0:9b334a45a8ff 938 /* Process locked */
bogdanm 0:9b334a45a8ff 939 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 940
bogdanm 0:9b334a45a8ff 941 /* Change CAN state */
bogdanm 0:9b334a45a8ff 942 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 943
bogdanm 0:9b334a45a8ff 944 /* Request Sleep mode */
bogdanm 0:9b334a45a8ff 945 hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP);
bogdanm 0:9b334a45a8ff 946
bogdanm 0:9b334a45a8ff 947 /* Sleep mode status */
bogdanm 0:9b334a45a8ff 948 if ((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
bogdanm 0:9b334a45a8ff 949 {
bogdanm 0:9b334a45a8ff 950 /* Process unlocked */
bogdanm 0:9b334a45a8ff 951 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 952
bogdanm 0:9b334a45a8ff 953 /* Return function status */
bogdanm 0:9b334a45a8ff 954 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 955 }
bogdanm 0:9b334a45a8ff 956
bogdanm 0:9b334a45a8ff 957 /* Get tick */
bogdanm 0:9b334a45a8ff 958 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 959
bogdanm 0:9b334a45a8ff 960 /* Wait the acknowledge */
bogdanm 0:9b334a45a8ff 961 while((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK)
bogdanm 0:9b334a45a8ff 962 {
bogdanm 0:9b334a45a8ff 963 if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
bogdanm 0:9b334a45a8ff 964 {
bogdanm 0:9b334a45a8ff 965 hcan->State = HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 966 /* Process unlocked */
bogdanm 0:9b334a45a8ff 967 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 968 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 969 }
bogdanm 0:9b334a45a8ff 970 }
bogdanm 0:9b334a45a8ff 971
bogdanm 0:9b334a45a8ff 972 /* Change CAN state */
bogdanm 0:9b334a45a8ff 973 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 974
bogdanm 0:9b334a45a8ff 975 /* Process unlocked */
bogdanm 0:9b334a45a8ff 976 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 977
bogdanm 0:9b334a45a8ff 978 /* Return function status */
bogdanm 0:9b334a45a8ff 979 return HAL_OK;
bogdanm 0:9b334a45a8ff 980 }
bogdanm 0:9b334a45a8ff 981
bogdanm 0:9b334a45a8ff 982 /**
bogdanm 0:9b334a45a8ff 983 * @brief Wake up the CAN peripheral from sleep mode (after that the CAN peripheral
bogdanm 0:9b334a45a8ff 984 * is in the normal mode).
bogdanm 0:9b334a45a8ff 985 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 986 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 987 * @retval HAL status.
bogdanm 0:9b334a45a8ff 988 */
bogdanm 0:9b334a45a8ff 989 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 990 {
bogdanm 0:9b334a45a8ff 991 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 992
bogdanm 0:9b334a45a8ff 993 /* Process locked */
bogdanm 0:9b334a45a8ff 994 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 995
bogdanm 0:9b334a45a8ff 996 /* Change CAN state */
bogdanm 0:9b334a45a8ff 997 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 998
bogdanm 0:9b334a45a8ff 999 /* Wake up request */
bogdanm 0:9b334a45a8ff 1000 hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP;
bogdanm 0:9b334a45a8ff 1001
bogdanm 0:9b334a45a8ff 1002 /* Get tick */
bogdanm 0:9b334a45a8ff 1003 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 1004
bogdanm 0:9b334a45a8ff 1005 /* Sleep mode status */
bogdanm 0:9b334a45a8ff 1006 while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
bogdanm 0:9b334a45a8ff 1007 {
bogdanm 0:9b334a45a8ff 1008 if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
bogdanm 0:9b334a45a8ff 1009 {
bogdanm 0:9b334a45a8ff 1010 hcan->State= HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 1011 /* Process unlocked */
bogdanm 0:9b334a45a8ff 1012 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 1013 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 1014 }
bogdanm 0:9b334a45a8ff 1015 }
bogdanm 0:9b334a45a8ff 1016 if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
bogdanm 0:9b334a45a8ff 1017 {
bogdanm 0:9b334a45a8ff 1018 /* Process unlocked */
bogdanm 0:9b334a45a8ff 1019 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 1020
bogdanm 0:9b334a45a8ff 1021 /* Return function status */
bogdanm 0:9b334a45a8ff 1022 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 1023 }
bogdanm 0:9b334a45a8ff 1024
bogdanm 0:9b334a45a8ff 1025 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1026 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1027
bogdanm 0:9b334a45a8ff 1028 /* Process unlocked */
bogdanm 0:9b334a45a8ff 1029 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 1030
bogdanm 0:9b334a45a8ff 1031 /* Return function status */
bogdanm 0:9b334a45a8ff 1032 return HAL_OK;
bogdanm 0:9b334a45a8ff 1033 }
bogdanm 0:9b334a45a8ff 1034
bogdanm 0:9b334a45a8ff 1035 /**
bogdanm 0:9b334a45a8ff 1036 * @brief Handle CAN interrupt request.
bogdanm 0:9b334a45a8ff 1037 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1038 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1039 * @retval None
bogdanm 0:9b334a45a8ff 1040 */
bogdanm 0:9b334a45a8ff 1041 void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1042 {
bogdanm 0:9b334a45a8ff 1043 /* Check End of transmission flag */
bogdanm 0:9b334a45a8ff 1044 if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
bogdanm 0:9b334a45a8ff 1045 {
bogdanm 0:9b334a45a8ff 1046 if((__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0)) ||
bogdanm 0:9b334a45a8ff 1047 (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1)) ||
bogdanm 0:9b334a45a8ff 1048 (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2)))
bogdanm 0:9b334a45a8ff 1049 {
bogdanm 0:9b334a45a8ff 1050 /* Call transmit function */
bogdanm 0:9b334a45a8ff 1051 CAN_Transmit_IT(hcan);
bogdanm 0:9b334a45a8ff 1052 }
bogdanm 0:9b334a45a8ff 1053 }
bogdanm 0:9b334a45a8ff 1054
bogdanm 0:9b334a45a8ff 1055 /* Check End of reception flag for FIFO0 */
bogdanm 0:9b334a45a8ff 1056 if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0)) &&
bogdanm 0:9b334a45a8ff 1057 (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0) != 0))
bogdanm 0:9b334a45a8ff 1058 {
bogdanm 0:9b334a45a8ff 1059 /* Call receive function */
bogdanm 0:9b334a45a8ff 1060 CAN_Receive_IT(hcan, CAN_FIFO0);
bogdanm 0:9b334a45a8ff 1061 }
bogdanm 0:9b334a45a8ff 1062
bogdanm 0:9b334a45a8ff 1063 /* Check End of reception flag for FIFO1 */
bogdanm 0:9b334a45a8ff 1064 if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1)) &&
bogdanm 0:9b334a45a8ff 1065 (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1) != 0))
bogdanm 0:9b334a45a8ff 1066 {
bogdanm 0:9b334a45a8ff 1067 /* Call receive function */
bogdanm 0:9b334a45a8ff 1068 CAN_Receive_IT(hcan, CAN_FIFO1);
bogdanm 0:9b334a45a8ff 1069 }
bogdanm 0:9b334a45a8ff 1070
bogdanm 0:9b334a45a8ff 1071 /* Check Error Warning Flag */
bogdanm 0:9b334a45a8ff 1072 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG)) &&
bogdanm 0:9b334a45a8ff 1073 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG)) &&
bogdanm 0:9b334a45a8ff 1074 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1075 {
bogdanm 0:9b334a45a8ff 1076 /* Set CAN error code to EWG error */
bogdanm 0:9b334a45a8ff 1077 hcan->ErrorCode |= HAL_CAN_ERROR_EWG;
bogdanm 0:9b334a45a8ff 1078 /* No need for clear of Error Warning Flag as read-only */
bogdanm 0:9b334a45a8ff 1079 }
bogdanm 0:9b334a45a8ff 1080
bogdanm 0:9b334a45a8ff 1081 /* Check Error Passive Flag */
bogdanm 0:9b334a45a8ff 1082 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV)) &&
bogdanm 0:9b334a45a8ff 1083 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV)) &&
bogdanm 0:9b334a45a8ff 1084 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1085 {
bogdanm 0:9b334a45a8ff 1086 /* Set CAN error code to EPV error */
bogdanm 0:9b334a45a8ff 1087 hcan->ErrorCode |= HAL_CAN_ERROR_EPV;
bogdanm 0:9b334a45a8ff 1088 /* No need for clear of Error Passive Flag as read-only */
bogdanm 0:9b334a45a8ff 1089 }
bogdanm 0:9b334a45a8ff 1090
bogdanm 0:9b334a45a8ff 1091 /* Check Bus-Off Flag */
bogdanm 0:9b334a45a8ff 1092 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF)) &&
bogdanm 0:9b334a45a8ff 1093 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF)) &&
bogdanm 0:9b334a45a8ff 1094 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1095 {
bogdanm 0:9b334a45a8ff 1096 /* Set CAN error code to BOF error */
bogdanm 0:9b334a45a8ff 1097 hcan->ErrorCode |= HAL_CAN_ERROR_BOF;
bogdanm 0:9b334a45a8ff 1098 /* No need for clear of Bus-Off Flag as read-only */
bogdanm 0:9b334a45a8ff 1099 }
bogdanm 0:9b334a45a8ff 1100
bogdanm 0:9b334a45a8ff 1101 /* Check Last error code Flag */
bogdanm 0:9b334a45a8ff 1102 if((!HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC)) &&
bogdanm 0:9b334a45a8ff 1103 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC)) &&
bogdanm 0:9b334a45a8ff 1104 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1105 {
bogdanm 0:9b334a45a8ff 1106 switch(hcan->Instance->ESR & CAN_ESR_LEC)
bogdanm 0:9b334a45a8ff 1107 {
bogdanm 0:9b334a45a8ff 1108 case(CAN_ESR_LEC_0):
bogdanm 0:9b334a45a8ff 1109 /* Set CAN error code to STF error */
bogdanm 0:9b334a45a8ff 1110 hcan->ErrorCode |= HAL_CAN_ERROR_STF;
bogdanm 0:9b334a45a8ff 1111 break;
bogdanm 0:9b334a45a8ff 1112 case(CAN_ESR_LEC_1):
bogdanm 0:9b334a45a8ff 1113 /* Set CAN error code to FOR error */
bogdanm 0:9b334a45a8ff 1114 hcan->ErrorCode |= HAL_CAN_ERROR_FOR;
bogdanm 0:9b334a45a8ff 1115 break;
bogdanm 0:9b334a45a8ff 1116 case(CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
bogdanm 0:9b334a45a8ff 1117 /* Set CAN error code to ACK error */
bogdanm 0:9b334a45a8ff 1118 hcan->ErrorCode |= HAL_CAN_ERROR_ACK;
bogdanm 0:9b334a45a8ff 1119 break;
bogdanm 0:9b334a45a8ff 1120 case(CAN_ESR_LEC_2):
bogdanm 0:9b334a45a8ff 1121 /* Set CAN error code to BR error */
bogdanm 0:9b334a45a8ff 1122 hcan->ErrorCode |= HAL_CAN_ERROR_BR;
bogdanm 0:9b334a45a8ff 1123 break;
bogdanm 0:9b334a45a8ff 1124 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
bogdanm 0:9b334a45a8ff 1125 /* Set CAN error code to BD error */
bogdanm 0:9b334a45a8ff 1126 hcan->ErrorCode |= HAL_CAN_ERROR_BD;
bogdanm 0:9b334a45a8ff 1127 break;
bogdanm 0:9b334a45a8ff 1128 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
bogdanm 0:9b334a45a8ff 1129 /* Set CAN error code to CRC error */
bogdanm 0:9b334a45a8ff 1130 hcan->ErrorCode |= HAL_CAN_ERROR_CRC;
bogdanm 0:9b334a45a8ff 1131 break;
bogdanm 0:9b334a45a8ff 1132 default:
bogdanm 0:9b334a45a8ff 1133 break;
bogdanm 0:9b334a45a8ff 1134 }
bogdanm 0:9b334a45a8ff 1135
bogdanm 0:9b334a45a8ff 1136 /* Clear Last error code Flag */
bogdanm 0:9b334a45a8ff 1137 hcan->Instance->ESR &= ~(CAN_ESR_LEC);
bogdanm 0:9b334a45a8ff 1138 }
bogdanm 0:9b334a45a8ff 1139
bogdanm 0:9b334a45a8ff 1140 /* Call the Error call Back in case of Errors */
bogdanm 0:9b334a45a8ff 1141 if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
bogdanm 0:9b334a45a8ff 1142 {
bogdanm 0:9b334a45a8ff 1143 /* Set the CAN state ready to be able to start again the process */
bogdanm 0:9b334a45a8ff 1144 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1145 /* Call Error callback function */
bogdanm 0:9b334a45a8ff 1146 HAL_CAN_ErrorCallback(hcan);
bogdanm 0:9b334a45a8ff 1147 }
bogdanm 0:9b334a45a8ff 1148 }
bogdanm 0:9b334a45a8ff 1149
bogdanm 0:9b334a45a8ff 1150 /**
bogdanm 0:9b334a45a8ff 1151 * @brief Transmission complete callback in non-blocking mode.
bogdanm 0:9b334a45a8ff 1152 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1153 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1154 * @retval None
bogdanm 0:9b334a45a8ff 1155 */
bogdanm 0:9b334a45a8ff 1156 __weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1157 {
bogdanm 0:9b334a45a8ff 1158 /* NOTE : This function should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 1159 the HAL_CAN_TxCpltCallback could be implemented in the user file
bogdanm 0:9b334a45a8ff 1160 */
bogdanm 0:9b334a45a8ff 1161 }
bogdanm 0:9b334a45a8ff 1162
bogdanm 0:9b334a45a8ff 1163 /**
bogdanm 0:9b334a45a8ff 1164 * @brief Reception 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_RxCpltCallback(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_RxCpltCallback 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 Error CAN callback.
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_ErrorCallback(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_ErrorCallback 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 * @}
bogdanm 0:9b334a45a8ff 1191 */
bogdanm 0:9b334a45a8ff 1192
bogdanm 0:9b334a45a8ff 1193 /** @defgroup CAN_Exported_Functions_Group3 Peripheral State and Error functions
bogdanm 0:9b334a45a8ff 1194 * @brief CAN Peripheral State functions
bogdanm 0:9b334a45a8ff 1195 *
bogdanm 0:9b334a45a8ff 1196 @verbatim
bogdanm 0:9b334a45a8ff 1197 ==============================================================================
bogdanm 0:9b334a45a8ff 1198 ##### Peripheral State and Error functions #####
bogdanm 0:9b334a45a8ff 1199 ==============================================================================
bogdanm 0:9b334a45a8ff 1200 [..]
bogdanm 0:9b334a45a8ff 1201 This subsection provides functions allowing to :
bogdanm 0:9b334a45a8ff 1202 (+) Check the CAN state.
bogdanm 0:9b334a45a8ff 1203 (+) Check CAN Errors detected during interrupt process.
bogdanm 0:9b334a45a8ff 1204
bogdanm 0:9b334a45a8ff 1205 @endverbatim
bogdanm 0:9b334a45a8ff 1206 * @{
bogdanm 0:9b334a45a8ff 1207 */
bogdanm 0:9b334a45a8ff 1208
bogdanm 0:9b334a45a8ff 1209 /**
bogdanm 0:9b334a45a8ff 1210 * @brief Return the CAN handle state.
bogdanm 0:9b334a45a8ff 1211 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1212 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1213 * @retval HAL state
bogdanm 0:9b334a45a8ff 1214 */
bogdanm 0:9b334a45a8ff 1215 HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1216 {
bogdanm 0:9b334a45a8ff 1217 /* Return CAN handle state */
bogdanm 0:9b334a45a8ff 1218 return hcan->State;
bogdanm 0:9b334a45a8ff 1219 }
bogdanm 0:9b334a45a8ff 1220
bogdanm 0:9b334a45a8ff 1221 /**
bogdanm 0:9b334a45a8ff 1222 * @brief Return the CAN error code.
bogdanm 0:9b334a45a8ff 1223 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1224 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1225 * @retval CAN Error Code
bogdanm 0:9b334a45a8ff 1226 */
bogdanm 0:9b334a45a8ff 1227 uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
bogdanm 0:9b334a45a8ff 1228 {
bogdanm 0:9b334a45a8ff 1229 return hcan->ErrorCode;
bogdanm 0:9b334a45a8ff 1230 }
bogdanm 0:9b334a45a8ff 1231
bogdanm 0:9b334a45a8ff 1232 /**
bogdanm 0:9b334a45a8ff 1233 * @}
bogdanm 0:9b334a45a8ff 1234 */
bogdanm 0:9b334a45a8ff 1235
bogdanm 0:9b334a45a8ff 1236 /**
bogdanm 0:9b334a45a8ff 1237 * @}
bogdanm 0:9b334a45a8ff 1238 */
bogdanm 0:9b334a45a8ff 1239
bogdanm 0:9b334a45a8ff 1240 /** @defgroup CAN_Private_Functions CAN Private Functions
bogdanm 0:9b334a45a8ff 1241 * @{
bogdanm 0:9b334a45a8ff 1242 */
bogdanm 0:9b334a45a8ff 1243 /**
bogdanm 0:9b334a45a8ff 1244 * @brief Initiate and transmit a CAN frame message.
bogdanm 0:9b334a45a8ff 1245 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1246 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1247 * @retval HAL status
bogdanm 0:9b334a45a8ff 1248 */
bogdanm 0:9b334a45a8ff 1249 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1250 {
bogdanm 0:9b334a45a8ff 1251 /* Disable Transmit mailbox empty Interrupt */
bogdanm 0:9b334a45a8ff 1252 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
bogdanm 0:9b334a45a8ff 1253
bogdanm 0:9b334a45a8ff 1254 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
bogdanm 0:9b334a45a8ff 1255 {
bogdanm 0:9b334a45a8ff 1256 /* Disable interrupts: */
bogdanm 0:9b334a45a8ff 1257 /* - Disable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 1258 /* - Disable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 1259 /* - Disable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 1260 /* - Disable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 1261 /* - Disable Error Interrupt */
bogdanm 0:9b334a45a8ff 1262 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG |
bogdanm 0:9b334a45a8ff 1263 CAN_IT_EPV |
bogdanm 0:9b334a45a8ff 1264 CAN_IT_BOF |
bogdanm 0:9b334a45a8ff 1265 CAN_IT_LEC |
bogdanm 0:9b334a45a8ff 1266 CAN_IT_ERR );
bogdanm 0:9b334a45a8ff 1267 }
bogdanm 0:9b334a45a8ff 1268
bogdanm 0:9b334a45a8ff 1269 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 1270 {
bogdanm 0:9b334a45a8ff 1271 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1272 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 1273 }
bogdanm 0:9b334a45a8ff 1274 else
bogdanm 0:9b334a45a8ff 1275 {
bogdanm 0:9b334a45a8ff 1276 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1277 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1278 }
bogdanm 0:9b334a45a8ff 1279
bogdanm 0:9b334a45a8ff 1280 /* Transmission complete callback */
bogdanm 0:9b334a45a8ff 1281 HAL_CAN_TxCpltCallback(hcan);
bogdanm 0:9b334a45a8ff 1282
bogdanm 0:9b334a45a8ff 1283 return HAL_OK;
bogdanm 0:9b334a45a8ff 1284 }
bogdanm 0:9b334a45a8ff 1285
bogdanm 0:9b334a45a8ff 1286 /**
bogdanm 0:9b334a45a8ff 1287 * @brief Receive a correct CAN frame.
bogdanm 0:9b334a45a8ff 1288 * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1289 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1290 * @param FIFONumber: Specify the FIFO number
bogdanm 0:9b334a45a8ff 1291 * @retval HAL status
bogdanm 0:9b334a45a8ff 1292 */
bogdanm 0:9b334a45a8ff 1293 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
bogdanm 0:9b334a45a8ff 1294 {
bogdanm 0:9b334a45a8ff 1295 /* Get the Id */
bogdanm 0:9b334a45a8ff 1296 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 1297 if (hcan->pRxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 1298 {
bogdanm 0:9b334a45a8ff 1299 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
bogdanm 0:9b334a45a8ff 1300 }
bogdanm 0:9b334a45a8ff 1301 else
bogdanm 0:9b334a45a8ff 1302 {
bogdanm 0:9b334a45a8ff 1303 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
bogdanm 0:9b334a45a8ff 1304 }
bogdanm 0:9b334a45a8ff 1305
bogdanm 0:9b334a45a8ff 1306 hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 1307 /* Get the DLC */
bogdanm 0:9b334a45a8ff 1308 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
bogdanm 0:9b334a45a8ff 1309 /* Get the FMI */
bogdanm 0:9b334a45a8ff 1310 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
bogdanm 0:9b334a45a8ff 1311 /* Get the data field */
bogdanm 0:9b334a45a8ff 1312 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
bogdanm 0:9b334a45a8ff 1313 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
bogdanm 0:9b334a45a8ff 1314 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
bogdanm 0:9b334a45a8ff 1315 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
bogdanm 0:9b334a45a8ff 1316 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
bogdanm 0:9b334a45a8ff 1317 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
bogdanm 0:9b334a45a8ff 1318 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
bogdanm 0:9b334a45a8ff 1319 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
bogdanm 0:9b334a45a8ff 1320 /* Release the FIFO */
bogdanm 0:9b334a45a8ff 1321 /* Release FIFO0 */
bogdanm 0:9b334a45a8ff 1322 if (FIFONumber == CAN_FIFO0)
bogdanm 0:9b334a45a8ff 1323 {
bogdanm 0:9b334a45a8ff 1324 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
bogdanm 0:9b334a45a8ff 1325
bogdanm 0:9b334a45a8ff 1326 /* Disable FIFO 0 message pending Interrupt */
bogdanm 0:9b334a45a8ff 1327 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
bogdanm 0:9b334a45a8ff 1328 }
bogdanm 0:9b334a45a8ff 1329 /* Release FIFO1 */
bogdanm 0:9b334a45a8ff 1330 else /* FIFONumber == CAN_FIFO1 */
bogdanm 0:9b334a45a8ff 1331 {
bogdanm 0:9b334a45a8ff 1332 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
bogdanm 0:9b334a45a8ff 1333
bogdanm 0:9b334a45a8ff 1334 /* Disable FIFO 1 message pending Interrupt */
bogdanm 0:9b334a45a8ff 1335 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
bogdanm 0:9b334a45a8ff 1336 }
bogdanm 0:9b334a45a8ff 1337
bogdanm 0:9b334a45a8ff 1338 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
bogdanm 0:9b334a45a8ff 1339 {
bogdanm 0:9b334a45a8ff 1340 /* Disable interrupts: */
bogdanm 0:9b334a45a8ff 1341 /* - Disable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 1342 /* - Disable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 1343 /* - Disable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 1344 /* - Disable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 1345 /* - Disable Error Interrupt */
bogdanm 0:9b334a45a8ff 1346 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG |
bogdanm 0:9b334a45a8ff 1347 CAN_IT_EPV |
bogdanm 0:9b334a45a8ff 1348 CAN_IT_BOF |
bogdanm 0:9b334a45a8ff 1349 CAN_IT_LEC |
bogdanm 0:9b334a45a8ff 1350 CAN_IT_ERR );
bogdanm 0:9b334a45a8ff 1351 }
bogdanm 0:9b334a45a8ff 1352
bogdanm 0:9b334a45a8ff 1353 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 1354 {
bogdanm 0:9b334a45a8ff 1355 /* Disable CAN state */
bogdanm 0:9b334a45a8ff 1356 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 1357 }
bogdanm 0:9b334a45a8ff 1358 else
bogdanm 0:9b334a45a8ff 1359 {
bogdanm 0:9b334a45a8ff 1360 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1361 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1362 }
bogdanm 0:9b334a45a8ff 1363
bogdanm 0:9b334a45a8ff 1364 /* Receive complete callback */
bogdanm 0:9b334a45a8ff 1365 HAL_CAN_RxCpltCallback(hcan);
bogdanm 0:9b334a45a8ff 1366
bogdanm 0:9b334a45a8ff 1367 /* Return function status */
bogdanm 0:9b334a45a8ff 1368 return HAL_OK;
bogdanm 0:9b334a45a8ff 1369 }
bogdanm 0:9b334a45a8ff 1370 /**
bogdanm 0:9b334a45a8ff 1371 * @}
bogdanm 0:9b334a45a8ff 1372 */
bogdanm 0:9b334a45a8ff 1373
bogdanm 0:9b334a45a8ff 1374 #endif /* HAL_CAN_MODULE_ENABLED */
bogdanm 0:9b334a45a8ff 1375 /**
bogdanm 0:9b334a45a8ff 1376 * @}
bogdanm 0:9b334a45a8ff 1377 */
bogdanm 0:9b334a45a8ff 1378
bogdanm 0:9b334a45a8ff 1379 /**
bogdanm 0:9b334a45a8ff 1380 * @}
bogdanm 0:9b334a45a8ff 1381 */
bogdanm 0:9b334a45a8ff 1382
bogdanm 0:9b334a45a8ff 1383 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/