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fix LPC812 PWM

Dependents:   IR_LED_Send

Fork of mbed-dev by mbed official

targets/cmsis/TARGET_STM/TARGET_STM32F1/stm32f1xx_hal_can.c@0:9b334a45a8ff, 2015-10-01 (annotated)

Committer:
bogdanm
Date:
Thu Oct 01 15:25:22 2015 +0300
Revision:
0:9b334a45a8ff
Child:
124:6a4a5b7d7324
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 stm32f1xx_hal_can.c
bogdanm 0:9b334a45a8ff 4 * @author MCD Application Team
bogdanm 0:9b334a45a8ff 5 * @version V1.0.0
bogdanm 0:9b334a45a8ff 6 * @date 15-December-2014
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 and __HAL_RCC_CAN2_CLK_ENABLE() for CAN2
bogdanm 0:9b334a45a8ff 22 -@- In case you are using CAN2 only, you have to enable the CAN1 clock.
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 __HAL_RCC_GPIOx_CLK_ENABLE();
bogdanm 0:9b334a45a8ff 27 (++) Connect and configure the involved CAN pins 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 "stm32f1xx_hal.h"
bogdanm 0:9b334a45a8ff 105
bogdanm 0:9b334a45a8ff 106 #ifdef HAL_CAN_MODULE_ENABLED
bogdanm 0:9b334a45a8ff 107
bogdanm 0:9b334a45a8ff 108 #if defined(STM32F103x6) || defined(STM32F103xB) || defined(STM32F103xE) || \
bogdanm 0:9b334a45a8ff 109 defined(STM32F103xG) || defined(STM32F105xC) || defined(STM32F107xC)
bogdanm 0:9b334a45a8ff 110
bogdanm 0:9b334a45a8ff 111 /** @addtogroup STM32F1xx_HAL_Driver
bogdanm 0:9b334a45a8ff 112 * @{
bogdanm 0:9b334a45a8ff 113 */
bogdanm 0:9b334a45a8ff 114
bogdanm 0:9b334a45a8ff 115 /** @defgroup CAN CAN
bogdanm 0:9b334a45a8ff 116 * @brief CAN driver modules
bogdanm 0:9b334a45a8ff 117 * @{
bogdanm 0:9b334a45a8ff 118 */
bogdanm 0:9b334a45a8ff 119
bogdanm 0:9b334a45a8ff 120 /* Private typedef -----------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 121 /* Private define ------------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 122 /** @defgroup CAN_Private_Constants CAN Private Constants
bogdanm 0:9b334a45a8ff 123 * @{
bogdanm 0:9b334a45a8ff 124 */
bogdanm 0:9b334a45a8ff 125 #define CAN_TIMEOUT_VALUE 10
bogdanm 0:9b334a45a8ff 126
bogdanm 0:9b334a45a8ff 127 #define CAN_TI0R_STID_BIT_POSITION ((uint32_t)21) /* Position of LSB bits STID in register CAN_TI0R */
bogdanm 0:9b334a45a8ff 128 #define CAN_TI0R_EXID_BIT_POSITION ((uint32_t) 3) /* Position of LSB bits EXID in register CAN_TI0R */
bogdanm 0:9b334a45a8ff 129 #define CAN_TDL0R_DATA0_BIT_POSITION ((uint32_t) 0) /* Position of LSB bits DATA0 in register CAN_TDL0R */
bogdanm 0:9b334a45a8ff 130 #define CAN_TDL0R_DATA1_BIT_POSITION ((uint32_t) 8) /* Position of LSB bits DATA1 in register CAN_TDL0R */
bogdanm 0:9b334a45a8ff 131 #define CAN_TDL0R_DATA2_BIT_POSITION ((uint32_t)16) /* Position of LSB bits DATA2 in register CAN_TDL0R */
bogdanm 0:9b334a45a8ff 132 #define CAN_TDL0R_DATA3_BIT_POSITION ((uint32_t)24) /* Position of LSB bits DATA3 in register CAN_TDL0R */
bogdanm 0:9b334a45a8ff 133
bogdanm 0:9b334a45a8ff 134 /**
bogdanm 0:9b334a45a8ff 135 * @}
bogdanm 0:9b334a45a8ff 136 */
bogdanm 0:9b334a45a8ff 137
bogdanm 0:9b334a45a8ff 138 /* Private macro -------------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 139 /* Private variables ---------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 140 /* Private function prototypes -----------------------------------------------*/
bogdanm 0:9b334a45a8ff 141 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber);
bogdanm 0:9b334a45a8ff 142 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan);
bogdanm 0:9b334a45a8ff 143 /* Exported functions ---------------------------------------------------------*/
bogdanm 0:9b334a45a8ff 144
bogdanm 0:9b334a45a8ff 145 /** @defgroup CAN_Exported_Functions CAN Exported Functions
bogdanm 0:9b334a45a8ff 146 * @{
bogdanm 0:9b334a45a8ff 147 */
bogdanm 0:9b334a45a8ff 148
bogdanm 0:9b334a45a8ff 149 /** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions
bogdanm 0:9b334a45a8ff 150 * @brief Initialization and Configuration functions
bogdanm 0:9b334a45a8ff 151 *
bogdanm 0:9b334a45a8ff 152 @verbatim
bogdanm 0:9b334a45a8ff 153 ==============================================================================
bogdanm 0:9b334a45a8ff 154 ##### Initialization and de-initialization functions #####
bogdanm 0:9b334a45a8ff 155 ==============================================================================
bogdanm 0:9b334a45a8ff 156 [..] This section provides functions allowing to:
bogdanm 0:9b334a45a8ff 157 (+) Initialize and configure the CAN.
bogdanm 0:9b334a45a8ff 158 (+) De-initialize the CAN.
bogdanm 0:9b334a45a8ff 159
bogdanm 0:9b334a45a8ff 160 @endverbatim
bogdanm 0:9b334a45a8ff 161 * @{
bogdanm 0:9b334a45a8ff 162 */
bogdanm 0:9b334a45a8ff 163
bogdanm 0:9b334a45a8ff 164 /**
bogdanm 0:9b334a45a8ff 165 * @brief Initializes the CAN peripheral according to the specified
bogdanm 0:9b334a45a8ff 166 * parameters in the CAN_InitStruct.
bogdanm 0:9b334a45a8ff 167 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 168 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 169 * @retval HAL status
bogdanm 0:9b334a45a8ff 170 */
bogdanm 0:9b334a45a8ff 171 HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 172 {
bogdanm 0:9b334a45a8ff 173 uint32_t status = CAN_INITSTATUS_FAILED; /* Default init status */
bogdanm 0:9b334a45a8ff 174 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 175 uint32_t tmp_mcr = 0;
bogdanm 0:9b334a45a8ff 176
bogdanm 0:9b334a45a8ff 177 /* Check CAN handle */
bogdanm 0:9b334a45a8ff 178 if(hcan == NULL)
bogdanm 0:9b334a45a8ff 179 {
bogdanm 0:9b334a45a8ff 180 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 181 }
bogdanm 0:9b334a45a8ff 182
bogdanm 0:9b334a45a8ff 183 /* Check the parameters */
bogdanm 0:9b334a45a8ff 184 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
bogdanm 0:9b334a45a8ff 185 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
bogdanm 0:9b334a45a8ff 186 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
bogdanm 0:9b334a45a8ff 187 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
bogdanm 0:9b334a45a8ff 188 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
bogdanm 0:9b334a45a8ff 189 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
bogdanm 0:9b334a45a8ff 190 assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
bogdanm 0:9b334a45a8ff 191 assert_param(IS_CAN_MODE(hcan->Init.Mode));
bogdanm 0:9b334a45a8ff 192 assert_param(IS_CAN_SJW(hcan->Init.SJW));
bogdanm 0:9b334a45a8ff 193 assert_param(IS_CAN_BS1(hcan->Init.BS1));
bogdanm 0:9b334a45a8ff 194 assert_param(IS_CAN_BS2(hcan->Init.BS2));
bogdanm 0:9b334a45a8ff 195 assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
bogdanm 0:9b334a45a8ff 196
bogdanm 0:9b334a45a8ff 197 if(hcan->State == HAL_CAN_STATE_RESET)
bogdanm 0:9b334a45a8ff 198 {
bogdanm 0:9b334a45a8ff 199 /* Allocate lock resource and initialize it */
bogdanm 0:9b334a45a8ff 200 hcan-> Lock = HAL_UNLOCKED;
bogdanm 0:9b334a45a8ff 201 /* Init the low level hardware */
bogdanm 0:9b334a45a8ff 202 HAL_CAN_MspInit(hcan);
bogdanm 0:9b334a45a8ff 203 }
bogdanm 0:9b334a45a8ff 204
bogdanm 0:9b334a45a8ff 205 /* Initialize the CAN state*/
bogdanm 0:9b334a45a8ff 206 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 207
bogdanm 0:9b334a45a8ff 208 /* Exit from sleep mode */
bogdanm 0:9b334a45a8ff 209 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
bogdanm 0:9b334a45a8ff 210
bogdanm 0:9b334a45a8ff 211 /* Request initialisation */
bogdanm 0:9b334a45a8ff 212 SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
bogdanm 0:9b334a45a8ff 213
bogdanm 0:9b334a45a8ff 214 /* Get timeout */
bogdanm 0:9b334a45a8ff 215 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 216
bogdanm 0:9b334a45a8ff 217 /* Wait the acknowledge */
bogdanm 0:9b334a45a8ff 218 while(HAL_IS_BIT_CLR(hcan->Instance->MSR, CAN_MSR_INAK))
bogdanm 0:9b334a45a8ff 219 {
bogdanm 0:9b334a45a8ff 220 if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
bogdanm 0:9b334a45a8ff 221 {
bogdanm 0:9b334a45a8ff 222 hcan->State= HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 223
bogdanm 0:9b334a45a8ff 224 /* Process unlocked */
bogdanm 0:9b334a45a8ff 225 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 226
bogdanm 0:9b334a45a8ff 227 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 228 }
bogdanm 0:9b334a45a8ff 229 }
bogdanm 0:9b334a45a8ff 230
bogdanm 0:9b334a45a8ff 231 /* Check acknowledge */
bogdanm 0:9b334a45a8ff 232 if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
bogdanm 0:9b334a45a8ff 233 {
bogdanm 0:9b334a45a8ff 234 /* Set the time triggered communication mode */
bogdanm 0:9b334a45a8ff 235 if (hcan->Init.TTCM == ENABLE)
bogdanm 0:9b334a45a8ff 236 {
bogdanm 0:9b334a45a8ff 237 SET_BIT(tmp_mcr, CAN_MCR_TTCM);
bogdanm 0:9b334a45a8ff 238 }
bogdanm 0:9b334a45a8ff 239
bogdanm 0:9b334a45a8ff 240 /* Set the automatic bus-off management */
bogdanm 0:9b334a45a8ff 241 if (hcan->Init.ABOM == ENABLE)
bogdanm 0:9b334a45a8ff 242 {
bogdanm 0:9b334a45a8ff 243 SET_BIT(tmp_mcr, CAN_MCR_ABOM);
bogdanm 0:9b334a45a8ff 244 }
bogdanm 0:9b334a45a8ff 245
bogdanm 0:9b334a45a8ff 246 /* Set the automatic wake-up mode */
bogdanm 0:9b334a45a8ff 247 if (hcan->Init.AWUM == ENABLE)
bogdanm 0:9b334a45a8ff 248 {
bogdanm 0:9b334a45a8ff 249 SET_BIT(tmp_mcr, CAN_MCR_AWUM);
bogdanm 0:9b334a45a8ff 250 }
bogdanm 0:9b334a45a8ff 251
bogdanm 0:9b334a45a8ff 252 /* Set the no automatic retransmission */
bogdanm 0:9b334a45a8ff 253 if (hcan->Init.NART == ENABLE)
bogdanm 0:9b334a45a8ff 254 {
bogdanm 0:9b334a45a8ff 255 SET_BIT(tmp_mcr, CAN_MCR_NART);
bogdanm 0:9b334a45a8ff 256 }
bogdanm 0:9b334a45a8ff 257
bogdanm 0:9b334a45a8ff 258 /* Set the receive FIFO locked mode */
bogdanm 0:9b334a45a8ff 259 if (hcan->Init.RFLM == ENABLE)
bogdanm 0:9b334a45a8ff 260 {
bogdanm 0:9b334a45a8ff 261 SET_BIT(tmp_mcr, 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 SET_BIT(tmp_mcr, CAN_MCR_TXFP);
bogdanm 0:9b334a45a8ff 268 }
bogdanm 0:9b334a45a8ff 269
bogdanm 0:9b334a45a8ff 270 /* Update register MCR */
bogdanm 0:9b334a45a8ff 271 MODIFY_REG(hcan->Instance->MCR,
bogdanm 0:9b334a45a8ff 272 CAN_MCR_TTCM |
bogdanm 0:9b334a45a8ff 273 CAN_MCR_ABOM |
bogdanm 0:9b334a45a8ff 274 CAN_MCR_AWUM |
bogdanm 0:9b334a45a8ff 275 CAN_MCR_NART |
bogdanm 0:9b334a45a8ff 276 CAN_MCR_RFLM |
bogdanm 0:9b334a45a8ff 277 CAN_MCR_TXFP,
bogdanm 0:9b334a45a8ff 278 tmp_mcr);
bogdanm 0:9b334a45a8ff 279
bogdanm 0:9b334a45a8ff 280 /* Set the bit timing register */
bogdanm 0:9b334a45a8ff 281 WRITE_REG(hcan->Instance->BTR, (uint32_t)(hcan->Init.Mode |
bogdanm 0:9b334a45a8ff 282 hcan->Init.SJW |
bogdanm 0:9b334a45a8ff 283 hcan->Init.BS1 |
bogdanm 0:9b334a45a8ff 284 hcan->Init.BS2 |
bogdanm 0:9b334a45a8ff 285 (hcan->Init.Prescaler - 1) ));
bogdanm 0:9b334a45a8ff 286
bogdanm 0:9b334a45a8ff 287 /* Request leave initialisation */
bogdanm 0:9b334a45a8ff 288 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
bogdanm 0:9b334a45a8ff 289
bogdanm 0:9b334a45a8ff 290 /* Get timeout */
bogdanm 0:9b334a45a8ff 291 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 292
bogdanm 0:9b334a45a8ff 293 /* Wait the acknowledge */
bogdanm 0:9b334a45a8ff 294 while(HAL_IS_BIT_CLR(hcan->Instance->MSR, CAN_MSR_INAK))
bogdanm 0:9b334a45a8ff 295 {
bogdanm 0:9b334a45a8ff 296 if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
bogdanm 0:9b334a45a8ff 297 {
bogdanm 0:9b334a45a8ff 298 hcan->State= HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 299
bogdanm 0:9b334a45a8ff 300 /* Process unlocked */
bogdanm 0:9b334a45a8ff 301 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 302
bogdanm 0:9b334a45a8ff 303 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 304 }
bogdanm 0:9b334a45a8ff 305 }
bogdanm 0:9b334a45a8ff 306
bogdanm 0:9b334a45a8ff 307 /* Check acknowledged */
bogdanm 0:9b334a45a8ff 308 if (HAL_IS_BIT_SET(hcan->Instance->MSR, CAN_MSR_INAK))
bogdanm 0:9b334a45a8ff 309 {
bogdanm 0:9b334a45a8ff 310 status = CAN_INITSTATUS_SUCCESS;
bogdanm 0:9b334a45a8ff 311 }
bogdanm 0:9b334a45a8ff 312 }
bogdanm 0:9b334a45a8ff 313
bogdanm 0:9b334a45a8ff 314 if(status == CAN_INITSTATUS_SUCCESS)
bogdanm 0:9b334a45a8ff 315 {
bogdanm 0:9b334a45a8ff 316 /* Set CAN error code to none */
bogdanm 0:9b334a45a8ff 317 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
bogdanm 0:9b334a45a8ff 318
bogdanm 0:9b334a45a8ff 319 /* Initialize the CAN state */
bogdanm 0:9b334a45a8ff 320 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 321
bogdanm 0:9b334a45a8ff 322 /* Return function status */
bogdanm 0:9b334a45a8ff 323 return HAL_OK;
bogdanm 0:9b334a45a8ff 324 }
bogdanm 0:9b334a45a8ff 325 else
bogdanm 0:9b334a45a8ff 326 {
bogdanm 0:9b334a45a8ff 327 /* Initialize the CAN state */
bogdanm 0:9b334a45a8ff 328 hcan->State = HAL_CAN_STATE_ERROR;
bogdanm 0:9b334a45a8ff 329
bogdanm 0:9b334a45a8ff 330 /* Return function status */
bogdanm 0:9b334a45a8ff 331 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 332 }
bogdanm 0:9b334a45a8ff 333 }
bogdanm 0:9b334a45a8ff 334
bogdanm 0:9b334a45a8ff 335 /**
bogdanm 0:9b334a45a8ff 336 * @brief Configures the CAN reception filter according to the specified
bogdanm 0:9b334a45a8ff 337 * parameters in the CAN_FilterInitStruct.
bogdanm 0:9b334a45a8ff 338 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 339 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 340 * @param sFilterConfig: pointer to a CAN_FilterConfTypeDef structure that
bogdanm 0:9b334a45a8ff 341 * contains the filter configuration information.
bogdanm 0:9b334a45a8ff 342 * @retval None
bogdanm 0:9b334a45a8ff 343 */
bogdanm 0:9b334a45a8ff 344 HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig)
bogdanm 0:9b334a45a8ff 345 {
bogdanm 0:9b334a45a8ff 346 uint32_t filternbrbitpos = 0;
bogdanm 0:9b334a45a8ff 347
bogdanm 0:9b334a45a8ff 348 /* Check the parameters */
bogdanm 0:9b334a45a8ff 349 assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber));
bogdanm 0:9b334a45a8ff 350 assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode));
bogdanm 0:9b334a45a8ff 351 assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale));
bogdanm 0:9b334a45a8ff 352 assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment));
bogdanm 0:9b334a45a8ff 353 assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation));
bogdanm 0:9b334a45a8ff 354 assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber));
bogdanm 0:9b334a45a8ff 355
bogdanm 0:9b334a45a8ff 356 filternbrbitpos = ((uint32_t)1) << sFilterConfig->FilterNumber;
bogdanm 0:9b334a45a8ff 357
bogdanm 0:9b334a45a8ff 358 /* Initialisation mode for the filter */
bogdanm 0:9b334a45a8ff 359 /* Select the start slave bank */
bogdanm 0:9b334a45a8ff 360 MODIFY_REG(hcan->Instance->FMR ,
bogdanm 0:9b334a45a8ff 361 CAN_FMR_CAN2SB ,
bogdanm 0:9b334a45a8ff 362 CAN_FMR_FINIT |
bogdanm 0:9b334a45a8ff 363 (uint32_t)(sFilterConfig->BankNumber << 8) );
bogdanm 0:9b334a45a8ff 364
bogdanm 0:9b334a45a8ff 365 /* Filter Deactivation */
bogdanm 0:9b334a45a8ff 366 CLEAR_BIT(hcan->Instance->FA1R, 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 CLEAR_BIT(hcan->Instance->FS1R, 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 SET_BIT(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 CLEAR_BIT(hcan->Instance->FM1R, 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 SET_BIT(hcan->Instance->FM1R, 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 CLEAR_BIT(hcan->Instance->FFA1R, filternbrbitpos);
bogdanm 0:9b334a45a8ff 418 }
bogdanm 0:9b334a45a8ff 419 else
bogdanm 0:9b334a45a8ff 420 {
bogdanm 0:9b334a45a8ff 421 /* FIFO 1 assignation for the filter */
bogdanm 0:9b334a45a8ff 422 SET_BIT(hcan->Instance->FFA1R, filternbrbitpos);
bogdanm 0:9b334a45a8ff 423 }
bogdanm 0:9b334a45a8ff 424
bogdanm 0:9b334a45a8ff 425 /* Filter activation */
bogdanm 0:9b334a45a8ff 426 if (sFilterConfig->FilterActivation == ENABLE)
bogdanm 0:9b334a45a8ff 427 {
bogdanm 0:9b334a45a8ff 428 SET_BIT(hcan->Instance->FA1R, filternbrbitpos);
bogdanm 0:9b334a45a8ff 429 }
bogdanm 0:9b334a45a8ff 430
bogdanm 0:9b334a45a8ff 431 /* Leave the initialisation mode for the filter */
bogdanm 0:9b334a45a8ff 432 CLEAR_BIT(hcan->Instance->FMR, ((uint32_t)CAN_FMR_FINIT));
bogdanm 0:9b334a45a8ff 433
bogdanm 0:9b334a45a8ff 434 /* Return function status */
bogdanm 0:9b334a45a8ff 435 return HAL_OK;
bogdanm 0:9b334a45a8ff 436 }
bogdanm 0:9b334a45a8ff 437
bogdanm 0:9b334a45a8ff 438 /**
bogdanm 0:9b334a45a8ff 439 * @brief Deinitializes the CANx peripheral registers to their default reset values.
bogdanm 0:9b334a45a8ff 440 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 441 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 442 * @retval HAL status
bogdanm 0:9b334a45a8ff 443 */
bogdanm 0:9b334a45a8ff 444 HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 445 {
bogdanm 0:9b334a45a8ff 446 /* Check CAN handle */
bogdanm 0:9b334a45a8ff 447 if(hcan == NULL)
bogdanm 0:9b334a45a8ff 448 {
bogdanm 0:9b334a45a8ff 449 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 450 }
bogdanm 0:9b334a45a8ff 451
bogdanm 0:9b334a45a8ff 452 /* Check the parameters */
bogdanm 0:9b334a45a8ff 453 assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
bogdanm 0:9b334a45a8ff 454
bogdanm 0:9b334a45a8ff 455 /* Change CAN state */
bogdanm 0:9b334a45a8ff 456 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 457
bogdanm 0:9b334a45a8ff 458 /* DeInit the low level hardware */
bogdanm 0:9b334a45a8ff 459 HAL_CAN_MspDeInit(hcan);
bogdanm 0:9b334a45a8ff 460
bogdanm 0:9b334a45a8ff 461 /* Change CAN state */
bogdanm 0:9b334a45a8ff 462 hcan->State = HAL_CAN_STATE_RESET;
bogdanm 0:9b334a45a8ff 463
bogdanm 0:9b334a45a8ff 464 /* Release Lock */
bogdanm 0:9b334a45a8ff 465 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 466
bogdanm 0:9b334a45a8ff 467 /* Return function status */
bogdanm 0:9b334a45a8ff 468 return HAL_OK;
bogdanm 0:9b334a45a8ff 469 }
bogdanm 0:9b334a45a8ff 470
bogdanm 0:9b334a45a8ff 471 /**
bogdanm 0:9b334a45a8ff 472 * @brief Initializes 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_MspInit(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_MspInit can 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 * @brief DeInitializes the CAN MSP.
bogdanm 0:9b334a45a8ff 486 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 487 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 488 * @retval None
bogdanm 0:9b334a45a8ff 489 */
bogdanm 0:9b334a45a8ff 490 __weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 491 {
bogdanm 0:9b334a45a8ff 492 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 493 the HAL_CAN_MspDeInit can be implemented in the user file
bogdanm 0:9b334a45a8ff 494 */
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 /** @defgroup CAN_Exported_Functions_Group2 Input and Output operation functions
bogdanm 0:9b334a45a8ff 502 * @brief I/O operation functions
bogdanm 0:9b334a45a8ff 503 *
bogdanm 0:9b334a45a8ff 504 @verbatim
bogdanm 0:9b334a45a8ff 505 ==============================================================================
bogdanm 0:9b334a45a8ff 506 ##### IO operation functions #####
bogdanm 0:9b334a45a8ff 507 ==============================================================================
bogdanm 0:9b334a45a8ff 508 [..] This section provides functions allowing to:
bogdanm 0:9b334a45a8ff 509 (+) Transmit a CAN frame message.
bogdanm 0:9b334a45a8ff 510 (+) Receive a CAN frame message.
bogdanm 0:9b334a45a8ff 511 (+) Enter CAN peripheral in sleep mode.
bogdanm 0:9b334a45a8ff 512 (+) Wake up the CAN peripheral from sleep mode.
bogdanm 0:9b334a45a8ff 513
bogdanm 0:9b334a45a8ff 514 @endverbatim
bogdanm 0:9b334a45a8ff 515 * @{
bogdanm 0:9b334a45a8ff 516 */
bogdanm 0:9b334a45a8ff 517
bogdanm 0:9b334a45a8ff 518 /**
bogdanm 0:9b334a45a8ff 519 * @brief Initiates and transmits a CAN frame message.
bogdanm 0:9b334a45a8ff 520 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 521 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 522 * @param Timeout: Specify Timeout value
bogdanm 0:9b334a45a8ff 523 * @retval HAL status
bogdanm 0:9b334a45a8ff 524 */
bogdanm 0:9b334a45a8ff 525 HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
bogdanm 0:9b334a45a8ff 526 {
bogdanm 0:9b334a45a8ff 527 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
bogdanm 0:9b334a45a8ff 528 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 529
bogdanm 0:9b334a45a8ff 530 /* Check the parameters */
bogdanm 0:9b334a45a8ff 531 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
bogdanm 0:9b334a45a8ff 532 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
bogdanm 0:9b334a45a8ff 533 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
bogdanm 0:9b334a45a8ff 534
bogdanm 0:9b334a45a8ff 535 /* Process locked */
bogdanm 0:9b334a45a8ff 536 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 537
bogdanm 0:9b334a45a8ff 538 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
bogdanm 0:9b334a45a8ff 539 {
bogdanm 0:9b334a45a8ff 540 /* Change CAN state */
bogdanm 0:9b334a45a8ff 541 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 542 }
bogdanm 0:9b334a45a8ff 543 else
bogdanm 0:9b334a45a8ff 544 {
bogdanm 0:9b334a45a8ff 545 /* Change CAN state */
bogdanm 0:9b334a45a8ff 546 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 547 }
bogdanm 0:9b334a45a8ff 548
bogdanm 0:9b334a45a8ff 549 /* Select one empty transmit mailbox */
bogdanm 0:9b334a45a8ff 550 if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0))
bogdanm 0:9b334a45a8ff 551 {
bogdanm 0:9b334a45a8ff 552 transmitmailbox = 0;
bogdanm 0:9b334a45a8ff 553 }
bogdanm 0:9b334a45a8ff 554 else if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1))
bogdanm 0:9b334a45a8ff 555 {
bogdanm 0:9b334a45a8ff 556 transmitmailbox = 1;
bogdanm 0:9b334a45a8ff 557 }
bogdanm 0:9b334a45a8ff 558 else if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME2))
bogdanm 0:9b334a45a8ff 559 {
bogdanm 0:9b334a45a8ff 560 transmitmailbox = 2;
bogdanm 0:9b334a45a8ff 561 }
bogdanm 0:9b334a45a8ff 562 else
bogdanm 0:9b334a45a8ff 563 {
bogdanm 0:9b334a45a8ff 564 transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
bogdanm 0:9b334a45a8ff 565 }
bogdanm 0:9b334a45a8ff 566
bogdanm 0:9b334a45a8ff 567 if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
bogdanm 0:9b334a45a8ff 568 {
bogdanm 0:9b334a45a8ff 569 /* Set up the Id */
bogdanm 0:9b334a45a8ff 570 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 571 if (hcan->pTxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 572 {
bogdanm 0:9b334a45a8ff 573 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
bogdanm 0:9b334a45a8ff 574 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << CAN_TI0R_STID_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 575 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 576 }
bogdanm 0:9b334a45a8ff 577 else
bogdanm 0:9b334a45a8ff 578 {
bogdanm 0:9b334a45a8ff 579 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
bogdanm 0:9b334a45a8ff 580 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << CAN_TI0R_EXID_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 581 hcan->pTxMsg->IDE |
bogdanm 0:9b334a45a8ff 582 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 583 }
bogdanm 0:9b334a45a8ff 584
bogdanm 0:9b334a45a8ff 585 /* Set up the DLC */
bogdanm 0:9b334a45a8ff 586 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
bogdanm 0:9b334a45a8ff 587 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
bogdanm 0:9b334a45a8ff 588 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
bogdanm 0:9b334a45a8ff 589
bogdanm 0:9b334a45a8ff 590 /* Set up the data field */
bogdanm 0:9b334a45a8ff 591 WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR, ((uint32_t)hcan->pTxMsg->Data[3] << CAN_TDL0R_DATA3_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 592 ((uint32_t)hcan->pTxMsg->Data[2] << CAN_TDL0R_DATA2_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 593 ((uint32_t)hcan->pTxMsg->Data[1] << CAN_TDL0R_DATA1_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 594 ((uint32_t)hcan->pTxMsg->Data[0] << CAN_TDL0R_DATA0_BIT_POSITION) );
bogdanm 0:9b334a45a8ff 595 WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR, ((uint32_t)hcan->pTxMsg->Data[7] << CAN_TDL0R_DATA3_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 596 ((uint32_t)hcan->pTxMsg->Data[6] << CAN_TDL0R_DATA2_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 597 ((uint32_t)hcan->pTxMsg->Data[5] << CAN_TDL0R_DATA1_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 598 ((uint32_t)hcan->pTxMsg->Data[4] << CAN_TDL0R_DATA0_BIT_POSITION) );
bogdanm 0:9b334a45a8ff 599 /* Request transmission */
bogdanm 0:9b334a45a8ff 600 SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
bogdanm 0:9b334a45a8ff 601
bogdanm 0:9b334a45a8ff 602 /* Get timeout */
bogdanm 0:9b334a45a8ff 603 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 604
bogdanm 0:9b334a45a8ff 605 /* Check End of transmission flag */
bogdanm 0:9b334a45a8ff 606 while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
bogdanm 0:9b334a45a8ff 607 {
bogdanm 0:9b334a45a8ff 608 /* Check for the Timeout */
bogdanm 0:9b334a45a8ff 609 if(Timeout != HAL_MAX_DELAY)
bogdanm 0:9b334a45a8ff 610 {
bogdanm 0:9b334a45a8ff 611 if((Timeout == 0) || ((HAL_GetTick()-tickstart) > Timeout))
bogdanm 0:9b334a45a8ff 612 {
bogdanm 0:9b334a45a8ff 613 hcan->State = HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 614
bogdanm 0:9b334a45a8ff 615 /* Process unlocked */
bogdanm 0:9b334a45a8ff 616 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 617
bogdanm 0:9b334a45a8ff 618 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 619 }
bogdanm 0:9b334a45a8ff 620 }
bogdanm 0:9b334a45a8ff 621 }
bogdanm 0:9b334a45a8ff 622 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 623 {
bogdanm 0:9b334a45a8ff 624 /* Change CAN state */
bogdanm 0:9b334a45a8ff 625 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 626
bogdanm 0:9b334a45a8ff 627 /* Process unlocked */
bogdanm 0:9b334a45a8ff 628 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 629 }
bogdanm 0:9b334a45a8ff 630 else
bogdanm 0:9b334a45a8ff 631 {
bogdanm 0:9b334a45a8ff 632 /* Change CAN state */
bogdanm 0:9b334a45a8ff 633 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 634 }
bogdanm 0:9b334a45a8ff 635
bogdanm 0:9b334a45a8ff 636 /* Process unlocked */
bogdanm 0:9b334a45a8ff 637 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 638
bogdanm 0:9b334a45a8ff 639 /* Return function status */
bogdanm 0:9b334a45a8ff 640 return HAL_OK;
bogdanm 0:9b334a45a8ff 641 }
bogdanm 0:9b334a45a8ff 642 else
bogdanm 0:9b334a45a8ff 643 {
bogdanm 0:9b334a45a8ff 644 /* Change CAN state */
bogdanm 0:9b334a45a8ff 645 hcan->State = HAL_CAN_STATE_ERROR;
bogdanm 0:9b334a45a8ff 646
bogdanm 0:9b334a45a8ff 647 /* Process unlocked */
bogdanm 0:9b334a45a8ff 648 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 649
bogdanm 0:9b334a45a8ff 650 /* Return function status */
bogdanm 0:9b334a45a8ff 651 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 652 }
bogdanm 0:9b334a45a8ff 653 }
bogdanm 0:9b334a45a8ff 654
bogdanm 0:9b334a45a8ff 655 /**
bogdanm 0:9b334a45a8ff 656 * @brief Initiates and transmits a CAN frame message.
bogdanm 0:9b334a45a8ff 657 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 658 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 659 * @retval HAL status
bogdanm 0:9b334a45a8ff 660 */
bogdanm 0:9b334a45a8ff 661 HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 662 {
bogdanm 0:9b334a45a8ff 663 uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
bogdanm 0:9b334a45a8ff 664
bogdanm 0:9b334a45a8ff 665 /* Check the parameters */
bogdanm 0:9b334a45a8ff 666 assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
bogdanm 0:9b334a45a8ff 667 assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
bogdanm 0:9b334a45a8ff 668 assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));
bogdanm 0:9b334a45a8ff 669
bogdanm 0:9b334a45a8ff 670 if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_RX))
bogdanm 0:9b334a45a8ff 671 {
bogdanm 0:9b334a45a8ff 672 /* Process Locked */
bogdanm 0:9b334a45a8ff 673 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 674
bogdanm 0:9b334a45a8ff 675 /* Select one empty transmit mailbox */
bogdanm 0:9b334a45a8ff 676 if(HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0))
bogdanm 0:9b334a45a8ff 677 {
bogdanm 0:9b334a45a8ff 678 transmitmailbox = 0;
bogdanm 0:9b334a45a8ff 679 }
bogdanm 0:9b334a45a8ff 680 else if(HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1))
bogdanm 0:9b334a45a8ff 681 {
bogdanm 0:9b334a45a8ff 682 transmitmailbox = 1;
bogdanm 0:9b334a45a8ff 683 }
bogdanm 0:9b334a45a8ff 684 else if(HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME2))
bogdanm 0:9b334a45a8ff 685 {
bogdanm 0:9b334a45a8ff 686 transmitmailbox = 2;
bogdanm 0:9b334a45a8ff 687 }
bogdanm 0:9b334a45a8ff 688 else
bogdanm 0:9b334a45a8ff 689 {
bogdanm 0:9b334a45a8ff 690 transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
bogdanm 0:9b334a45a8ff 691 }
bogdanm 0:9b334a45a8ff 692
bogdanm 0:9b334a45a8ff 693 if(transmitmailbox != CAN_TXSTATUS_NOMAILBOX)
bogdanm 0:9b334a45a8ff 694 {
bogdanm 0:9b334a45a8ff 695 /* Set up the Id */
bogdanm 0:9b334a45a8ff 696 hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 697 if (hcan->pTxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 698 {
bogdanm 0:9b334a45a8ff 699 assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));
bogdanm 0:9b334a45a8ff 700 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << CAN_TI0R_STID_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 701 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 702 }
bogdanm 0:9b334a45a8ff 703 else
bogdanm 0:9b334a45a8ff 704 {
bogdanm 0:9b334a45a8ff 705 assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
bogdanm 0:9b334a45a8ff 706 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << CAN_TI0R_EXID_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 707 hcan->pTxMsg->IDE |
bogdanm 0:9b334a45a8ff 708 hcan->pTxMsg->RTR);
bogdanm 0:9b334a45a8ff 709 }
bogdanm 0:9b334a45a8ff 710
bogdanm 0:9b334a45a8ff 711 /* Set up the DLC */
bogdanm 0:9b334a45a8ff 712 hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;
bogdanm 0:9b334a45a8ff 713 hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;
bogdanm 0:9b334a45a8ff 714 hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;
bogdanm 0:9b334a45a8ff 715
bogdanm 0:9b334a45a8ff 716 /* Set up the data field */
bogdanm 0:9b334a45a8ff 717 WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR, ((uint32_t)hcan->pTxMsg->Data[3] << CAN_TDL0R_DATA3_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 718 ((uint32_t)hcan->pTxMsg->Data[2] << CAN_TDL0R_DATA2_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 719 ((uint32_t)hcan->pTxMsg->Data[1] << CAN_TDL0R_DATA1_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 720 ((uint32_t)hcan->pTxMsg->Data[0] << CAN_TDL0R_DATA0_BIT_POSITION) );
bogdanm 0:9b334a45a8ff 721 WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR, ((uint32_t)hcan->pTxMsg->Data[7] << CAN_TDL0R_DATA3_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 722 ((uint32_t)hcan->pTxMsg->Data[6] << CAN_TDL0R_DATA2_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 723 ((uint32_t)hcan->pTxMsg->Data[5] << CAN_TDL0R_DATA1_BIT_POSITION) |
bogdanm 0:9b334a45a8ff 724 ((uint32_t)hcan->pTxMsg->Data[4] << CAN_TDL0R_DATA0_BIT_POSITION) );
bogdanm 0:9b334a45a8ff 725
bogdanm 0:9b334a45a8ff 726 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
bogdanm 0:9b334a45a8ff 727 {
bogdanm 0:9b334a45a8ff 728 /* Change CAN state */
bogdanm 0:9b334a45a8ff 729 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 730 }
bogdanm 0:9b334a45a8ff 731 else
bogdanm 0:9b334a45a8ff 732 {
bogdanm 0:9b334a45a8ff 733 /* Change CAN state */
bogdanm 0:9b334a45a8ff 734 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 735 }
bogdanm 0:9b334a45a8ff 736
bogdanm 0:9b334a45a8ff 737 /* Set CAN error code to none */
bogdanm 0:9b334a45a8ff 738 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
bogdanm 0:9b334a45a8ff 739
bogdanm 0:9b334a45a8ff 740 /* Process Unlocked */
bogdanm 0:9b334a45a8ff 741 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 742
bogdanm 0:9b334a45a8ff 743 /* Enable interrupts: */
bogdanm 0:9b334a45a8ff 744 /* - Enable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 745 /* - Enable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 746 /* - Enable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 747 /* - Enable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 748 /* - Enable Error Interrupt */
bogdanm 0:9b334a45a8ff 749 /* - Enable Transmit mailbox empty Interrupt */
bogdanm 0:9b334a45a8ff 750 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG |
bogdanm 0:9b334a45a8ff 751 CAN_IT_EPV |
bogdanm 0:9b334a45a8ff 752 CAN_IT_BOF |
bogdanm 0:9b334a45a8ff 753 CAN_IT_LEC |
bogdanm 0:9b334a45a8ff 754 CAN_IT_ERR |
bogdanm 0:9b334a45a8ff 755 CAN_IT_TME );
bogdanm 0:9b334a45a8ff 756
bogdanm 0:9b334a45a8ff 757 /* Request transmission */
bogdanm 0:9b334a45a8ff 758 hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ;
bogdanm 0:9b334a45a8ff 759 }
bogdanm 0:9b334a45a8ff 760 }
bogdanm 0:9b334a45a8ff 761 else
bogdanm 0:9b334a45a8ff 762 {
bogdanm 0:9b334a45a8ff 763 return HAL_BUSY;
bogdanm 0:9b334a45a8ff 764 }
bogdanm 0:9b334a45a8ff 765
bogdanm 0:9b334a45a8ff 766 return HAL_OK;
bogdanm 0:9b334a45a8ff 767 }
bogdanm 0:9b334a45a8ff 768
bogdanm 0:9b334a45a8ff 769 /**
bogdanm 0:9b334a45a8ff 770 * @brief Receives a correct CAN frame.
bogdanm 0:9b334a45a8ff 771 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 772 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 773 * @param FIFONumber: FIFO Number value
bogdanm 0:9b334a45a8ff 774 * @param Timeout: Specify Timeout value
bogdanm 0:9b334a45a8ff 775 * @retval HAL status
bogdanm 0:9b334a45a8ff 776 * @retval None
bogdanm 0:9b334a45a8ff 777 */
bogdanm 0:9b334a45a8ff 778 HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout)
bogdanm 0:9b334a45a8ff 779 {
bogdanm 0:9b334a45a8ff 780 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 781
bogdanm 0:9b334a45a8ff 782 /* Check the parameters */
bogdanm 0:9b334a45a8ff 783 assert_param(IS_CAN_FIFO(FIFONumber));
bogdanm 0:9b334a45a8ff 784
bogdanm 0:9b334a45a8ff 785 /* Process locked */
bogdanm 0:9b334a45a8ff 786 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 787
bogdanm 0:9b334a45a8ff 788 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
bogdanm 0:9b334a45a8ff 789 {
bogdanm 0:9b334a45a8ff 790 /* Change CAN state */
bogdanm 0:9b334a45a8ff 791 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 792 }
bogdanm 0:9b334a45a8ff 793 else
bogdanm 0:9b334a45a8ff 794 {
bogdanm 0:9b334a45a8ff 795 /* Change CAN state */
bogdanm 0:9b334a45a8ff 796 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 797 }
bogdanm 0:9b334a45a8ff 798
bogdanm 0:9b334a45a8ff 799 /* Get tick */
bogdanm 0:9b334a45a8ff 800 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 801
bogdanm 0:9b334a45a8ff 802 /* Check pending message */
bogdanm 0:9b334a45a8ff 803 while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0)
bogdanm 0:9b334a45a8ff 804 {
bogdanm 0:9b334a45a8ff 805 /* Check for the Timeout */
bogdanm 0:9b334a45a8ff 806 if(Timeout != HAL_MAX_DELAY)
bogdanm 0:9b334a45a8ff 807 {
bogdanm 0:9b334a45a8ff 808 if((Timeout == 0) || ((HAL_GetTick()-tickstart) > Timeout))
bogdanm 0:9b334a45a8ff 809 {
bogdanm 0:9b334a45a8ff 810 hcan->State = HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 811
bogdanm 0:9b334a45a8ff 812 /* Process unlocked */
bogdanm 0:9b334a45a8ff 813 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 814
bogdanm 0:9b334a45a8ff 815 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 816 }
bogdanm 0:9b334a45a8ff 817 }
bogdanm 0:9b334a45a8ff 818 }
bogdanm 0:9b334a45a8ff 819
bogdanm 0:9b334a45a8ff 820 /* Get the Id */
bogdanm 0:9b334a45a8ff 821 hcan->pRxMsg->IDE = (uint8_t)CAN_ID_EXT & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 822 if (hcan->pRxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 823 {
bogdanm 0:9b334a45a8ff 824 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
bogdanm 0:9b334a45a8ff 825 }
bogdanm 0:9b334a45a8ff 826 else
bogdanm 0:9b334a45a8ff 827 {
bogdanm 0:9b334a45a8ff 828 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
bogdanm 0:9b334a45a8ff 829 }
bogdanm 0:9b334a45a8ff 830
bogdanm 0:9b334a45a8ff 831 hcan->pRxMsg->RTR = (uint8_t)CAN_RTR_REMOTE & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 832 /* Get the DLC */
bogdanm 0:9b334a45a8ff 833 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
bogdanm 0:9b334a45a8ff 834 /* Get the FMI */
bogdanm 0:9b334a45a8ff 835 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
bogdanm 0:9b334a45a8ff 836 /* Get the data field */
bogdanm 0:9b334a45a8ff 837 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
bogdanm 0:9b334a45a8ff 838 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
bogdanm 0:9b334a45a8ff 839 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
bogdanm 0:9b334a45a8ff 840 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
bogdanm 0:9b334a45a8ff 841 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
bogdanm 0:9b334a45a8ff 842 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
bogdanm 0:9b334a45a8ff 843 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
bogdanm 0:9b334a45a8ff 844 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
bogdanm 0:9b334a45a8ff 845
bogdanm 0:9b334a45a8ff 846 /* Release the FIFO */
bogdanm 0:9b334a45a8ff 847 if(FIFONumber == CAN_FIFO0)
bogdanm 0:9b334a45a8ff 848 {
bogdanm 0:9b334a45a8ff 849 /* Release FIFO0 */
bogdanm 0:9b334a45a8ff 850 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
bogdanm 0:9b334a45a8ff 851 }
bogdanm 0:9b334a45a8ff 852 else /* FIFONumber == CAN_FIFO1 */
bogdanm 0:9b334a45a8ff 853 {
bogdanm 0:9b334a45a8ff 854 /* Release FIFO1 */
bogdanm 0:9b334a45a8ff 855 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
bogdanm 0:9b334a45a8ff 856 }
bogdanm 0:9b334a45a8ff 857
bogdanm 0:9b334a45a8ff 858 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 859 {
bogdanm 0:9b334a45a8ff 860 /* Change CAN state */
bogdanm 0:9b334a45a8ff 861 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 862 }
bogdanm 0:9b334a45a8ff 863 else
bogdanm 0:9b334a45a8ff 864 {
bogdanm 0:9b334a45a8ff 865 /* Change CAN state */
bogdanm 0:9b334a45a8ff 866 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 867 }
bogdanm 0:9b334a45a8ff 868
bogdanm 0:9b334a45a8ff 869 /* Process unlocked */
bogdanm 0:9b334a45a8ff 870 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 871
bogdanm 0:9b334a45a8ff 872 /* Return function status */
bogdanm 0:9b334a45a8ff 873 return HAL_OK;
bogdanm 0:9b334a45a8ff 874 }
bogdanm 0:9b334a45a8ff 875
bogdanm 0:9b334a45a8ff 876 /**
bogdanm 0:9b334a45a8ff 877 * @brief Receives a correct CAN frame.
bogdanm 0:9b334a45a8ff 878 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 879 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 880 * @param FIFONumber: Specify the FIFO number
bogdanm 0:9b334a45a8ff 881 * @retval HAL status
bogdanm 0:9b334a45a8ff 882 * @retval None
bogdanm 0:9b334a45a8ff 883 */
bogdanm 0:9b334a45a8ff 884 HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
bogdanm 0:9b334a45a8ff 885 {
bogdanm 0:9b334a45a8ff 886 /* Check the parameters */
bogdanm 0:9b334a45a8ff 887 assert_param(IS_CAN_FIFO(FIFONumber));
bogdanm 0:9b334a45a8ff 888
bogdanm 0:9b334a45a8ff 889 if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_TX))
bogdanm 0:9b334a45a8ff 890 {
bogdanm 0:9b334a45a8ff 891 /* Process locked */
bogdanm 0:9b334a45a8ff 892 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 893
bogdanm 0:9b334a45a8ff 894 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
bogdanm 0:9b334a45a8ff 895 {
bogdanm 0:9b334a45a8ff 896 /* Change CAN state */
bogdanm 0:9b334a45a8ff 897 hcan->State = HAL_CAN_STATE_BUSY_TX_RX;
bogdanm 0:9b334a45a8ff 898 }
bogdanm 0:9b334a45a8ff 899 else
bogdanm 0:9b334a45a8ff 900 {
bogdanm 0:9b334a45a8ff 901 /* Change CAN state */
bogdanm 0:9b334a45a8ff 902 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 903 }
bogdanm 0:9b334a45a8ff 904
bogdanm 0:9b334a45a8ff 905 /* Set CAN error code to none */
bogdanm 0:9b334a45a8ff 906 hcan->ErrorCode = HAL_CAN_ERROR_NONE;
bogdanm 0:9b334a45a8ff 907
bogdanm 0:9b334a45a8ff 908 /* Enable interrupts: */
bogdanm 0:9b334a45a8ff 909 /* - Enable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 910 /* - Enable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 911 /* - Enable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 912 /* - Enable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 913 /* - Enable Error Interrupt */
bogdanm 0:9b334a45a8ff 914 /* - Enable Transmit mailbox empty Interrupt */
bogdanm 0:9b334a45a8ff 915 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG |
bogdanm 0:9b334a45a8ff 916 CAN_IT_EPV |
bogdanm 0:9b334a45a8ff 917 CAN_IT_BOF |
bogdanm 0:9b334a45a8ff 918 CAN_IT_LEC |
bogdanm 0:9b334a45a8ff 919 CAN_IT_ERR |
bogdanm 0:9b334a45a8ff 920 CAN_IT_TME );
bogdanm 0:9b334a45a8ff 921
bogdanm 0:9b334a45a8ff 922 /* Process unlocked */
bogdanm 0:9b334a45a8ff 923 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 924
bogdanm 0:9b334a45a8ff 925 if(FIFONumber == CAN_FIFO0)
bogdanm 0:9b334a45a8ff 926 {
bogdanm 0:9b334a45a8ff 927 /* Enable FIFO 0 message pending Interrupt */
bogdanm 0:9b334a45a8ff 928 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);
bogdanm 0:9b334a45a8ff 929 }
bogdanm 0:9b334a45a8ff 930 else
bogdanm 0:9b334a45a8ff 931 {
bogdanm 0:9b334a45a8ff 932 /* Enable FIFO 1 message pending Interrupt */
bogdanm 0:9b334a45a8ff 933 __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);
bogdanm 0:9b334a45a8ff 934 }
bogdanm 0:9b334a45a8ff 935
bogdanm 0:9b334a45a8ff 936 }
bogdanm 0:9b334a45a8ff 937 else
bogdanm 0:9b334a45a8ff 938 {
bogdanm 0:9b334a45a8ff 939 return HAL_BUSY;
bogdanm 0:9b334a45a8ff 940 }
bogdanm 0:9b334a45a8ff 941
bogdanm 0:9b334a45a8ff 942 /* Return function status */
bogdanm 0:9b334a45a8ff 943 return HAL_OK;
bogdanm 0:9b334a45a8ff 944 }
bogdanm 0:9b334a45a8ff 945
bogdanm 0:9b334a45a8ff 946 /**
bogdanm 0:9b334a45a8ff 947 * @brief Enters the Sleep (low power) mode.
bogdanm 0:9b334a45a8ff 948 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 949 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 950 * @retval HAL status.
bogdanm 0:9b334a45a8ff 951 */
bogdanm 0:9b334a45a8ff 952 HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 953 {
bogdanm 0:9b334a45a8ff 954 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 955
bogdanm 0:9b334a45a8ff 956 /* Process locked */
bogdanm 0:9b334a45a8ff 957 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 958
bogdanm 0:9b334a45a8ff 959 /* Change CAN state */
bogdanm 0:9b334a45a8ff 960 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 961
bogdanm 0:9b334a45a8ff 962 /* Request Sleep mode */
bogdanm 0:9b334a45a8ff 963 MODIFY_REG(hcan->Instance->MCR,
bogdanm 0:9b334a45a8ff 964 CAN_MCR_INRQ ,
bogdanm 0:9b334a45a8ff 965 CAN_MCR_SLEEP );
bogdanm 0:9b334a45a8ff 966
bogdanm 0:9b334a45a8ff 967 /* Sleep mode status */
bogdanm 0:9b334a45a8ff 968 if (HAL_IS_BIT_CLR(hcan->Instance->MSR, CAN_MSR_SLAK) ||
bogdanm 0:9b334a45a8ff 969 HAL_IS_BIT_SET(hcan->Instance->MSR, CAN_MSR_INAK) )
bogdanm 0:9b334a45a8ff 970 {
bogdanm 0:9b334a45a8ff 971 /* Process unlocked */
bogdanm 0:9b334a45a8ff 972 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 973
bogdanm 0:9b334a45a8ff 974 /* Return function status */
bogdanm 0:9b334a45a8ff 975 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 976 }
bogdanm 0:9b334a45a8ff 977
bogdanm 0:9b334a45a8ff 978 /* Get tick */
bogdanm 0:9b334a45a8ff 979 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 980
bogdanm 0:9b334a45a8ff 981 /* Wait the acknowledge */
bogdanm 0:9b334a45a8ff 982 while (HAL_IS_BIT_CLR(hcan->Instance->MSR, CAN_MSR_SLAK) ||
bogdanm 0:9b334a45a8ff 983 HAL_IS_BIT_SET(hcan->Instance->MSR, CAN_MSR_INAK) )
bogdanm 0:9b334a45a8ff 984 {
bogdanm 0:9b334a45a8ff 985 if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
bogdanm 0:9b334a45a8ff 986 {
bogdanm 0:9b334a45a8ff 987 hcan->State = HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 988
bogdanm 0:9b334a45a8ff 989 /* Process unlocked */
bogdanm 0:9b334a45a8ff 990 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 991
bogdanm 0:9b334a45a8ff 992 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 993 }
bogdanm 0:9b334a45a8ff 994 }
bogdanm 0:9b334a45a8ff 995
bogdanm 0:9b334a45a8ff 996 /* Change CAN state */
bogdanm 0:9b334a45a8ff 997 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 998
bogdanm 0:9b334a45a8ff 999 /* Process unlocked */
bogdanm 0:9b334a45a8ff 1000 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 1001
bogdanm 0:9b334a45a8ff 1002 /* Return function status */
bogdanm 0:9b334a45a8ff 1003 return HAL_OK;
bogdanm 0:9b334a45a8ff 1004 }
bogdanm 0:9b334a45a8ff 1005
bogdanm 0:9b334a45a8ff 1006 /**
bogdanm 0:9b334a45a8ff 1007 * @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral
bogdanm 0:9b334a45a8ff 1008 * is in the normal mode.
bogdanm 0:9b334a45a8ff 1009 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1010 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1011 * @retval HAL status.
bogdanm 0:9b334a45a8ff 1012 */
bogdanm 0:9b334a45a8ff 1013 HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1014 {
bogdanm 0:9b334a45a8ff 1015 uint32_t tickstart = 0;
bogdanm 0:9b334a45a8ff 1016
bogdanm 0:9b334a45a8ff 1017 /* Process locked */
bogdanm 0:9b334a45a8ff 1018 __HAL_LOCK(hcan);
bogdanm 0:9b334a45a8ff 1019
bogdanm 0:9b334a45a8ff 1020 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1021 hcan->State = HAL_CAN_STATE_BUSY;
bogdanm 0:9b334a45a8ff 1022
bogdanm 0:9b334a45a8ff 1023 /* Wake up request */
bogdanm 0:9b334a45a8ff 1024 CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
bogdanm 0:9b334a45a8ff 1025
bogdanm 0:9b334a45a8ff 1026 /* Get timeout */
bogdanm 0:9b334a45a8ff 1027 tickstart = HAL_GetTick();
bogdanm 0:9b334a45a8ff 1028
bogdanm 0:9b334a45a8ff 1029 /* Sleep mode status */
bogdanm 0:9b334a45a8ff 1030 while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)
bogdanm 0:9b334a45a8ff 1031 {
bogdanm 0:9b334a45a8ff 1032 if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
bogdanm 0:9b334a45a8ff 1033 {
bogdanm 0:9b334a45a8ff 1034 hcan->State= HAL_CAN_STATE_TIMEOUT;
bogdanm 0:9b334a45a8ff 1035
bogdanm 0:9b334a45a8ff 1036 /* Process unlocked */
bogdanm 0:9b334a45a8ff 1037 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 1038
bogdanm 0:9b334a45a8ff 1039 return HAL_TIMEOUT;
bogdanm 0:9b334a45a8ff 1040 }
bogdanm 0:9b334a45a8ff 1041 }
bogdanm 0:9b334a45a8ff 1042 if(HAL_IS_BIT_SET(hcan->Instance->MSR, CAN_MSR_SLAK))
bogdanm 0:9b334a45a8ff 1043 {
bogdanm 0:9b334a45a8ff 1044 /* Process unlocked */
bogdanm 0:9b334a45a8ff 1045 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 1046
bogdanm 0:9b334a45a8ff 1047 /* Return function status */
bogdanm 0:9b334a45a8ff 1048 return HAL_ERROR;
bogdanm 0:9b334a45a8ff 1049 }
bogdanm 0:9b334a45a8ff 1050
bogdanm 0:9b334a45a8ff 1051 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1052 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1053
bogdanm 0:9b334a45a8ff 1054 /* Process unlocked */
bogdanm 0:9b334a45a8ff 1055 __HAL_UNLOCK(hcan);
bogdanm 0:9b334a45a8ff 1056
bogdanm 0:9b334a45a8ff 1057 /* Return function status */
bogdanm 0:9b334a45a8ff 1058 return HAL_OK;
bogdanm 0:9b334a45a8ff 1059 }
bogdanm 0:9b334a45a8ff 1060
bogdanm 0:9b334a45a8ff 1061 /**
bogdanm 0:9b334a45a8ff 1062 * @brief Handles CAN interrupt request
bogdanm 0:9b334a45a8ff 1063 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1064 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1065 * @retval None
bogdanm 0:9b334a45a8ff 1066 */
bogdanm 0:9b334a45a8ff 1067 void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1068 {
bogdanm 0:9b334a45a8ff 1069 /* Check End of transmission flag */
bogdanm 0:9b334a45a8ff 1070 if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME))
bogdanm 0:9b334a45a8ff 1071 {
bogdanm 0:9b334a45a8ff 1072 if((__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0)) ||
bogdanm 0:9b334a45a8ff 1073 (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1)) ||
bogdanm 0:9b334a45a8ff 1074 (__HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2)))
bogdanm 0:9b334a45a8ff 1075 {
bogdanm 0:9b334a45a8ff 1076 /* Call transmit function */
bogdanm 0:9b334a45a8ff 1077 CAN_Transmit_IT(hcan);
bogdanm 0:9b334a45a8ff 1078 }
bogdanm 0:9b334a45a8ff 1079 }
bogdanm 0:9b334a45a8ff 1080
bogdanm 0:9b334a45a8ff 1081 /* Check End of reception flag for FIFO0 */
bogdanm 0:9b334a45a8ff 1082 if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0)) &&
bogdanm 0:9b334a45a8ff 1083 (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0) != 0))
bogdanm 0:9b334a45a8ff 1084 {
bogdanm 0:9b334a45a8ff 1085 /* Call receive function */
bogdanm 0:9b334a45a8ff 1086 CAN_Receive_IT(hcan, CAN_FIFO0);
bogdanm 0:9b334a45a8ff 1087 }
bogdanm 0:9b334a45a8ff 1088
bogdanm 0:9b334a45a8ff 1089 /* Check End of reception flag for FIFO1 */
bogdanm 0:9b334a45a8ff 1090 if((__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1)) &&
bogdanm 0:9b334a45a8ff 1091 (__HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1) != 0))
bogdanm 0:9b334a45a8ff 1092 {
bogdanm 0:9b334a45a8ff 1093 /* Call receive function */
bogdanm 0:9b334a45a8ff 1094 CAN_Receive_IT(hcan, CAN_FIFO1);
bogdanm 0:9b334a45a8ff 1095 }
bogdanm 0:9b334a45a8ff 1096
bogdanm 0:9b334a45a8ff 1097 /* Check Error Warning Flag */
bogdanm 0:9b334a45a8ff 1098 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG)) &&
bogdanm 0:9b334a45a8ff 1099 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG)) &&
bogdanm 0:9b334a45a8ff 1100 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1101 {
bogdanm 0:9b334a45a8ff 1102 /* Set CAN error code to EWG error */
bogdanm 0:9b334a45a8ff 1103 hcan->ErrorCode |= HAL_CAN_ERROR_EWG;
bogdanm 0:9b334a45a8ff 1104 /* No need for clear of Error Warning Flag as read-only */
bogdanm 0:9b334a45a8ff 1105 }
bogdanm 0:9b334a45a8ff 1106
bogdanm 0:9b334a45a8ff 1107 /* Check Error Passive Flag */
bogdanm 0:9b334a45a8ff 1108 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV)) &&
bogdanm 0:9b334a45a8ff 1109 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV)) &&
bogdanm 0:9b334a45a8ff 1110 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1111 {
bogdanm 0:9b334a45a8ff 1112 /* Set CAN error code to EPV error */
bogdanm 0:9b334a45a8ff 1113 hcan->ErrorCode |= HAL_CAN_ERROR_EPV;
bogdanm 0:9b334a45a8ff 1114 /* No need for clear of Error Passive Flag as read-only */
bogdanm 0:9b334a45a8ff 1115 }
bogdanm 0:9b334a45a8ff 1116
bogdanm 0:9b334a45a8ff 1117 /* Check Bus-Off Flag */
bogdanm 0:9b334a45a8ff 1118 if((__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF)) &&
bogdanm 0:9b334a45a8ff 1119 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF)) &&
bogdanm 0:9b334a45a8ff 1120 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1121 {
bogdanm 0:9b334a45a8ff 1122 /* Set CAN error code to BOF error */
bogdanm 0:9b334a45a8ff 1123 hcan->ErrorCode |= HAL_CAN_ERROR_BOF;
bogdanm 0:9b334a45a8ff 1124 /* No need for clear of Bus-Off Flag as read-only */
bogdanm 0:9b334a45a8ff 1125 }
bogdanm 0:9b334a45a8ff 1126
bogdanm 0:9b334a45a8ff 1127 /* Check Last error code Flag */
bogdanm 0:9b334a45a8ff 1128 if((!HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC)) &&
bogdanm 0:9b334a45a8ff 1129 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC)) &&
bogdanm 0:9b334a45a8ff 1130 (__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR)))
bogdanm 0:9b334a45a8ff 1131 {
bogdanm 0:9b334a45a8ff 1132 switch(hcan->Instance->ESR & CAN_ESR_LEC)
bogdanm 0:9b334a45a8ff 1133 {
bogdanm 0:9b334a45a8ff 1134 case(CAN_ESR_LEC_0):
bogdanm 0:9b334a45a8ff 1135 /* Set CAN error code to STF error */
bogdanm 0:9b334a45a8ff 1136 hcan->ErrorCode |= HAL_CAN_ERROR_STF;
bogdanm 0:9b334a45a8ff 1137 break;
bogdanm 0:9b334a45a8ff 1138 case(CAN_ESR_LEC_1):
bogdanm 0:9b334a45a8ff 1139 /* Set CAN error code to FOR error */
bogdanm 0:9b334a45a8ff 1140 hcan->ErrorCode |= HAL_CAN_ERROR_FOR;
bogdanm 0:9b334a45a8ff 1141 break;
bogdanm 0:9b334a45a8ff 1142 case(CAN_ESR_LEC_1 | CAN_ESR_LEC_0):
bogdanm 0:9b334a45a8ff 1143 /* Set CAN error code to ACK error */
bogdanm 0:9b334a45a8ff 1144 hcan->ErrorCode |= HAL_CAN_ERROR_ACK;
bogdanm 0:9b334a45a8ff 1145 break;
bogdanm 0:9b334a45a8ff 1146 case(CAN_ESR_LEC_2):
bogdanm 0:9b334a45a8ff 1147 /* Set CAN error code to BR error */
bogdanm 0:9b334a45a8ff 1148 hcan->ErrorCode |= HAL_CAN_ERROR_BR;
bogdanm 0:9b334a45a8ff 1149 break;
bogdanm 0:9b334a45a8ff 1150 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_0):
bogdanm 0:9b334a45a8ff 1151 /* Set CAN error code to BD error */
bogdanm 0:9b334a45a8ff 1152 hcan->ErrorCode |= HAL_CAN_ERROR_BD;
bogdanm 0:9b334a45a8ff 1153 break;
bogdanm 0:9b334a45a8ff 1154 case(CAN_ESR_LEC_2 | CAN_ESR_LEC_1):
bogdanm 0:9b334a45a8ff 1155 /* Set CAN error code to CRC error */
bogdanm 0:9b334a45a8ff 1156 hcan->ErrorCode |= HAL_CAN_ERROR_CRC;
bogdanm 0:9b334a45a8ff 1157 break;
bogdanm 0:9b334a45a8ff 1158 default:
bogdanm 0:9b334a45a8ff 1159 break;
bogdanm 0:9b334a45a8ff 1160 }
bogdanm 0:9b334a45a8ff 1161
bogdanm 0:9b334a45a8ff 1162 /* Clear Last error code Flag */
bogdanm 0:9b334a45a8ff 1163 CLEAR_BIT(hcan->Instance->ESR, CAN_ESR_LEC);
bogdanm 0:9b334a45a8ff 1164 }
bogdanm 0:9b334a45a8ff 1165
bogdanm 0:9b334a45a8ff 1166 /* Call the Error call Back in case of Errors */
bogdanm 0:9b334a45a8ff 1167 if(hcan->ErrorCode != HAL_CAN_ERROR_NONE)
bogdanm 0:9b334a45a8ff 1168 {
bogdanm 0:9b334a45a8ff 1169 /* Set the CAN state ready to be able to start again the process */
bogdanm 0:9b334a45a8ff 1170 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1171
bogdanm 0:9b334a45a8ff 1172 /* Call Error callback function */
bogdanm 0:9b334a45a8ff 1173 HAL_CAN_ErrorCallback(hcan);
bogdanm 0:9b334a45a8ff 1174 }
bogdanm 0:9b334a45a8ff 1175 }
bogdanm 0:9b334a45a8ff 1176
bogdanm 0:9b334a45a8ff 1177 /**
bogdanm 0:9b334a45a8ff 1178 * @brief Transmission complete callback in non blocking mode
bogdanm 0:9b334a45a8ff 1179 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1180 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1181 * @retval None
bogdanm 0:9b334a45a8ff 1182 */
bogdanm 0:9b334a45a8ff 1183 __weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1184 {
bogdanm 0:9b334a45a8ff 1185 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 1186 the HAL_CAN_TxCpltCallback can be implemented in the user file
bogdanm 0:9b334a45a8ff 1187 */
bogdanm 0:9b334a45a8ff 1188 }
bogdanm 0:9b334a45a8ff 1189
bogdanm 0:9b334a45a8ff 1190 /**
bogdanm 0:9b334a45a8ff 1191 * @brief Transmission complete callback in non blocking mode
bogdanm 0:9b334a45a8ff 1192 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1193 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1194 * @retval None
bogdanm 0:9b334a45a8ff 1195 */
bogdanm 0:9b334a45a8ff 1196 __weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1197 {
bogdanm 0:9b334a45a8ff 1198 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 1199 the HAL_CAN_RxCpltCallback can be implemented in the user file
bogdanm 0:9b334a45a8ff 1200 */
bogdanm 0:9b334a45a8ff 1201 }
bogdanm 0:9b334a45a8ff 1202
bogdanm 0:9b334a45a8ff 1203 /**
bogdanm 0:9b334a45a8ff 1204 * @brief Error CAN callback.
bogdanm 0:9b334a45a8ff 1205 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1206 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1207 * @retval None
bogdanm 0:9b334a45a8ff 1208 */
bogdanm 0:9b334a45a8ff 1209 __weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
bogdanm 0:9b334a45a8ff 1210 {
bogdanm 0:9b334a45a8ff 1211 /* NOTE : This function Should not be modified, when the callback is needed,
bogdanm 0:9b334a45a8ff 1212 the HAL_CAN_ErrorCallback can be implemented in the user file
bogdanm 0:9b334a45a8ff 1213 */
bogdanm 0:9b334a45a8ff 1214 }
bogdanm 0:9b334a45a8ff 1215
bogdanm 0:9b334a45a8ff 1216 /**
bogdanm 0:9b334a45a8ff 1217 * @}
bogdanm 0:9b334a45a8ff 1218 */
bogdanm 0:9b334a45a8ff 1219
bogdanm 0:9b334a45a8ff 1220 /** @defgroup CAN_Exported_Functions_Group3 Peripheral State and Error functions
bogdanm 0:9b334a45a8ff 1221 * @brief CAN Peripheral State functions
bogdanm 0:9b334a45a8ff 1222 *
bogdanm 0:9b334a45a8ff 1223 @verbatim
bogdanm 0:9b334a45a8ff 1224 ==============================================================================
bogdanm 0:9b334a45a8ff 1225 ##### Peripheral State and Error functions #####
bogdanm 0:9b334a45a8ff 1226 ==============================================================================
bogdanm 0:9b334a45a8ff 1227 [..]
bogdanm 0:9b334a45a8ff 1228 This subsection provides functions allowing to :
bogdanm 0:9b334a45a8ff 1229 (+) Check the CAN state.
bogdanm 0:9b334a45a8ff 1230 (+) Check CAN Errors detected during interrupt process
bogdanm 0:9b334a45a8ff 1231
bogdanm 0:9b334a45a8ff 1232 @endverbatim
bogdanm 0:9b334a45a8ff 1233 * @{
bogdanm 0:9b334a45a8ff 1234 */
bogdanm 0:9b334a45a8ff 1235
bogdanm 0:9b334a45a8ff 1236 /**
bogdanm 0:9b334a45a8ff 1237 * @brief return the CAN state
bogdanm 0:9b334a45a8ff 1238 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1239 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1240 * @retval HAL state
bogdanm 0:9b334a45a8ff 1241 */
bogdanm 0:9b334a45a8ff 1242 HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1243 {
bogdanm 0:9b334a45a8ff 1244 /* Return CAN state */
bogdanm 0:9b334a45a8ff 1245 return hcan->State;
bogdanm 0:9b334a45a8ff 1246 }
bogdanm 0:9b334a45a8ff 1247
bogdanm 0:9b334a45a8ff 1248 /**
bogdanm 0:9b334a45a8ff 1249 * @brief Return the CAN error code
bogdanm 0:9b334a45a8ff 1250 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1251 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1252 * @retval CAN Error Code
bogdanm 0:9b334a45a8ff 1253 */
bogdanm 0:9b334a45a8ff 1254 uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan)
bogdanm 0:9b334a45a8ff 1255 {
bogdanm 0:9b334a45a8ff 1256 return hcan->ErrorCode;
bogdanm 0:9b334a45a8ff 1257 }
bogdanm 0:9b334a45a8ff 1258
bogdanm 0:9b334a45a8ff 1259 /**
bogdanm 0:9b334a45a8ff 1260 * @}
bogdanm 0:9b334a45a8ff 1261 */
bogdanm 0:9b334a45a8ff 1262
bogdanm 0:9b334a45a8ff 1263 /**
bogdanm 0:9b334a45a8ff 1264 * @}
bogdanm 0:9b334a45a8ff 1265 */
bogdanm 0:9b334a45a8ff 1266
bogdanm 0:9b334a45a8ff 1267 /** @defgroup CAN_Private_Functions CAN Private Functions
bogdanm 0:9b334a45a8ff 1268 * @{
bogdanm 0:9b334a45a8ff 1269 */
bogdanm 0:9b334a45a8ff 1270 /**
bogdanm 0:9b334a45a8ff 1271 * @brief Initiates and transmits a CAN frame message.
bogdanm 0:9b334a45a8ff 1272 * @param hcan: pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1273 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1274 * @retval HAL status
bogdanm 0:9b334a45a8ff 1275 */
bogdanm 0:9b334a45a8ff 1276 static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan)
bogdanm 0:9b334a45a8ff 1277 {
bogdanm 0:9b334a45a8ff 1278 /* Disable Transmit mailbox empty Interrupt */
bogdanm 0:9b334a45a8ff 1279 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME);
bogdanm 0:9b334a45a8ff 1280
bogdanm 0:9b334a45a8ff 1281 if(hcan->State == HAL_CAN_STATE_BUSY_TX)
bogdanm 0:9b334a45a8ff 1282 {
bogdanm 0:9b334a45a8ff 1283 /* Disable interrupts: */
bogdanm 0:9b334a45a8ff 1284 /* - Disable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 1285 /* - Disable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 1286 /* - Disable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 1287 /* - Disable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 1288 /* - Disable Error Interrupt */
bogdanm 0:9b334a45a8ff 1289 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG |
bogdanm 0:9b334a45a8ff 1290 CAN_IT_EPV |
bogdanm 0:9b334a45a8ff 1291 CAN_IT_BOF |
bogdanm 0:9b334a45a8ff 1292 CAN_IT_LEC |
bogdanm 0:9b334a45a8ff 1293 CAN_IT_ERR );
bogdanm 0:9b334a45a8ff 1294 }
bogdanm 0:9b334a45a8ff 1295
bogdanm 0:9b334a45a8ff 1296 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 1297 {
bogdanm 0:9b334a45a8ff 1298 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1299 hcan->State = HAL_CAN_STATE_BUSY_RX;
bogdanm 0:9b334a45a8ff 1300 }
bogdanm 0:9b334a45a8ff 1301 else
bogdanm 0:9b334a45a8ff 1302 {
bogdanm 0:9b334a45a8ff 1303 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1304 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1305 }
bogdanm 0:9b334a45a8ff 1306
bogdanm 0:9b334a45a8ff 1307 /* Transmission complete callback */
bogdanm 0:9b334a45a8ff 1308 HAL_CAN_TxCpltCallback(hcan);
bogdanm 0:9b334a45a8ff 1309
bogdanm 0:9b334a45a8ff 1310 return HAL_OK;
bogdanm 0:9b334a45a8ff 1311 }
bogdanm 0:9b334a45a8ff 1312
bogdanm 0:9b334a45a8ff 1313 /**
bogdanm 0:9b334a45a8ff 1314 * @brief Receives a correct CAN frame.
bogdanm 0:9b334a45a8ff 1315 * @param hcan: Pointer to a CAN_HandleTypeDef structure that contains
bogdanm 0:9b334a45a8ff 1316 * the configuration information for the specified CAN.
bogdanm 0:9b334a45a8ff 1317 * @param FIFONumber: Specify the FIFO number
bogdanm 0:9b334a45a8ff 1318 * @retval HAL status
bogdanm 0:9b334a45a8ff 1319 * @retval None
bogdanm 0:9b334a45a8ff 1320 */
bogdanm 0:9b334a45a8ff 1321 static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
bogdanm 0:9b334a45a8ff 1322 {
bogdanm 0:9b334a45a8ff 1323 /* Get the Id */
bogdanm 0:9b334a45a8ff 1324 hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 1325 if (hcan->pRxMsg->IDE == CAN_ID_STD)
bogdanm 0:9b334a45a8ff 1326 {
bogdanm 0:9b334a45a8ff 1327 hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
bogdanm 0:9b334a45a8ff 1328 }
bogdanm 0:9b334a45a8ff 1329 else
bogdanm 0:9b334a45a8ff 1330 {
bogdanm 0:9b334a45a8ff 1331 hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
bogdanm 0:9b334a45a8ff 1332 }
bogdanm 0:9b334a45a8ff 1333
bogdanm 0:9b334a45a8ff 1334 hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
bogdanm 0:9b334a45a8ff 1335 /* Get the DLC */
bogdanm 0:9b334a45a8ff 1336 hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
bogdanm 0:9b334a45a8ff 1337 /* Get the FMI */
bogdanm 0:9b334a45a8ff 1338 hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
bogdanm 0:9b334a45a8ff 1339 /* Get the data field */
bogdanm 0:9b334a45a8ff 1340 hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
bogdanm 0:9b334a45a8ff 1341 hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
bogdanm 0:9b334a45a8ff 1342 hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
bogdanm 0:9b334a45a8ff 1343 hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
bogdanm 0:9b334a45a8ff 1344 hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
bogdanm 0:9b334a45a8ff 1345 hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
bogdanm 0:9b334a45a8ff 1346 hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
bogdanm 0:9b334a45a8ff 1347 hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
bogdanm 0:9b334a45a8ff 1348 /* Release the FIFO */
bogdanm 0:9b334a45a8ff 1349 /* Release FIFO0 */
bogdanm 0:9b334a45a8ff 1350 if (FIFONumber == CAN_FIFO0)
bogdanm 0:9b334a45a8ff 1351 {
bogdanm 0:9b334a45a8ff 1352 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
bogdanm 0:9b334a45a8ff 1353
bogdanm 0:9b334a45a8ff 1354 /* Disable FIFO 0 message pending Interrupt */
bogdanm 0:9b334a45a8ff 1355 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
bogdanm 0:9b334a45a8ff 1356 }
bogdanm 0:9b334a45a8ff 1357 /* Release FIFO1 */
bogdanm 0:9b334a45a8ff 1358 else /* FIFONumber == CAN_FIFO1 */
bogdanm 0:9b334a45a8ff 1359 {
bogdanm 0:9b334a45a8ff 1360 __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
bogdanm 0:9b334a45a8ff 1361
bogdanm 0:9b334a45a8ff 1362 /* Disable FIFO 1 message pending Interrupt */
bogdanm 0:9b334a45a8ff 1363 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
bogdanm 0:9b334a45a8ff 1364 }
bogdanm 0:9b334a45a8ff 1365
bogdanm 0:9b334a45a8ff 1366 if(hcan->State == HAL_CAN_STATE_BUSY_RX)
bogdanm 0:9b334a45a8ff 1367 {
bogdanm 0:9b334a45a8ff 1368 /* Disable interrupts: */
bogdanm 0:9b334a45a8ff 1369 /* - Disable Error warning Interrupt */
bogdanm 0:9b334a45a8ff 1370 /* - Disable Error passive Interrupt */
bogdanm 0:9b334a45a8ff 1371 /* - Disable Bus-off Interrupt */
bogdanm 0:9b334a45a8ff 1372 /* - Disable Last error code Interrupt */
bogdanm 0:9b334a45a8ff 1373 /* - Disable Error Interrupt */
bogdanm 0:9b334a45a8ff 1374 __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG |
bogdanm 0:9b334a45a8ff 1375 CAN_IT_EPV |
bogdanm 0:9b334a45a8ff 1376 CAN_IT_BOF |
bogdanm 0:9b334a45a8ff 1377 CAN_IT_LEC |
bogdanm 0:9b334a45a8ff 1378 CAN_IT_ERR );
bogdanm 0:9b334a45a8ff 1379 }
bogdanm 0:9b334a45a8ff 1380
bogdanm 0:9b334a45a8ff 1381 if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
bogdanm 0:9b334a45a8ff 1382 {
bogdanm 0:9b334a45a8ff 1383 /* Disable CAN state */
bogdanm 0:9b334a45a8ff 1384 hcan->State = HAL_CAN_STATE_BUSY_TX;
bogdanm 0:9b334a45a8ff 1385 }
bogdanm 0:9b334a45a8ff 1386 else
bogdanm 0:9b334a45a8ff 1387 {
bogdanm 0:9b334a45a8ff 1388 /* Change CAN state */
bogdanm 0:9b334a45a8ff 1389 hcan->State = HAL_CAN_STATE_READY;
bogdanm 0:9b334a45a8ff 1390 }
bogdanm 0:9b334a45a8ff 1391
bogdanm 0:9b334a45a8ff 1392 /* Receive complete callback */
bogdanm 0:9b334a45a8ff 1393 HAL_CAN_RxCpltCallback(hcan);
bogdanm 0:9b334a45a8ff 1394
bogdanm 0:9b334a45a8ff 1395 /* Return function status */
bogdanm 0:9b334a45a8ff 1396 return HAL_OK;
bogdanm 0:9b334a45a8ff 1397 }
bogdanm 0:9b334a45a8ff 1398
bogdanm 0:9b334a45a8ff 1399 /**
bogdanm 0:9b334a45a8ff 1400 * @}
bogdanm 0:9b334a45a8ff 1401 */
bogdanm 0:9b334a45a8ff 1402
bogdanm 0:9b334a45a8ff 1403 /**
bogdanm 0:9b334a45a8ff 1404 * @}
bogdanm 0:9b334a45a8ff 1405 */
bogdanm 0:9b334a45a8ff 1406
bogdanm 0:9b334a45a8ff 1407 #endif /* STM32F103x6) || STM32F103xB || STM32F103xE || */
bogdanm 0:9b334a45a8ff 1408 /* STM32F103xG) || STM32F105xC || STM32F107xC */
bogdanm 0:9b334a45a8ff 1409
bogdanm 0:9b334a45a8ff 1410 #endif /* HAL_CAN_MODULE_ENABLED */
bogdanm 0:9b334a45a8ff 1411
bogdanm 0:9b334a45a8ff 1412 /**
bogdanm 0:9b334a45a8ff 1413 * @}
bogdanm 0:9b334a45a8ff 1414 */
bogdanm 0:9b334a45a8ff 1415
bogdanm 0:9b334a45a8ff 1416 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/